mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 08:38:53 +08:00
Formatted whitespace and comments, standardized comment block styles and single line comments, and added capitalization and full stops to comments wherever appropriate.
This commit is contained in:
mcsauder
@@ -65,27 +65,35 @@
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#define BOARD_HAS_CONTROL_STATUS_LEDS 1
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/* Define the Chip Selects for SPI1
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/**
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* Define the Chip Selects for SPI1
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* CS Devices DRDY
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* ---- ----------------------------------------------- -----
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PC2 MPU9250 BMI160 PD15
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PC15 ICM, ICM_20602, ICM_20608 BMI055_ACCEL PC14
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PE15 HMC5983 BMI055_GYRO PE12
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* PC2 MPU9250 BMI160 PD15
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* PC15 ICM, ICM_20602, ICM_20608 BMI055_ACCEL PC14
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* PE15 HMC5983 BMI055_GYRO PE12
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* ---- ----------------------------------------------- -----
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*/
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/* The BMI160 sensor replaces the MPU9250 on some boards. Only one is actually present and connected
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* to the second GPIO pin on port C. The wrong driver will fail during start because of an incorrect WHO_AM_I register.*/
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*/
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/**
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* The BMI160 sensor replaces the MPU9250 on some boards. Only one is actually present and connected
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* to the second GPIO pin on port C. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
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*/
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#define GPIO_SPI1_CS_PORTC_PIN2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
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/* The BMI055 acceleration sensor replaces the ICM20608G on some boards. Only one is actually present and connected
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* to the second GPIO pin on port C. The wrong driver will fail during start because of an incorrect WHO_AM_I register.*/
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/**
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* The BMI055 acceleration sensor replaces the ICM20608G on some boards. Only one is actually present and connected
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* to the second GPIO pin on port C. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
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*/
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#define GPIO_SPI1_CS_PORTC_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
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/* The BMI055 gyroscope sensor replaces the LIS3MDL, HMC5983 on some boards. Only one is actually present and connected
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* to the second GPIO pin on port E. The wrong driver will fail during start because of an incorrect WHO_AM_I register.*/
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/**
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* The BMI055 gyroscope sensor replaces the LIS3MDL, HMC5983 on some boards. Only one is actually present and connected
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* to the second GPIO pin on port E. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
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*/
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#define GPIO_SPI1_CS_PORTE_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
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/* Define the Data Ready interrupts On SPI 1*/
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/* Define the Data Ready interrupts On SPI 1. */
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#define GPIO_DRDY_PORTD_PIN15 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
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#define GPIO_DRDY_PORTC_PIN14 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
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@@ -93,39 +101,40 @@
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/* Define the Chip Selects for SPI2 */
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/* Define the Chip Selects for SPI2. */
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#define GPIO_SPI2_CS_MS5611 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
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#define GPIO_SPI2_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
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/* There are no DRDY on SPI 2 */
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/* There are no DRDY on SPI 2. */
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/*
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* Define the ability to shut off off the sensor signals
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* by changing the signals to inputs
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/**
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* Define the ability to shut off off the sensor signals
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* by changing the signals to inputs.
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*/
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#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
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/* SPI 1 bus off */
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/* SPI 1 bus off. */
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#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
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#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
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#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
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/* SPI 1 CS's off */
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/* SPI 1 CS's off. */
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#define GPIO_SPI1_CS_OFF_PORTC_PIN2 _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN2)
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#define GPIO_SPI1_CS_OFF_PORTC_PIN15 _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN15)
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#define GPIO_SPI1_CS_OFF_PORTE_PIN15 _PIN_OFF(GPIO_SPI1_CS_PORTE_PIN15)
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/* SPI 1 DRDY's off */
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/* SPI 1 DRDY's off. */
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#define GPIO_DRDY_OFF_PORTD_PIN15 _PIN_OFF(GPIO_DRDY_PORTD_PIN15)
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#define GPIO_DRDY_OFF_PORTC_PIN14 _PIN_OFF(GPIO_DRDY_PORTC_PIN14)
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#define GPIO_DRDY_OFF_PORTE_PIN12 _PIN_OFF(GPIO_DRDY_PORTE_PIN12)
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/* N.B we do not have control over the SPI 2 buss powered devices
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/**
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* N.B we do not have control over the SPI 2 buss powered devices
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* so the the ms5611 is not resetable.
