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Add Holybro Pixhawk Pi CM4 Baseboard Support #20086

Merged
merged 10 commits into from
Sep 9, 2022
Merged

Add Holybro Pixhawk Pi CM4 Baseboard Support #20086

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6991b85
Add Holybro Pixhawk Pi CM4 Baseboard Support
vincentpoont2 Aug 22, 2022
ba8ee7e
Fix Error on board_config.h Define on FMUv5X & FMUv6X
vincentpoont2 Aug 22, 2022
bca7242
Fix Error on manifest.c
vincentpoont2 Aug 22, 2022
d706b40
Correct BOARD_NUM_SPI_CFG_HW_VERSIONS at board_config.h
vincentpoont2 Aug 22, 2022
9477590
update v5x rc.board_sensors
vincentpoont2 Sep 2, 2022
bddc00b
update fmuv5x rc.board_sensors with V5X004000
vincentpoont2 Sep 5, 2022
747fd0a
update fmu-v6x rc.board_sensors, add V6X004003
vincentpoont2 Sep 6, 2022
f632cf7
platforms: decrease flash usage by type for bus id
julianoes Sep 7, 2022
8e3efdf
fmu-v5x: disable rev0 for HB Mini and CM4 base
julianoes Sep 7, 2022
e94f355
fmu-v6: disable Rev 0, Rev 1 for HB Mini, and CM4
julianoes Sep 7, 2022
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6 changes: 3 additions & 3 deletions boards/px4/fmu-v5x/init/rc.board_sensors
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Original file line number Diff line number Diff line change
Expand Up @@ -49,11 +49,11 @@ then
fi
fi

if ver hwtypecmp V5X000000 V5X000001 V5X000002 V5X001000
if ver hwtypecmp V5X000000 V5X000001 V5X000002 V5X001000 V5X004000 V5X004001 V5X004002
then
#FMUv5Xbase board orientation

if ver hwtypecmp V5X000000 V5X000001
if ver hwtypecmp V5X000000 V5X000001 V5X004000 V5X004001
then
# Internal SPI BMI088
bmi088 -A -R 4 -s start
Expand Down Expand Up @@ -113,4 +113,4 @@ then
fi

fi
unset HAVE_PM2
unset HAVE_PM2
5 changes: 4 additions & 1 deletion boards/px4/fmu-v5x/src/board_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -185,12 +185,15 @@
#define GPIO_HW_REV_SENSE /* PF5 */ ADC3_GPIO(15)
#define GPIO_HW_VER_SENSE /* PF4 */ ADC3_GPIO(14)
#define HW_INFO_INIT_PREFIX "V5X"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 6
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 7
// Base FMUM
#define V5X00 HW_VER_REV(0x0,0x0) // FMUV5X, Rev 0
#define V5X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0
#define V5X01 HW_VER_REV(0x0,0x1) // FMUV5X I2C2 BMP388, Rev 1
#define V5X02 HW_VER_REV(0x0,0x2) // FMUV5X, Rev 2
#define V5X40 HW_VER_REV(0x4,0x0) // FMUV5X, HB CM4 base Rev 0
#define V5X41 HW_VER_REV(0x4,0x1) // FMUV5X I2C2 BMP388, HB CM4 base Rev 1
#define V5X42 HW_VER_REV(0x4,0x2) // FMUV5X, HB CM4 base Rev 2
#define V5X50 HW_VER_REV(0x5,0x0) // FMUV5X, HB Mini Rev 0
#define V5X51 HW_VER_REV(0x5,0x1) // FMUV5X I2C2 BMP388, HB Mini Rev 1
#define V5X52 HW_VER_REV(0x5,0x2) // FMUV5X, HB Mini Rev 2
Expand Down
26 changes: 25 additions & 1 deletion boards/px4/fmu-v5x/src/manifest.c
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Original file line number Diff line number Diff line change
Expand Up @@ -94,6 +94,27 @@ static const px4_hw_mft_item_t hw_mft_list_v0500[] = {
},
};

static const px4_hw_mft_item_t hw_mft_list_v0540[] = {
{
// PX4_MFT_PX4IO
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
{
// PX4_MFT_USB
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
{
// PX4_MFT_CAN2
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
};

