SPI CS preinit for configurability

src/main/drivers/barometer/barometer_bmp280.c

@@ -86,9 +86,7 @@ void bmp280BusDeinit(busDevice_t *busdev)
 {
 #ifdef USE_BARO_SPI_BMP280
     if (busdev->bustype == BUSTYPE_SPI) {
-        IOConfigGPIO(busdev->busdev_u.spi.csnPin, IOCFG_IPU);
+        spiPreinitCsByIO(busdev->busdev_u.spi.csnPin);
-        IORelease(busdev->busdev_u.spi.csnPin);
-        IOInit(busdev->busdev_u.spi.csnPin, OWNER_SPI_PREINIT, 0);
     }
 #else
     UNUSED(busdev);

src/main/drivers/barometer/barometer_ms5611.c

@@ -82,9 +82,7 @@ void ms5611BusDeinit(busDevice_t *busdev)
 {
 #ifdef USE_BARO_SPI_MS5611
     if (busdev->bustype == BUSTYPE_SPI) {
-        IOConfigGPIO(busdev->busdev_u.spi.csnPin, IOCFG_IPU);
+        spiPreinitCsByIO(busdev->busdev_u.spi.csnPin);
-        IORelease(busdev->busdev_u.spi.csnPin);
-        IOInit(busdev->busdev_u.spi.csnPin, OWNER_SPI_PREINIT, 0);
     }
 #else
     UNUSED(busdev);

src/main/drivers/bus_spi.h

@@ -92,8 +92,13 @@ typedef enum SPIDevice {
 #define SPI_CFG_TO_DEV(x)   ((x) - 1)
 #define SPI_DEV_TO_CFG(x)   ((x) + 1)
 
-void spiPreInitCs(ioTag_t iotag);
+// Size of SPI CS pre-initialization tag arrays
-void spiPreInitCsOutPU(ioTag_t iotag);
+#define SPI_PREINIT_IPU_COUNT 8
+#define SPI_PREINIT_OPU_COUNT 2
+
+void spiPreinitCsByTag(ioTag_t iotag);
+void spiPreinitCsByIO(IO_t io);
+void spiPreInit(void);
 
 bool spiInit(SPIDevice device);
 void spiSetDivisor(SPI_TypeDef *instance, uint16_t divisor);

src/main/drivers/bus_spi_config.c

@@ -28,33 +28,80 @@
 #include "drivers/bus_spi.h"
 #include "drivers/io.h"
 
+#include "pg/bus_spi.h"
+
 // Bring a pin for possible CS line to pull-up state in preparation for
 // sequential initialization by relevant drivers.
 
-// There are two versions:
+// There are two versions locally:
-// spiPreInitCs set the pin to input with pullup (IOCFG_IPU) for safety at this point.
+// spiPreInitCsIPU set the pin to input with pullup (IOCFG_IPU) for safety.
-// spiPreInitCsOutPU which actually drive the pin for digital hi.
+// spiPreInitCsOPU actually drive the pin for digital hi.
 //
 // The later is required for SPI slave devices on some targets, interfaced through level shifters, such as Kakute F4.
-// Note that with this handling, a pin declared as CS pin for MAX7456 needs special care when re-purposing the pin for other, especially, input uses.
+//
-// This will/should be fixed when we go fully reconfigurable.
+// Two ioTag_t array PGs, spiPreinitIPUConfig and spiPreinitOPUConfig are used to
+// determine pin to be IPU or OPU.
+// The IPU array is initialized with a hard coded initialization array,
+// while the OPU array is initialized from target dependent config.c.
+// With generic targets, both arrays are setup with resource commands.
 