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*/
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@@ -149,9 +158,10 @@
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#define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 13)
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#define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 14)
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/* onboard MS5611 and FRAM are both on bus SPI2
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* spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver
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* PX4_MK_SPI_SEL differentiate by adding in PX4_SPI_DEVICE_ID
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/**
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* Onboard MS5611 and FRAM are both on bus SPI2.
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* spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver.
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* PX4_MK_SPI_SEL differentiate by adding in PX4_SPI_DEVICE_ID.
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*/
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#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO, 3)
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@@ -159,34 +169,33 @@
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#define PX4_I2C_BUS_EXPANSION 1
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#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
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/* Devices on the external bus.
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*
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/**
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* Devices on the external bus.
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* Note that these are unshifted addresses.
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*/
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#define PX4_I2C_OBDEV_BMP280 0x76
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/*
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/**
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* ADC channels
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*
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* These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
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* These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver.
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*/
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#define ADC_CHANNELS (1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14)
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// ADC defines to be used in sensors.cpp to read from a particular channel
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/* ADC defines to be used in sensors.cpp to read from a particular channel. */
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#define ADC_BATTERY_VOLTAGE_CHANNEL 2
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#define ADC_BATTERY_CURRENT_CHANNEL 3
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#define ADC_5V_RAIL_SENSE 4
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#define ADC_RC_RSSI_CHANNEL 11
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/* Define Battery 1 Voltage Divider and A per V
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*/
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/* Define Battery 1 Voltage Divider and A per V. */
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#define BOARD_BATTERY1_V_DIV (13.653333333f)
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#define BOARD_BATTERY1_A_PER_V (36.367515152f)
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/* User GPIOs
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*
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/**
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* User GPIOs:
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* GPIO0-5 are the PWM servo outputs.
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*/
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#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
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@@ -203,18 +212,19 @@
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#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
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#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
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/* Power supply control and monitoring GPIOs */
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/* Power supply control and monitoring GPIOs. */
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#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
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#define GPIO_VDD_USB_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
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#define GPIO_VDD_3V3_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
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/* Tone alarm output */
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/* Tone alarm output. */
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#define TONE_ALARM_TIMER 2 /* timer 2 */
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#define TONE_ALARM_CHANNEL 1 /* channel 1 */
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#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
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#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
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/* PWM
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/**
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* PWM:
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*
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* Six PWM outputs are configured.
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*
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@@ -228,7 +238,8 @@
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* CH6 : PD14 : TIM4_CH3
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*/
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/* N.B. the added pull down, on the timer being disabled the PD
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/**
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* N.B. the added pull down, on the timer being disabled the PD
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* will keep the channel low
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*/
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#define GPIO_TIM1_CH1OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
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@@ -247,22 +258,23 @@
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#define GPIO_TIM4_CH3IN GPIO_TIM4_CH3IN_2
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#define DIRECT_INPUT_TIMER_CHANNELS 6
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/* USB OTG FS
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/**
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* USB OTG FS:
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*
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* PA9 OTG_FS_VBUS VBUS sensing
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* PA9 OTG_FS_VBUS VBUS sensing.
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*/
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#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
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/* High-resolution timer */
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#define HRT_TIMER 3 /* use timer 3 for the HRT */
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#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
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#define HRT_TIMER 3 /* use timer 3 for the HRT */
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#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
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#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
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#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
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#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
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#define RC_SERIAL_PORT "/dev/ttyS4"
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/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
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/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2. */
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#define PWMIN_TIMER 4
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#define PWMIN_TIMER_CHANNEL 2
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#define GPIO_PWM_IN GPIO_TIM4_CH2IN_2
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@@ -271,7 +283,7 @@
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#define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN3)
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#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
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#define GPIO_PERIPH_3V3_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
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/* for R12, this signal is active high */
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/* For R12, this signal is active high. */
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#define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
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#define BOARD_INVERT_RC_INPUT(_invert_true, _na) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)
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@@ -281,11 +293,11 @@
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#define GPIO_8266_PD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
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#define GPIO_8266_RST (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6)
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/* Power switch controls ******************************************************/
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/* Power switch controls */
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#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (!_on_true))
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/*
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/**
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* FMUv4 has separate RC_IN
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*
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* GPIO PPM_IN on PB0 T3C3
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@@ -301,7 +313,8 @@
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#define BOARD_NAME "PX4FMU_V4"
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/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
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/**
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* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
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* this board support the ADC system_power interface, and therefore
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* provides the true logic GPIO BOARD_ADC_xxxx macros.