static const px4_hw_mft_item_t hw_mft_list_v0550[] = {
{
// PX4_MFT_PX4IO
Expand Down Expand Up @@ -163,7 +184,10 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
{V5X01, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, Rev 1
{V5X02, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)}, // FMUV5X, Rev 2
{V5X10, hw_mft_list_v0510, arraySize(hw_mft_list_v0510)}, // NO PX4IO, Rev 0
{V5X50, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 0
//{V5X40, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // FMUV5X, HB CM4 base Rev 0, never shipped
{V5X41, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // FMUV5X, HB CM4 base Rev 1
{V5X42, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)}, // FMUV5X, HB CM4 base Rev 2
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//{V5X50, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 0, never shipped
{V5X51, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 1
{V5X52, hw_mft_list_v0550, arraySize(hw_mft_list_v0550)}, // FMUV5X, HB Mini Rev 2
{V5X90, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB, Rev 0
Expand Down
53 changes: 51 additions & 2 deletions boards/px4/fmu-v5x/src/spi.cpp
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
* Copyright (C) 2019-2022 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
Expand Down Expand Up @@ -106,7 +106,8 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),
initSPIHWVersion(V5X50, {

initSPIHWVersion(V5X41, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
Expand All @@ -130,6 +131,54 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
}),
}),

initSPIHWVersion(V5X42, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
}, {GPIO::PortD, GPIO::Pin15}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),

// never shipped
//initSPIHWVersion(V5X50, {
// initSPIBus(SPI::Bus::SPI1, {
// initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
// }, {GPIO::PortI, GPIO::Pin11}),
// initSPIBus(SPI::Bus::SPI2, {
// initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
// }, {GPIO::PortD, GPIO::Pin15}),
// initSPIBus(SPI::Bus::SPI3, {
// initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
// initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}),
// }, {GPIO::PortE, GPIO::Pin7}),
// // initSPIBus(SPI::Bus::SPI4, {
// // // no devices
// // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// // }, {GPIO::PortG, GPIO::Pin8}),
// initSPIBus(SPI::Bus::SPI5, {
// initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
// }),
// initSPIBusExternal(SPI::Bus::SPI6, {
// initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
// initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
// }),
//}),

initSPIHWVersion(V5X51, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
Expand Down
6 changes: 3 additions & 3 deletions boards/px4/fmu-v6x/init/rc.board_sensors
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ then
fi
fi

if ver hwtypecmp V6X000004 V6X001004 V6X005004
if ver hwtypecmp V6X000004 V6X001004 V6X004004 V6X005004
then
# Internal SPI bus ICM20649
icm20649 -s -R 6 start
Expand All @@ -60,7 +60,7 @@ fi
# Internal SPI bus ICM42688p
icm42688p -R 6 -s start

if ver hwtypecmp V6X000003 V6X001003 V6X000004 V6X001004 V6X005003 V6X005004
if ver hwtypecmp V6X000003 V6X001003 V6X003003 V6X000004 V6X001004 V6X004003 V6X004004 V6X005003 V6X005004
then
# Internal SPI bus ICM-42670-P (hard-mounted)
icm42670p -R 10 -s start
Expand Down Expand Up @@ -88,4 +88,4 @@ fi
# Baro on I2C3
ms5611 -X start

unset HAVE_PM2
unset HAVE_PM2
10 changes: 7 additions & 3 deletions boards/px4/fmu-v6x/src/board_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -213,7 +213,7 @@
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
#define HW_INFO_INIT_PREFIX "V6X"

#define BOARD_NUM_SPI_CFG_HW_VERSIONS 6 // Rev 0 and Rev 3,4 Sensor sets
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 7 // Rev 0 and Rev 3,4 Sensor sets
// Base/FMUM
#define V6X00 HW_VER_REV(0x0,0x0) // FMUV6X, Rev 0
#define V6X01 HW_VER_REV(0x0,0x1) // FMUV6X, BMI388 I2C2 Rev 1
Expand All @@ -222,8 +222,12 @@
#define V6X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0
#define V6X13 HW_VER_REV(0x1,0x3) // NO PX4IO, Sensor Set Rev 3
#define V6X14 HW_VER_REV(0x1,0x4) // NO PX4IO, Sensor Set Rev 4
#define V6X50 HW_VER_REV(0x5,0x0) // FMUV6X, HB Mini Rev 0
#define V6X51 HW_VER_REV(0x5,0x1) // FMUV6X, BMI388 I2C2 HB Mini Rev 1
//#define V6X40 HW_VER_REV(0x4,0x0) // FMUV6X, HB CM4 base Rev 0 // never shipped
//#define V6X41 HW_VER_REV(0x4,0x1) // FMUV6X, BMI388 I2C2 HB CM4 base Rev 1 // never shipped
#define V6X43 HW_VER_REV(0x4,0x3) // FMUV6X, Sensor Set HB CM4 base Rev 3
#define V6X44 HW_VER_REV(0x4,0x4) // FMUV6X, Sensor Set HB CM4 base Rev 4
//#define V6X50 HW_VER_REV(0x5,0x0) // FMUV6X, HB Mini Rev 0 // never shipped
//#define V6X51 HW_VER_REV(0x5,0x1) // FMUV6X, BMI388 I2C2 HB Mini Rev 1 // never shipped
#define V6X53 HW_VER_REV(0x5,0x3) // FMUV6X, Sensor Set HB Mini Rev 3
#define V6X54 HW_VER_REV(0x5,0x4) // FMUV6X, Sensor Set HB Mini Rev 4