-void spiPreInitCs(ioTag_t iotag)
+static void spiPreInitCsIPU(ioTag_t iotag, int index)
 {
     IO_t io = IOGetByTag(iotag);
     if (io) {
-        IOInit(io, OWNER_SPI_PREINIT, 0);
+        IOInit(io, OWNER_SPI_PREINIT_IPU, index);
         IOConfigGPIO(io, IOCFG_IPU);
+        IOHi(io);
     }
 }
 
-void spiPreInitCsOutPU(ioTag_t iotag)
+static void spiPreInitCsOPU(ioTag_t iotag, int index)
 {
     IO_t io = IOGetByTag(iotag);
     if (io) {
-        IOInit(io, OWNER_SPI_PREINIT, 0);
+        IOInit(io, OWNER_SPI_PREINIT_OPU, index);
         IOConfigGPIO(io, IOCFG_OUT_PP);
         IOHi(io);
     }
 }
+
+void spiPreInit(void)
+{
+    for (int i = 0 ; i < SPI_PREINIT_IPU_COUNT ; i++) {
+        if (spiPreinitIPUConfig(i)->csnTag) {
+            spiPreInitCsIPU(spiPreinitIPUConfig(i)->csnTag, i);
+        }
+    }
+
+    for (int i = 0 ; i < SPI_PREINIT_OPU_COUNT ; i++) {
+        if (spiPreinitOPUConfig(i)->csnTag) {
+            spiPreInitCsOPU(spiPreinitOPUConfig(i)->csnTag, i);
+        }
+    }
+}
+
+// Back to pre-init state
+
+void spiPreinitCsByIO(IO_t io)
+{
+    for (int i = 0 ; i < SPI_PREINIT_IPU_COUNT ; i++) {
+        if (IOGetByTag(spiPreinitIPUConfig(i)->csnTag) == io) {
+            spiPreInitCsIPU(spiPreinitIPUConfig(i)->csnTag, i);
+            return;
+        }
+    }
+
+    for (int i = 0 ; i < SPI_PREINIT_OPU_COUNT ; i++) {
+        if (IOGetByTag(spiPreinitOPUConfig(i)->csnTag) == io) {
+            spiPreInitCsOPU(spiPreinitOPUConfig(i)->csnTag, i);
+            return;
+        }
+    }
+}
+
+void spiPreinitCsByTag(ioTag_t iotag)
+{
+    spiPreinitCsByIO(IOGetByTag(iotag));
+}
+
 #endif

src/main/drivers/compass/compass_ak8963.c

@@ -410,9 +410,7 @@ void ak8963BusDeInit(const busDevice_t *busdev)
 
 #ifdef USE_MAG_SPI_AK8963
     case BUSTYPE_SPI:
-        IOConfigGPIO(busdev->busdev_u.spi.csnPin, IOCFG_IPU);
+        spiPreinitCsByIO(busdev->busdev_u.spi.csnPin);
-        IORelease(busdev->busdev_u.spi.csnPin);
-        IOInit(busdev->busdev_u.spi.csnPin, OWNER_SPI_PREINIT, 0);
         break;
 #endif
 

src/main/drivers/flash.c

@@ -52,7 +52,7 @@ bool flashInit(const flashConfig_t *flashConfig)
         return false;
     }
 
-    if (IOGetOwner(busdev->busdev_u.spi.csnPin) != OWNER_SPI_PREINIT) {
+    if (!IOIsFreeOrPreinit(busdev->busdev_u.spi.csnPin)) {
         return false;
     }
 
@@ -99,7 +99,7 @@ bool flashInit(const flashConfig_t *flashConfig)
     }
 #endif
 
-    spiPreInitCs(flashConfig->csTag);
+    spiPreinitCsByTag(flashConfig->csTag);
 
     return false;
 }

src/main/drivers/io.c

@@ -275,6 +275,17 @@ resourceOwner_e IOGetOwner(IO_t io)
     return ioRec->owner;
 }
 