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*/
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@@ -325,9 +338,8 @@
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{GPIO_VDD_BRICK_VALID, 0, 0}, \
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{GPIO_VDD_USB_VALID, 0, 0}, }
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/*
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/**
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* PX4FMUv4 GPIO numbers.
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*
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* There are no alternate functions on this board.
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*/
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#define GPIO_SERVO_1 (1<<0) /**< servo 1 output */
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@@ -341,7 +353,7 @@
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#define GPIO_BRICK_VALID (1<<8) /**< PB5 - !VDD_BRICK_VALID */
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#define GPIO_USB_VALID (1<<9) /**< PC0 - !GPIO_VDD_USB_VALID */
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/* This board provides a DMA pool and APIs */
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/* This board provides a DMA pool and APIs. */
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#define BOARD_DMA_ALLOC_POOL_SIZE 5120
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#define BOARD_HAS_ON_RESET 1
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@@ -103,7 +103,7 @@
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# endif
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#endif
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/*
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/**
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* Ideally we'd be able to get these from up_internal.h,
|
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* but since we want to be able to disable the NuttX use
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* of leds for system indication at will and there is no
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@@ -130,22 +130,21 @@ __END_DECLS
|
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************************************************************************************/
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__EXPORT void board_peripheral_reset(int ms)
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{
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/* set the peripheral rails off */
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// Set the peripheral rails off.
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stm32_configgpio(GPIO_PERIPH_3V3_EN);
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stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 0);
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bool last = stm32_gpioread(GPIO_SPEKTRUM_PWR_EN);
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/* Keep Spektum on to discharge rail*/
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// Keep Spektum on to discharge rail.
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stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, 1);
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|
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/* wait for the peripheral rail to reach GND */
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// Wait for the peripheral rail to reach GND.
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usleep(ms * 1000);
|
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warnx("reset done, %d ms", ms);
|
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|
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/* re-enable power */
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|
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/* switch the peripheral rail back on */
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// Re-enable power.
|
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// Switch the peripheral rail back on.
|
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stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, last);
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stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 1);
|
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|
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@@ -164,8 +163,7 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
************************************************************************************/
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
/* configure the GPIO pins to outputs and keep them low */
|
||||
|
||||
// Configure the GPIO pins to outputs and keep them low.
|
||||
stm32_configgpio(GPIO_GPIO0_OUTPUT);
|
||||
stm32_configgpio(GPIO_GPIO1_OUTPUT);
|
||||
stm32_configgpio(GPIO_GPIO2_OUTPUT);
|
||||
@@ -173,7 +171,8 @@ __EXPORT void board_on_reset(int status)
|
||||
stm32_configgpio(GPIO_GPIO4_OUTPUT);
|
||||
stm32_configgpio(GPIO_GPIO5_OUTPUT);
|
||||
|
||||
/* On resets invoked from system (not boot) insure we establish a low
|
||||
/**
|
||||
* On resets invoked from system (not boot) insure we establish a low
|
||||
* output state (discharge the pins) on PWM pins before they become inputs.
|
||||
*/
|
||||
|
||||
@@ -195,27 +194,28 @@ __EXPORT void board_on_reset(int status)
|
||||
__EXPORT void
|
||||
stm32_boardinitialize(void)
|
||||
{
|
||||
/* Reset all PWM to Low outputs */
|
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// Reset all PWM to Low outputs.
|
||||
|
||||
board_on_reset(-1);
|
||||
|
||||
/* configure LEDs */
|
||||
// Configure LEDs.
|
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board_autoled_initialize();
|
||||
|
||||
|
||||
/* configure ADC pins */
|
||||
// Configure ADC pins.
|
||||
stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
|
||||
stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */
|
||||
stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */
|
||||
stm32_configgpio(GPIO_ADC1_IN11); /* RSSI analog in */
|
||||
|
||||
/* configure power supply control/sense pins */
|
||||
// Configure power supply control/sense pins.
