Configure Crazyflie as SPI slave
Posted: Tue Oct 06, 2020 10:17 am
Hello guys
I currently work on a project where I would like to attach a accelerator chip to the CF which does the computing for the Kalman filter algorithm. To enable the accelerator to get the sensor data from the CF and to write back the estimated state result I want to establish a SPI connection between the two. Unfortunately on the accelerator chip there is only a SPI master interface available, thus I have to configure the STM32 of CF as SPI slave.
Looking at the schematics of the CF and the datasheet of the STM32 (Table 9. Alternate Function mappings) I figured out that the SPI1_NSS Pin is on PA4 which currently serves as NRF_FLOW_CTRL for the radio. Thus I wont be able to use the SPI1 interface in slave configuration.
I can't find any code about the NRF_FLOW_CTRL pin assignment in the CF firmware, is there any way to reconfigure another free pin (say PC15 ) for this purpose? What is the use of NRF_FLOW_CTRL?
all the best
marc
I currently work on a project where I would like to attach a accelerator chip to the CF which does the computing for the Kalman filter algorithm. To enable the accelerator to get the sensor data from the CF and to write back the estimated state result I want to establish a SPI connection between the two. Unfortunately on the accelerator chip there is only a SPI master interface available, thus I have to configure the STM32 of CF as SPI slave.
Looking at the schematics of the CF and the datasheet of the STM32 (Table 9. Alternate Function mappings) I figured out that the SPI1_NSS Pin is on PA4 which currently serves as NRF_FLOW_CTRL for the radio. Thus I wont be able to use the SPI1 interface in slave configuration.
I can't find any code about the NRF_FLOW_CTRL pin assignment in the CF firmware, is there any way to reconfigure another free pin (say PC15 ) for this purpose? What is the use of NRF_FLOW_CTRL?
all the best
marc