+bool IOIsFreeOrPreinit(IO_t io)
+{
+    resourceOwner_e owner = IOGetOwner(io);
+
+    if (owner == OWNER_FREE || owner == OWNER_SPI_PREINIT_IPU || owner == OWNER_SPI_PREINIT_OPU) {
+        return true;
+    }
+
+    return false;
+}
+
 #if defined(STM32F1)
 
 void IOConfigGPIO(IO_t io, ioConfig_t cfg)
@@ -414,3 +425,4 @@ IO_t IOGetByTag(ioTag_t tag)
     offset += ioDefUsedOffset[portIdx];
     return ioRecs + offset;
 }
+

src/main/drivers/io.h

@@ -110,6 +110,7 @@ void IOToggle(IO_t io);
 void IOInit(IO_t io, resourceOwner_e owner, uint8_t index);
 void IORelease(IO_t io);  // unimplemented
 resourceOwner_e IOGetOwner(IO_t io);
+bool IOIsFreeOrPreinit(IO_t io);
 IO_t IOGetByTag(ioTag_t tag);
 
 void IOConfigGPIO(IO_t io, ioConfig_t cfg);

src/main/drivers/max7456.c

@@ -425,7 +425,7 @@ void max7456Init(const max7456Config_t *max7456Config, const vcdProfile_t *pVcdP
 
     busdev->busdev_u.spi.csnPin = IOGetByTag(max7456Config->csTag);
 
-    if (IOGetOwner(busdev->busdev_u.spi.csnPin) != OWNER_SPI_PREINIT) {
+    if (!IOIsFreeOrPreinit(busdev->busdev_u.spi.csnPin)) {
         return;
     }
 

src/main/drivers/resource.c

@@ -66,7 +66,6 @@ const char * const ownerNames[OWNER_TOTAL_COUNT] = {
     "TRANSPONDER",
     "VTX",
     "COMPASS_CS",
-    "SPI_PREINIT",
     "RX_BIND_PLUG",
     "ESCSERIAL",
     "CAMERA_CONTROL",
@@ -75,4 +74,6 @@ const char * const ownerNames[OWNER_TOTAL_COUNT] = {
     "RX_SPI",
     "PINIO",
     "USB_MSC_PIN",
+    "SPI_PREINIT_IPU",
+    "SPI_PREINIT_OPU",
 };

src/main/drivers/resource.h

@@ -66,7 +66,6 @@ typedef enum {
     OWNER_TRANSPONDER,
     OWNER_VTX,
     OWNER_COMPASS_CS,
-    OWNER_SPI_PREINIT,
     OWNER_RX_BIND_PLUG,
     OWNER_ESCSERIAL,
     OWNER_CAMERA_CONTROL,
@@ -75,6 +74,8 @@ typedef enum {
     OWNER_RX_SPI,
     OWNER_PINIO,
     OWNER_USB_MSC_PIN,
+    OWNER_SPI_PREINIT_IPU,
+    OWNER_SPI_PREINIT_OPU,
     OWNER_TOTAL_COUNT
 } resourceOwner_e;
 