|
||||
stm32_configgpio(GPIO_PERIPH_3V3_EN);
|
||||
stm32_configgpio(GPIO_VDD_BRICK_VALID);
|
||||
stm32_configgpio(GPIO_VDD_USB_VALID);
|
||||
|
||||
/* Start with Sensor voltage off We will enable it
|
||||
* in board_app_initialize
|
||||
/**
|
||||
* Start with Sensor voltage off We will enable it
|
||||
* in board_app_initialize.
|
||||
*/
|
||||
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
|
||||
|
||||
@@ -226,13 +226,13 @@ stm32_boardinitialize(void)
|
||||
stm32_configgpio(GPIO_8266_PD);
|
||||
stm32_configgpio(GPIO_8266_RST);
|
||||
|
||||
/* Safety - led don in led driver */
|
||||
// Safety - led on in led driver.
|
||||
|
||||
stm32_configgpio(GPIO_BTN_SAFETY);
|
||||
stm32_configgpio(GPIO_RSSI_IN);
|
||||
stm32_configgpio(GPIO_PPM_IN);
|
||||
|
||||
/* configure SPI all interfaces GPIO */
|
||||
// Configure SPI all interfaces GPIO.
|
||||
|
||||
stm32_spiinitialize(PX4_SPI_BUS_RAMTRON | PX4_SPI_BUS_SENSORS);
|
||||
|
||||
@@ -272,7 +272,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
|
||||
|
||||
/* run C++ ctors before we go any further */
|
||||
// Run C++ ctors before we go any further.
|
||||
|
||||
up_cxxinitialize();
|
||||
|
||||
@@ -284,27 +284,27 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
|
||||
#endif
|
||||
|
||||
/* configure the high-resolution time/callout interface */
|
||||
// Configure the high-resolution time/callout interface.
|
||||
hrt_init();
|
||||
|
||||
param_init();
|
||||
|
||||
/* configure the DMA allocator */
|
||||
// Configure the DMA allocator.
|
||||
|
||||
if (board_dma_alloc_init() < 0) {
|
||||
message("DMA alloc FAILED");
|
||||
}
|
||||
|
||||
/* configure CPU load estimation */
|
||||
// Configure CPU load estimation.
|
||||
#ifdef CONFIG_SCHED_INSTRUMENTATION
|
||||
cpuload_initialize_once();
|
||||
#endif
|
||||
|
||||
/* set up the serial DMA polling */
|
||||
// Set up the serial DMA polling.
|
||||
static struct hrt_call serial_dma_call;
|
||||
struct timespec ts;
|
||||
|
||||
/*
|
||||
/**
|
||||
* Poll at 1ms intervals for received bytes that have not triggered
|
||||
* a DMA event.
|
||||
*/
|
||||
@@ -319,11 +319,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
#if defined(CONFIG_STM32_BBSRAM)
|
||||
|
||||
/* NB. the use of the console requires the hrt running
|
||||
* to poll the DMA
|
||||
/**
|
||||
* NB. the use of the console requires the hrt running
|
||||
* to poll the DMA.
|
||||
*/
|
||||
|
||||
/* Using Battery Backed Up SRAM */
|
||||
// Using Battery Backed Up SRAM.
|
||||
|
||||
int filesizes[CONFIG_STM32_BBSRAM_FILES + 1] = BSRAM_FILE_SIZES;
|
||||
|
||||
@@ -333,7 +334,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
/* Panic Logging in Battery Backed Up Files */
|
||||
|
||||
/*
|
||||
/**
|
||||
* In an ideal world, if a fault happens in flight the
|
||||
* system save it to BBSRAM will then reboot. Upon
|
||||
* rebooting, the system will log the fault to disk, recover
|
||||
@@ -347,8 +348,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
* the SD card?
|
||||
*/
|
||||
|
||||
/* Do we have an uncommitted hard fault in BBSRAM?
|
||||
* - this will be reset after a successful commit to SD
|
||||
/**
|
||||
* Do we have an uncommitted hard fault in BBSRAM?
|
||||
* - this will be reset after a successful commit to SD.
|
||||
*/
|
||||
int hadCrash = hardfault_check_status("boot");
|
||||
|
||||
@@ -357,20 +359,22 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
message("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
|
||||
" while booting to halt the system!\n");
|
||||
|
||||
/* Yes. So add one to the boot count - this will be reset after a successful
|
||||
* commit to SD
|
||||
/**
|
||||
* Yes. So add one to the boot count - this will be reset after a successful
|
||||
* commit to SD.