Expand Down
29 changes: 27 additions & 2 deletions boards/px4/fmu-v6x/src/manifest.c
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Original file line number Diff line number Diff line change
Expand Up @@ -115,6 +115,27 @@ static const px4_hw_mft_item_t hw_mft_list_v0610[] = {
},
};

static const px4_hw_mft_item_t hw_mft_list_v0640[] = {
{
// PX4_MFT_PX4IO
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
{
// PX4_MFT_USB
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
{
// PX4_MFT_CAN2
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
};

static const px4_hw_mft_item_t hw_mft_list_v0650[] = {
{
// PX4_MFT_PX4IO
Expand Down Expand Up @@ -142,8 +163,12 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
{V6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
{V6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
{V6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
{V6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // HB Mini
{V6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2 HB Mini
//{V6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // HB CM4 base // never shipped
//{V6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2 HB CM4 base // never shipped
{V6X43, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 3
{V6X44, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 4
//{V6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // HB Mini // never shipped
//{V6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2 HB Mini // never shipped
{V6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3
{V6X54, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4
{V6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
Expand Down
52 changes: 50 additions & 2 deletions boards/px4/fmu-v6x/src/spi.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -84,9 +84,9 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
}),
}),

initSPIHWVersion(V6X50, {
initSPIHWVersion(V6X43, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
Expand All @@ -107,6 +107,54 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),

initSPIHWVersion(V6X44, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),

// never shipped
//initSPIHWVersion(V6X50, {
// initSPIBus(SPI::Bus::SPI1, {
// initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
// }, {GPIO::PortI, GPIO::Pin11}),
// initSPIBus(SPI::Bus::SPI2, {
// initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
// }, {GPIO::PortF, GPIO::Pin4}),
// initSPIBus(SPI::Bus::SPI3, {
// initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
// initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
// }, {GPIO::PortE, GPIO::Pin7}),
// // initSPIBus(SPI::Bus::SPI4, {
// // // no devices
// // TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// // }, {GPIO::PortG, GPIO::Pin8}),
// initSPIBus(SPI::Bus::SPI5, {
// initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
// }),
// initSPIBusExternal(SPI::Bus::SPI6, {
// initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
// initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
// }),
//}),
initSPIHWVersion(V6X04, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
Expand Down
4 changes: 2 additions & 2 deletions platforms/common/include/px4_platform_common/spi.h
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2022 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
Expand Down Expand Up @@ -64,8 +64,8 @@ struct px4_spi_bus_devices_t {

struct px4_spi_bus_t {
px4_spi_bus_device_t devices[SPI_BUS_MAX_DEVICES];
int bus{-1}; ///< physical bus number (1, ...) (-1 means this is unused)
uint32_t power_enable_gpio{0}; ///< GPIO (if non-zero) to control the power of the attached devices on this bus (0 means power is off)
int8_t bus{-1}; ///< physical bus number (1, ...) (-1 means this is unused)
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@dagar let me know if this looks sane.

I could reduce flash by about 3000 bytes by using uint8_t for power_enable_gpio as well as the spi_drdy_gpio_t, and cs_gpio but stuff stopped working, so that probably went too far.

I also wonder whether we should set SPI_BUS_MAX_DEVICES based on the actual configuration somehow to reduce the footprint of this.

Also, some of the SPI configurations are completely identical but given the data structure and constexpr generation we have to duplicate it. Any idea how to work around that?

bool is_external; ///< static external configuration. Use px4_spi_bus_external() to check if a bus is really external
bool requires_locking; ///< whether the bus should be locked during transfers (true if NuttX drivers access the bus)
};
Expand Down