src/main/fc/fc_init.c

@@ -197,73 +197,6 @@ static IO_t busSwitchResetPin        = IO_NONE;
 }
 #endif
 
-#ifdef USE_SPI
-// Pre-initialize all CS pins to input with pull-up.
-// It's sad that we can't do this with an initialized array,
-// since we will be taking care of configurable CS pins shortly.
-
-void spiPreInit(void)
-{
-#ifdef GYRO_1_CS_PIN
-    spiPreInitCs(IO_TAG(GYRO_1_CS_PIN));
-#endif
-#ifdef GYRO_2_CS_PIN
-    spiPreInitCs(IO_TAG(GYRO_2_CS_PIN));
-#endif
-#ifdef MPU6000_CS_PIN
-    spiPreInitCs(IO_TAG(MPU6000_CS_PIN));
-#endif
-#ifdef MPU6500_CS_PIN
-    spiPreInitCs(IO_TAG(MPU6500_CS_PIN));
-#endif
-#ifdef MPU9250_CS_PIN
-    spiPreInitCs(IO_TAG(MPU9250_CS_PIN));
-#endif
-#ifdef ICM20649_CS_PIN
-    spiPreInitCs(IO_TAG(ICM20649_CS_PIN));
-#endif
-#ifdef ICM20689_CS_PIN
-    spiPreInitCs(IO_TAG(ICM20689_CS_PIN));
-#endif
-#ifdef BMI160_CS_PIN
-    spiPreInitCs(IO_TAG(BMI160_CS_PIN));
-#endif
-#ifdef L3GD20_CS_PIN
-    spiPreInitCs(IO_TAG(L3GD20_CS_PIN));
-#endif
-#ifdef MAX7456_SPI_CS_PIN
-    spiPreInitCsOutPU(IO_TAG(MAX7456_SPI_CS_PIN)); // XXX 3.2 workaround for Kakute F4. See comment for spiPreInitCSOutPU.
-#endif
-#ifdef USE_SDCARD
-    spiPreInitCs(sdcardConfig()->chipSelectTag);
-#endif
-#ifdef BMP280_CS_PIN
-    spiPreInitCs(IO_TAG(BMP280_CS_PIN));
-#endif
-#ifdef MS5611_CS_PIN
-    spiPreInitCs(IO_TAG(MS5611_CS_PIN));
-#endif
-#ifdef LPS_CS_PIN
-    spiPreInitCs(IO_TAG(LPS_CS_PIN));
-#endif
-#ifdef HMC5883_CS_PIN
-    spiPreInitCs(IO_TAG(HMC5883_CS_PIN));
-#endif
-#ifdef AK8963_CS_PIN
-    spiPreInitCs(IO_TAG(AK8963_CS_PIN));
-#endif
-#if defined(RTC6705_CS_PIN) && !defined(USE_VTX_RTC6705_SOFTSPI) // RTC6705 soft SPI initialisation handled elsewhere.
-    spiPreInitCs(IO_TAG(RTC6705_CS_PIN));
-#endif
-#ifdef FLASH_CS_PIN
-    spiPreInitCs(IO_TAG(FLASH_CS_PIN));
-#endif
-#if defined(USE_RX_SPI)
-    spiPreInitCs(IO_TAG(RX_NSS_PIN));
-#endif
-}
-#endif
-
 void init(void)
 {
 #ifdef USE_ITCM_RAM

src/main/interface/cli.c

@@ -3580,6 +3580,10 @@ const cliResourceValue_t resourceTable[] = {
 #ifdef USE_MAX7456
     DEFS( OWNER_OSD_CS,        PG_MAX7456_CONFIG, max7456Config_t, csTag ),
 #endif
+#ifdef USE_SPI
+    DEFA( OWNER_SPI_PREINIT_IPU, PG_SPI_PREINIT_IPU_CONFIG, spiCs_t, csnTag, SPI_PREINIT_IPU_COUNT ),
+    DEFA( OWNER_SPI_PREINIT_OPU, PG_SPI_PREINIT_OPU_CONFIG, spiCs_t, csnTag, SPI_PREINIT_OPU_COUNT ),
+#endif
 };
 
 #undef DEFS

src/main/osd_slave/osd_slave_init.c

@@ -123,20 +123,6 @@ static IO_t busSwitchResetPin        = IO_NONE;
 }
 #endif
 
-
-#ifdef USE_SPI
-// Pre-initialize all CS pins to input with pull-up.
-// It's sad that we can't do this with an initialized array,
-// since we will be taking care of configurable CS pins shortly.
-
-void spiPreInit(void)
-{
-#ifdef USE_MAX7456
-    spiPreInitCs(IO_TAG(MAX7456_SPI_CS_PIN));
-#endif
-}
-#endif
-
 void init(void)
 {
 #ifdef USE_HAL_DRIVER