|
||||
*/
|
||||
|
||||
int reboots = hardfault_increment_reboot("boot", false);
|
||||
|
||||
/* Also end the misery for a user that holds for a key down on the console */
|
||||
/* Also end the misery for a user that holds for a key down on the console. */
|
||||
|
||||
int bytesWaiting;
|
||||
ioctl(fileno(stdin), FIONREAD, (unsigned long)((uintptr_t) &bytesWaiting));
|
||||
|
||||
if (reboots > 2 || bytesWaiting != 0) {
|
||||
|
||||
/* Since we can not commit the fault dump to disk. Display it
|
||||
/**
|
||||
* Since we can not commit the fault dump to disk. Display it
|
||||
* to the console.
|
||||
*/
|
||||
|
||||
@@ -381,11 +385,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
(bytesWaiting == 0 ? "" : " Due to Key Press\n"));
|
||||
|
||||
|
||||
/* For those of you with a debugger set a break point on up_assert and
|
||||
/**
|
||||
* For those of you with a debugger set a break point on up_assert and
|
||||
* then set dbgContinue = 1 and go.
|
||||
*/
|
||||
|
||||
/* Clear any key press that got us here */
|
||||
// Clear any key press that got us here.
|
||||
|
||||
static volatile bool dbgContinue = false;
|
||||
int c = '>';
|
||||
@@ -449,17 +454,17 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
#endif // CONFIG_STM32_SAVE_CRASHDUMP
|
||||
#endif // CONFIG_STM32_BBSRAM
|
||||
|
||||
/* initial LED state */
|
||||
// Initial LED state.
|
||||
drv_led_start();
|
||||
led_off(LED_RED);
|
||||
led_off(LED_GREEN);
|
||||
led_off(LED_BLUE);
|
||||
|
||||
/* Power up there sensors */
|
||||
// Power up the sensors.
|
||||
|
||||
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
|
||||
|
||||
/* Configure SPI-based devices */
|
||||
// Configure SPI-based devices.
|
||||
|
||||
spi1 = stm32_spibus_initialize(1);
|
||||
|
||||
@@ -470,7 +475,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
}
|
||||
|
||||
|
||||
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
|
||||
// Default SPI1 to 1MHz and de-assert the known chip selects.
|
||||
SPI_SETFREQUENCY(spi1, 10000000);
|
||||
SPI_SETBITS(spi1, 8);
|
||||
SPI_SETMODE(spi1, SPIDEV_MODE3);
|
||||
@@ -479,7 +484,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
|
||||
up_udelay(20);
|
||||
|
||||
/* Get the SPI port for the FRAM */
|
||||
// Get the SPI port for the FRAM.
|
||||
|
||||
spi2 = stm32_spibus_initialize(2);
|
||||
|
||||
@@ -489,11 +494,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default SPI2 to 12MHz and de-assert the known chip selects.
|
||||
* MS5611 has max SPI clock speed of 20MHz
|
||||
/**
|
||||
* Default SPI2 to 12MHz and de-assert the known chip selects.
|
||||
* MS5611 has max SPI clock speed of 20MHz.
|
||||
*/
|
||||
|
||||
// XXX start with 10.4 MHz and go up to 20 once validated
|
||||
// XXX start with 10.4 MHz and go up to 20 once validated.
|
||||
SPI_SETFREQUENCY(spi2, 20 * 1000 * 1000);
|
||||
SPI_SETBITS(spi2, 8);
|
||||
SPI_SETMODE(spi2, SPIDEV_MODE3);
|
||||
@@ -501,7 +507,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
SPI_SELECT(spi2, PX4_SPIDEV_BARO, false);
|
||||
|
||||
#ifdef CONFIG_MMCSD
|
||||
/* First, get an instance of the SDIO interface */
|
||||
// First, get an instance of the SDIO interface.
|
||||
|
||||
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
|
||||
|
||||
@@ -511,7 +517,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Now bind the SDIO interface to the MMC/SD driver */
|
||||
// Now bind the SDIO interface to the MMC/SD driver.
|
||||
int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
|
||||
|
||||
if (ret != OK) {
|
||||
@@ -519,7 +525,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
|
||||
// Then let's guess and say that there is a card in the slot. There is no card detect GPIO.
|
||||
sdio_mediachange(sdio, true);
|
||||
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user