PX4 · dagar · Mar 10, 2020 · Feb 13, 2020 · Feb 18, 2020 · Feb 18, 2020
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
@@ -4,6 +4,8 @@
 # @type VTOL Tiltrotor
 # @class VTOL
 #
+# @board px4_fmu-v2 exclude
+#
 # @maintainer Roman Bapst <roman@uaventure.com>
 #
 # @output MAIN1 Front right motor bottom

diff --git a/ROMFS/px4fmu_common/init.d/airframes/3034_fx79 b/ROMFS/px4fmu_common/init.d/airframes/3034_fx79
@@ -5,6 +5,8 @@
 # @type Flying Wing
 # @class Plane
 #
+# @board px4_fmu-v2 exclude
+#
 # @output MAIN1 right aileron
 # @output MAIN2 left aileron
 # @output MAIN4 throttle

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
@@ -2,6 +2,8 @@
 #
 # @name Lumenier QAV250
 #
+# @board px4_fmu-v2 exclude
+#
 # @type Quadrotor x
 # @class Copter
 #

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
@@ -2,6 +2,8 @@
 #
 # @name Holybro S500
 #
+# @board px4_fmu-v2 exclude
+#
 # @type Quadrotor x
 # @class Copter
 #

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
@@ -2,6 +2,8 @@
 #
 # @name Reaper 500 Quad
 #
+# @board px4_fmu-v2 exclude
+#
 # @type Quadrotor H
 # @class Copter
 #

diff --git a/boards/aerotenna/ocpoc/src/CMakeLists.txt b/boards/aerotenna/ocpoc/src/CMakeLists.txt
@@ -32,5 +32,6 @@
 ############################################################################
 
 add_library(drivers_board
-	empty.c
+	i2c.cpp
+	spi.cpp
 )
diff --git a/boards/aerotenna/ocpoc/src/board_config.h b/boards/aerotenna/ocpoc/src/board_config.h
@@ -61,10 +61,11 @@
 #define PX4_I2C_BUS_LED 1
 
 // SPI
+#include <drivers/drv_sensor.h>
 #define PX4_SPI_BUS_SENSORS    1
-#define PX4_SPIDEV_MPU         PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0) // spidev1.0 - mpu9250
-#define PX4_SPIDEV_BARO        PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1) // spidev1.1 - ms5611
-//#define PX4_SPIDEV_MPU2      PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2) // TODO: where is the 2nd mpu9250?
+#define PX4_SPIDEV_MPU         PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250) // spidev1.0 - mpu9250
+#define PX4_SPIDEV_BARO        PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611) // spidev1.1 - ms5611
+//#define PX4_SPIDEV_MPU2      PX4_MK_SPI_SEL(0, 2) // TODO: where is the 2nd mpu9250?
 
 #define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
 

diff --git a/boards/aerotenna/ocpoc/src/empty.c b/boards/aerotenna/ocpoc/src/empty.c
diff --git a/boards/aerotenna/ocpoc/src/i2c.cpp b/boards/aerotenna/ocpoc/src/i2c.cpp
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(2), // i2c-2: Air Data Probe or I2C Splitter
+	initI2CBusExternal(4), // i2c-4: GPS/Compass #1
+	initI2CBusExternal(5), // i2c-5: GPS/Compass #2
+	initI2CBusExternal(3), // i2c-3: GPS/Compass #3
+};
+
diff --git a/boards/aerotenna/ocpoc/src/spi.cpp b/boards/aerotenna/ocpoc/src/spi.cpp
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, 0),
+		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, 1),
+	}),
+};
diff --git a/boards/airmind/mindpx-v2/src/CMakeLists.txt b/boards/airmind/mindpx-v2/src/CMakeLists.txt
@@ -33,15 +33,17 @@
 
 add_library(drivers_board
 	can.c
+	i2c.cpp
 	init.c
 	led.c
-	spi.c
+	spi.cpp
 	timer_config.cpp
 	usb.c
 )
 
 target_link_libraries(drivers_board
 	PRIVATE
+		arch_spi
 		drivers__led # drv_led_start
 		nuttx_arch # sdio
 		nuttx_drivers # sdio

diff --git a/boards/airmind/mindpx-v2/src/board_config.h b/boards/airmind/mindpx-v2/src/board_config.h
@@ -118,13 +118,14 @@
 #define PX4_SPI_BUS_BARO	PX4_SPI_BUS_SENSORS
 
 /* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI4 */
-#define PX4_SPIDEV_GYRO       PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
-#define PX4_SPIDEV_ACCEL_MAG  PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2)
-#define PX4_SPIDEV_BARO       PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3)
-#define PX4_SPIDEV_MPU        PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
+#include <drivers/drv_sensor.h>
+#define PX4_SPIDEV_GYRO       PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_L3GD20)
+#define PX4_SPIDEV_ACCEL_MAG  PX4_MK_SPI_SEL(0, DRV_ACC_DEVTYPE_LSM303D)
+#define PX4_SPIDEV_BARO       PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
+#define PX4_SPIDEV_MPU        PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
 
 /* External bus */
-#define PX4_SPIDEV_EXT0       PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 1)
+#define PX4_SPIDEV_EXT0       PX4_MK_SPI_SEL(0, 0)
 
 
 /* I2C busses */
@@ -152,29 +153,6 @@
 #define BOARD_BATTERY1_V_DIV   (10.177939394f)
 #define BOARD_BATTERY1_A_PER_V (15.391030303f)
 
-/* User GPIOs
- *
- * GPIO0-7 are the PWM servo outputs.
- */
-#define GPIO_GPIO0_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
-#define GPIO_GPIO1_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
-#define GPIO_GPIO2_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
-#define GPIO_GPIO3_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
-#define GPIO_GPIO4_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN12)
-#define GPIO_GPIO5_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
-#define GPIO_GPIO6_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
-#define GPIO_GPIO7_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN15)
-
-
-#define GPIO_GPIO0_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
-#define GPIO_GPIO1_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
-#define GPIO_GPIO2_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
-#define GPIO_GPIO3_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
-#define GPIO_GPIO4_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN12)
-#define GPIO_GPIO5_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
-#define GPIO_GPIO6_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
-#define GPIO_GPIO7_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)
-
 /* Power supply control and monitoring GPIOs */
 // #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
 // #define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
@@ -285,7 +263,6 @@ __BEGIN_DECLS
  ****************************************************************************************************/
 
 extern void stm32_spiinitialize(void);
-void board_spi_reset(int ms);
 
 extern void stm32_usbinitialize(void);
 

diff --git a/boards/airmind/mindpx-v2/src/i2c.cpp b/boards/airmind/mindpx-v2/src/i2c.cpp
@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(1),
+	initI2CBusExternal(2),
+};
+