jlaitine opened a new pull request, #20428:
URL: https://github.com/apache/nuttx/pull/20428
## Summary
This PR adds two fixes for imxrt_lpspi, targeted for imxrt1180:
- IMXRT118x crashes when trying to read the LPSPI register if the block
doesn't have clocks. The very
first initialization however already checks the IMXRT_LPSPI_CR. Instead of
trying to read the register
without knowing what state the block is in, just have an "initialized"
flag in the priv structure.
- There is a small change in the LPSPI IP used in imxrt118x compared to
previous versions; the LPSPI_CCR
register is no longer read/write. Instead, read always returns 0. This
causes the modifyreg32 always zeroing
out all the bits which it is not setting. Fix this for 118x only by using
putreg8 to write the part of the register.
This is the RM instructed method for setting it.
## Impact
Impacts only imxrt. Functionality for other imxrt chips should not change.
For imxrt118x fixes a crash when
lpspi clock is not readily enabled when first calling the init fuction.
## Testing
Tested on external application, using PX4 configuration for imxrt1189, with
3 IMUs (2 x icm42688p@24MHz + icm42688p@7MHz), with SPI+DMA configured. Getting
samples at 850 and 800 Hz. Accelerometer data dump:
```
> listener sensor_accel
TOPIC: sensor_accel 3 instances
Instance 0:
sensor_accel
timestamp: 164080619 (0.000699 seconds ago)
timestamp_sample: 164080382 (237 us before timestamp)
device_id: 2490386 (Type: 0x26, SPI:2 (0x00))
x: -0.52577
y: -0.47573
z: -9.74153
temperature: 22.40338
error_count: 0
clip_counter: [0, 0, 0]
samples: 10
Instance 1:
sensor_accel
timestamp: 164098242 (0.000632 seconds ago)
timestamp_sample: 164098043 (199 us before timestamp)
device_id: 2490642 (Type: 0x26, SPI:2 (0x01))
x: -0.40797
y: -0.23200
z: -9.99460
temperature: 25.16304
error_count: 0
clip_counter: [0, 0, 0]
samples: 10
Instance 2:
sensor_accel
timestamp: 164110440 (0.000324 seconds ago)
timestamp_sample: 164110115 (325 us before timestamp)
device_id: 2424850 (Type: 0x25, SPI:2 (0x00))
x: -0.33200
y: -0.49799
z: -9.40682
temperature: 29.09896
error_count: 0
clip_counter: [0, 0, 0]
samples: 6
```
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