src/main/pg/bus_spi.c

@@ -62,4 +62,87 @@ void pgResetFn_spiPinConfig(spiPinConfig_t *spiPinConfig)
         spiPinConfig[defconf->device].ioTagMosi = defconf->mosi;
     }
 }
+
+PG_REGISTER_ARRAY_WITH_RESET_FN(spiCs_t, SPI_PREINIT_IPU_COUNT, spiPreinitIPUConfig, PG_SPI_PREINIT_IPU_CONFIG, 0);
+PG_REGISTER_ARRAY(spiCs_t, SPI_PREINIT_OPU_COUNT, spiPreinitOPUConfig, PG_SPI_PREINIT_OPU_CONFIG, 0);
+
+// Initialization values for input pull-up are listed here.
+// Explicit output with pull-up should handled in target dependent config.c.
+// Generic target will be specifying both values by resource commands.
+
+ioTag_t preinitIPUList[SPI_PREINIT_IPU_COUNT] = {
+#ifdef GYRO_1_CS_PIN
+    IO_TAG(GYRO_1_CS_PIN),
+#endif
+#ifdef GYRO_2_CS_PIN
+    IO_TAG(GYRO_2_CS_PIN),
+#endif
+#ifdef MPU6000_CS_PIN
+    IO_TAG(MPU6000_CS_PIN),
+#endif
+#ifdef MPU6500_CS_PIN
+    IO_TAG(MPU6500_CS_PIN),
+#endif
+#ifdef MPU9250_CS_PIN
+    IO_TAG(MPU9250_CS_PIN),
+#endif
+#ifdef ICM20649_CS_PIN
+    IO_TAG(ICM20649_CS_PIN),
+#endif
+#ifdef ICM20689_CS_PIN
+    IO_TAG(ICM20689_CS_PIN),
+#endif
+#ifdef BMI160_CS_PIN
+    IO_TAG(BMI160_CS_PIN),
+#endif
+#ifdef L3GD20_CS_PIN
+    IO_TAG(L3GD20_CS_PIN),
+#endif
+#ifdef SDCARD_SPI_CS_PIN
+    IO_TAG(SDCARD_SPI_CS_PIN),
+#endif
+#ifdef BMP280_CS_PIN
+    IO_TAG(BMP280_CS_PIN),
+#endif
+#ifdef MS5611_CS_PIN
+    IO_TAG(MS5611_CS_PIN),
+#endif
+#ifdef LPS_CS_PIN
+    IO_TAG(LPS_CS_PIN),
+#endif
+#ifdef HMC5883_CS_PIN
+    IO_TAG(HMC5883_CS_PIN),
+#endif
+#ifdef AK8963_CS_PIN
+    IO_TAG(AK8963_CS_PIN),
+#endif
+#if defined(RTC6705_CS_PIN) && !defined(USE_VTX_RTC6705_SOFTSPI) // RTC6705 soft SPI initialisation handled elsewhere.
+    IO_TAG(RTC6705_CS_PIN),
+#endif
+#ifdef FLASH_CS_PIN
+    IO_TAG(FLASH_CS_PIN),
+#endif
+#if defined(USE_RX_SPI) && !defined(USE_RX_SOFTSPI)
+    IO_TAG(RX_NSS_PIN),
+#endif
+#if defined(MAX7456_SPI_CS_PIN)
+    IO_TAG(MAX7456_SPI_CS_PIN),
+#endif
+    IO_TAG(NONE)
+};
+
+void pgResetFn_spiPreinitIPUConfig(spiCs_t *config)
+{
+    int puPins = 0;
+
+    for (int i = 0 ; i < SPI_PREINIT_IPU_COUNT ; i++) {
+        for (int j = 0 ; j < i ; j++) {
+            if (config[j].csnTag == preinitIPUList[i]) {
+                goto next;
+            }
+        }
+        config[puPins++].csnTag = preinitIPUList[i];
+    next:;
+    }
+}
 #endif

src/main/pg/bus_spi.h

@@ -32,3 +32,12 @@ typedef struct spiPinConfig_s {
 } spiPinConfig_t;
 
 PG_DECLARE_ARRAY(spiPinConfig_t, SPIDEV_COUNT, spiPinConfig);
+
+// Place holder for CS pins for pre-initialization
+
+typedef struct spiCs_s {
+    ioTag_t csnTag;
+} spiCs_t;
+
+PG_DECLARE_ARRAY(spiCs_t, SPI_PREINIT_IPU_COUNT, spiPreinitIPUConfig);
+PG_DECLARE_ARRAY(spiCs_t, SPI_PREINIT_OPU_COUNT, spiPreinitOPUConfig);

src/main/pg/pg_ids.h

@@ -129,7 +129,9 @@
 #define PG_SDIO_CONFIG 532
 #define PG_DISPLAY_PORT_CRSF_CONFIG 533  // no longer required -- never released
 #define PG_TIMER_IO_CONFIG 534 // used to store the index for timer use in timerHardware array in target.c
-#define PG_BETAFLIGHT_END 534
+#define PG_SPI_PREINIT_IPU_CONFIG 535
+#define PG_SPI_PREINIT_OPU_CONFIG 536
+#define PG_BETAFLIGHT_END 536
 
