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Fix PX4IO startup

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This commit is contained in:
Lorenz Meier
2015-02-08 12:30:39 +01:00
parent 769df2ff47
commit 0fd11b78eb
5 changed files with 21 additions and 5 deletions
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src/drivers/px4io/px4io_serial.cpp
+10 -1
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2015 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
@@ -217,6 +217,9 @@ PX4IO_serial::~PX4IO_serial()
stm32_unconfiggpio(PX4IO_SERIAL_TX_GPIO);
stm32_unconfiggpio(PX4IO_SERIAL_RX_GPIO);
/* Disable APB clock for the USART peripheral */
modifyreg32(STM32_RCC_APB2ENR, RCC_APB2ENR_USART6EN, 0);
/* and kill our semaphores */
sem_destroy(&_completion_semaphore);
sem_destroy(&_bus_semaphore);
@@ -239,12 +242,17 @@ PX4IO_serial::~PX4IO_serial()
int
PX4IO_serial::init()
{
/* allocate DMA */
_tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP);
_rx_dma = stm32_dmachannel(PX4IO_SERIAL_RX_DMAMAP);
if ((_tx_dma == nullptr) || (_rx_dma == nullptr))
return -1;
/* Enable the APB clock for the USART peripheral */
modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_USART6EN);
/* configure pins for serial use */
stm32_configgpio(PX4IO_SERIAL_TX_GPIO);
stm32_configgpio(PX4IO_SERIAL_RX_GPIO);
@@ -258,6 +266,7 @@ PX4IO_serial::init()
(void)rSR;
(void)rDR;
/* configure line speed */
uint32_t usartdiv32 = PX4IO_SERIAL_CLOCK / (PX4IO_SERIAL_BITRATE / 2);
uint32_t mantissa = usartdiv32 >> 5;