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Fix PX4IO startup

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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/module.mk
+1 -1
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@@ -1,6 +1,6 @@
############################################################################ ############################################################################
# #
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
src/drivers/px4io/px4io.cpp
+8 -1
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@@ -622,8 +622,15 @@ PX4IO::init()
return ret; return ret;
/* get some parameters */ /* get some parameters */
unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION); unsigned protocol;
hrt_abstime start_try_time = hrt_absolute_time();
do {
usleep(2000);
protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
} while (protocol == _io_reg_get_error && (hrt_elapsed_time(&start_try_time) < 700U * 1000U));
/* if the error still persists after timing out, we give up */
if (protocol == _io_reg_get_error) { if (protocol == _io_reg_get_error) {
mavlink_and_console_log_emergency(_mavlink_fd, "Failed to communicate with IO, abort."); mavlink_and_console_log_emergency(_mavlink_fd, "Failed to communicate with IO, abort.");
return -1; return -1;
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 * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * 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_TX_GPIO);
stm32_unconfiggpio(PX4IO_SERIAL_RX_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 */ /* and kill our semaphores */
sem_destroy(&_completion_semaphore); sem_destroy(&_completion_semaphore);
sem_destroy(&_bus_semaphore); sem_destroy(&_bus_semaphore);
@@ -239,12 +242,17 @@ PX4IO_serial::~PX4IO_serial()
int int
PX4IO_serial::init() PX4IO_serial::init()
{ {
/* allocate DMA */ /* allocate DMA */
_tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP); _tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP);
_rx_dma = stm32_dmachannel(PX4IO_SERIAL_RX_DMAMAP); _rx_dma = stm32_dmachannel(PX4IO_SERIAL_RX_DMAMAP);
if ((_tx_dma == nullptr) || (_rx_dma == nullptr)) if ((_tx_dma == nullptr) || (_rx_dma == nullptr))
return -1; return -1;
/* Enable the APB clock for the USART peripheral */
modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_USART6EN);
/* configure pins for serial use */ /* configure pins for serial use */
stm32_configgpio(PX4IO_SERIAL_TX_GPIO); stm32_configgpio(PX4IO_SERIAL_TX_GPIO);
stm32_configgpio(PX4IO_SERIAL_RX_GPIO); stm32_configgpio(PX4IO_SERIAL_RX_GPIO);
@@ -258,6 +266,7 @@ PX4IO_serial::init()
(void)rSR; (void)rSR;
(void)rDR; (void)rDR;
/* configure line speed */ /* configure line speed */
uint32_t usartdiv32 = PX4IO_SERIAL_CLOCK / (PX4IO_SERIAL_BITRATE / 2); uint32_t usartdiv32 = PX4IO_SERIAL_CLOCK / (PX4IO_SERIAL_BITRATE / 2);
uint32_t mantissa = usartdiv32 >> 5; uint32_t mantissa = usartdiv32 >> 5;
src/drivers/px4io/px4io_uploader.cpp
+1 -1
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@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
src/drivers/px4io/uploader.h
+1 -1
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@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions