diff --git a/src/drivers/boards/px4fmu-v4/board_config.h b/src/drivers/boards/px4fmu-v4/board_config.h index e097f4a9ec..076d46caea 100644 --- a/src/drivers/boards/px4fmu-v4/board_config.h +++ b/src/drivers/boards/px4fmu-v4/board_config.h @@ -65,27 +65,35 @@ #define BOARD_HAS_CONTROL_STATUS_LEDS 1 -/* Define the Chip Selects for SPI1 +/** + * Define the Chip Selects for SPI1 * CS Devices DRDY * ---- ----------------------------------------------- ----- - PC2 MPU9250 BMI160 PD15 - PC15 ICM, ICM_20602, ICM_20608 BMI055_ACCEL PC14 - PE15 HMC5983 BMI055_GYRO PE12 + * PC2 MPU9250 BMI160 PD15 + * PC15 ICM, ICM_20602, ICM_20608 BMI055_ACCEL PC14 + * PE15 HMC5983 BMI055_GYRO PE12 * ---- ----------------------------------------------- ----- -*/ -/* The BMI160 sensor replaces the MPU9250 on some boards. Only one is actually present and connected - * to the second GPIO pin on port C. The wrong driver will fail during start because of an incorrect WHO_AM_I register.*/ + */ + +/** + * The BMI160 sensor replaces the MPU9250 on some boards. Only one is actually present and connected + * to the second GPIO pin on port C. The wrong driver will fail during start because of an incorrect WHO_AM_I register. + */ #define GPIO_SPI1_CS_PORTC_PIN2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2) -/* The BMI055 acceleration sensor replaces the ICM20608G on some boards. Only one is actually present and connected - * to the second GPIO pin on port C. The wrong driver will fail during start because of an incorrect WHO_AM_I register.*/ +/** + * The BMI055 acceleration sensor replaces the ICM20608G on some boards. Only one is actually present and connected + * to the second GPIO pin on port C. The wrong driver will fail during start because of an incorrect WHO_AM_I register. + */ #define GPIO_SPI1_CS_PORTC_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) -/* The BMI055 gyroscope sensor replaces the LIS3MDL, HMC5983 on some boards. Only one is actually present and connected - * to the second GPIO pin on port E. The wrong driver will fail during start because of an incorrect WHO_AM_I register.*/ +/** + * The BMI055 gyroscope sensor replaces the LIS3MDL, HMC5983 on some boards. Only one is actually present and connected + * to the second GPIO pin on port E. The wrong driver will fail during start because of an incorrect WHO_AM_I register. + */ #define GPIO_SPI1_CS_PORTE_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15) -/* Define the Data Ready interrupts On SPI 1*/ +/* Define the Data Ready interrupts On SPI 1. */ #define GPIO_DRDY_PORTD_PIN15 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) #define GPIO_DRDY_PORTC_PIN14 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14) @@ -93,39 +101,40 @@ -/* Define the Chip Selects for SPI2 */ +/* Define the Chip Selects for SPI2. */ #define GPIO_SPI2_CS_MS5611 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7) #define GPIO_SPI2_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10) -/* There are no DRDY on SPI 2 */ +/* There are no DRDY on SPI 2. */ -/* - * Define the ability to shut off off the sensor signals - * by changing the signals to inputs +/** + * Define the ability to shut off off the sensor signals + * by changing the signals to inputs. */ #define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz)) -/* SPI 1 bus off */ +/* SPI 1 bus off. */ #define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK) #define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO) #define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI) -/* SPI 1 CS's off */ +/* SPI 1 CS's off. */ #define GPIO_SPI1_CS_OFF_PORTC_PIN2 _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN2) #define GPIO_SPI1_CS_OFF_PORTC_PIN15 _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN15) #define GPIO_SPI1_CS_OFF_PORTE_PIN15 _PIN_OFF(GPIO_SPI1_CS_PORTE_PIN15) -/* SPI 1 DRDY's off */ +/* SPI 1 DRDY's off. */ #define GPIO_DRDY_OFF_PORTD_PIN15 _PIN_OFF(GPIO_DRDY_PORTD_PIN15) #define GPIO_DRDY_OFF_PORTC_PIN14 _PIN_OFF(GPIO_DRDY_PORTC_PIN14) #define GPIO_DRDY_OFF_PORTE_PIN12 _PIN_OFF(GPIO_DRDY_PORTE_PIN12) -/* N.B we do not have control over the SPI 2 buss powered devices +/** + * N.B we do not have control over the SPI 2 buss powered devices * so the the ms5611 is not resetable. */ @@ -149,9 +158,10 @@ #define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 13) #define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 14) -/* onboard MS5611 and FRAM are both on bus SPI2 - * spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver - * PX4_MK_SPI_SEL differentiate by adding in PX4_SPI_DEVICE_ID +/** + * Onboard MS5611 and FRAM are both on bus SPI2. + * spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver. + * PX4_MK_SPI_SEL differentiate by adding in PX4_SPI_DEVICE_ID. */ #define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO, 3) @@ -159,34 +169,33 @@ #define PX4_I2C_BUS_EXPANSION 1 #define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION -/* Devices on the external bus. - * +/** + * Devices on the external bus. * Note that these are unshifted addresses. */ #define PX4_I2C_OBDEV_BMP280 0x76 -/* +/** * ADC channels * - * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver + * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver. */ #define ADC_CHANNELS (1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) -// ADC defines to be used in sensors.cpp to read from a particular channel +/* ADC defines to be used in sensors.cpp to read from a particular channel. */ #define ADC_BATTERY_VOLTAGE_CHANNEL 2 #define ADC_BATTERY_CURRENT_CHANNEL 3 #define ADC_5V_RAIL_SENSE 4 #define ADC_RC_RSSI_CHANNEL 11 -/* Define Battery 1 Voltage Divider and A per V - */ +/* Define Battery 1 Voltage Divider and A per V. */ #define BOARD_BATTERY1_V_DIV (13.653333333f) #define BOARD_BATTERY1_A_PER_V (36.367515152f) -/* User GPIOs - * +/** + * User GPIOs: * GPIO0-5 are the PWM servo outputs. */ #define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14) @@ -203,18 +212,19 @@ #define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) #define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) -/* Power supply control and monitoring GPIOs */ +/* Power supply control and monitoring GPIOs. */ #define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) #define GPIO_VDD_USB_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0) #define GPIO_VDD_3V3_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3) -/* Tone alarm output */ +/* Tone alarm output. */ #define TONE_ALARM_TIMER 2 /* timer 2 */ #define TONE_ALARM_CHANNEL 1 /* channel 1 */ #define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) #define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15) -/* PWM +/** + * PWM: * * Six PWM outputs are configured. * @@ -228,7 +238,8 @@ * CH6 : PD14 : TIM4_CH3 */ -/* N.B. the added pull down, on the timer being disabled the PD +/** + * N.B. the added pull down, on the timer being disabled the PD * will keep the channel low */ #define GPIO_TIM1_CH1OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9) @@ -247,22 +258,23 @@ #define GPIO_TIM4_CH3IN GPIO_TIM4_CH3IN_2 #define DIRECT_INPUT_TIMER_CHANNELS 6 -/* USB OTG FS +/** + * USB OTG FS: * - * PA9 OTG_FS_VBUS VBUS sensing + * PA9 OTG_FS_VBUS VBUS sensing. */ #define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9) /* High-resolution timer */ -#define HRT_TIMER 3 /* use timer 3 for the HRT */ -#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */ +#define HRT_TIMER 3 /* use timer 3 for the HRT */ +#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */ -#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */ +#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */ #define GPIO_PPM_IN (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0) #define RC_SERIAL_PORT "/dev/ttyS4" -/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */ +/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2. */ #define PWMIN_TIMER 4 #define PWMIN_TIMER_CHANNEL 2 #define GPIO_PWM_IN GPIO_TIM4_CH2IN_2 @@ -271,7 +283,7 @@ #define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN3) #define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4) #define GPIO_PERIPH_3V3_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5) -/* for R12, this signal is active high */ +/* For R12, this signal is active high. */ #define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) #define BOARD_INVERT_RC_INPUT(_invert_true, _na) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true) @@ -281,11 +293,11 @@ #define GPIO_8266_PD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5) #define GPIO_8266_RST (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6) -/* Power switch controls ******************************************************/ +/* Power switch controls */ #define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (!_on_true)) -/* +/** * FMUv4 has separate RC_IN * * GPIO PPM_IN on PB0 T3C3 @@ -301,7 +313,8 @@ #define BOARD_NAME "PX4FMU_V4" -/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction) +/** + * By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction) * this board support the ADC system_power interface, and therefore * provides the true logic GPIO BOARD_ADC_xxxx macros. */ @@ -325,9 +338,8 @@ {GPIO_VDD_BRICK_VALID, 0, 0}, \ {GPIO_VDD_USB_VALID, 0, 0}, } -/* +/** * PX4FMUv4 GPIO numbers. - * * There are no alternate functions on this board. */ #define GPIO_SERVO_1 (1<<0) /**< servo 1 output */ @@ -341,7 +353,7 @@ #define GPIO_BRICK_VALID (1<<8) /**< PB5 - !VDD_BRICK_VALID */ #define GPIO_USB_VALID (1<<9) /**< PC0 - !GPIO_VDD_USB_VALID */ -/* This board provides a DMA pool and APIs */ +/* This board provides a DMA pool and APIs. */ #define BOARD_DMA_ALLOC_POOL_SIZE 5120 #define BOARD_HAS_ON_RESET 1 diff --git a/src/drivers/boards/px4fmu-v4/init.c b/src/drivers/boards/px4fmu-v4/init.c index 74f0381b50..b96d780741 100644 --- a/src/drivers/boards/px4fmu-v4/init.c +++ b/src/drivers/boards/px4fmu-v4/init.c @@ -103,7 +103,7 @@ # endif #endif -/* +/** * Ideally we'd be able to get these from up_internal.h, * but since we want to be able to disable the NuttX use * of leds for system indication at will and there is no @@ -130,22 +130,21 @@ __END_DECLS ************************************************************************************/ __EXPORT void board_peripheral_reset(int ms) { - /* set the peripheral rails off */ + // Set the peripheral rails off. stm32_configgpio(GPIO_PERIPH_3V3_EN); stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 0); bool last = stm32_gpioread(GPIO_SPEKTRUM_PWR_EN); - /* Keep Spektum on to discharge rail*/ + // Keep Spektum on to discharge rail. stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, 1); - /* wait for the peripheral rail to reach GND */ + // Wait for the peripheral rail to reach GND. usleep(ms * 1000); warnx("reset done, %d ms", ms); - /* re-enable power */ - - /* switch the peripheral rail back on */ + // Re-enable power. + // Switch the peripheral rail back on. stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, last); stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 1); @@ -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 */ + // Reset all PWM to Low outputs. board_on_reset(-1); - /* configure LEDs */ + // Configure LEDs. 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