 
 // OSD configuration (subject to change)

src/main/target/KAKUTEF4/config.c

@@ -25,13 +25,11 @@
 
 #ifdef USE_TARGET_CONFIG
 
-#include "io/serial.h"
-
-#include "rx/rx.h"
-
-#include "telemetry/telemetry.h"
-
 #include "config_helper.h"
+#include "io/serial.h"
+#include "pg/bus_spi.h"
+#include "rx/rx.h"
+#include "telemetry/telemetry.h"
 
 #define TELEMETRY_UART          SERIAL_PORT_USART1
 
@@ -44,5 +42,23 @@ void targetConfiguration(void)
     targetSerialPortFunctionConfig(targetSerialPortFunction, ARRAYLEN(targetSerialPortFunction));
     telemetryConfigMutable()->halfDuplex = 0;
     telemetryConfigMutable()->telemetry_inverted = true;
+
+    // Register MAX7456 CS pin as OPU
+
+    // Invalidate IPU entry first
+    for (int i = 0 ; i < SPI_PREINIT_IPU_COUNT ; i++) {
+        if (spiPreinitIPUConfig(i)->csnTag == IO_TAG(MAX7456_SPI_CS_PIN)) {
+            spiPreinitIPUConfigMutable(i)->csnTag = IO_TAG(NONE);
+            break;
+        }
+    }
+
+    // Add as OPU entry
+    for (int i = 0 ; i < SPI_PREINIT_OPU_COUNT ; i++) {
+        if (spiPreinitOPUConfig(i)->csnTag == IO_TAG(NONE)) {
+            spiPreinitOPUConfigMutable(i)->csnTag = IO_TAG(MAX7456_SPI_CS_PIN);
+            break;
+        }
+    }
 }
 #endif

src/main/target/STM32F7X2/config/NERO.config

@@ -30,6 +30,10 @@ resource SPI_SCK 3 C10
 resource SPI_MISO 3 C11
 resource SPI_MOSI 3 C12
 
+# SPI CS pins to pre-initialize
+resource SPI_PREINIT_IPU 1 C04 // MPU6500
+resource SPI_PREINIT_IPU 2 A15 // SDCARD
+
 # Timers
 # First four timers
 # timer is zero origin

src/main/target/common_defaults_post.h

@@ -20,6 +20,7 @@
 
 // pg/max7456
 
+#ifdef USE_MAX7456
 #ifndef MAX7456_CLOCK_CONFIG_DEFAULT
 #define MAX7456_CLOCK_CONFIG_DEFAULT    MAX7456_CLOCK_CONFIG_OC
 #endif
@@ -27,6 +28,7 @@
 #ifndef MAX7456_SPI_CS_PIN
 #define MAX7456_SPI_CS_PIN              NONE
 #endif
+#endif
 
 // pg/bus_i2c
 

src/test/unit/baro_bmp280_unittest.cc

@@ -150,6 +150,9 @@ bool busWriteRegister(const busDevice_t*, uint8_t, uint8_t) {return true;}
 void spiSetDivisor() {
 }
 
+void spiPreinitCsByIO() {
+}
+
 void IOConfigGPIO() {
 }
 

src/test/unit/baro_ms5611_unittest.cc

@@ -152,6 +152,9 @@ bool busWriteRegister(const busDevice_t*, uint8_t, uint8_t) {return true;}
 void spiSetDivisor() {
 }
 
+void spiPreinitCsByIO() {
+}
+
 void IOConfigGPIO() {
 }