mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-24 00:43:33 +08:00
Major formatting/whitespace cleanup
This commit is contained in:
px4dev
@@ -99,25 +99,22 @@ int adc_devinit(void)
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/* Check if we have already initialized */
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if (!initialized)
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{
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if (!initialized) {
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char name[11];
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for (i = 0; i < ADC3_NCHANNELS; i++)
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{
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stm32_configgpio(g_pinlist[i]);
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for (i = 0; i < ADC3_NCHANNELS; i++) {
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stm32_configgpio(g_pinlist[i]);
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}
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for (i = 0; i < 1; i++)
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{
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for (i = 0; i < 1; i++) {
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/* Configure the pins as analog inputs for the selected channels */
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//stm32_configgpio(g_pinlist[i]);
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/* Call stm32_adcinitialize() to get an instance of the ADC interface */
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//multiple channels only supported with dma!
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adc[i] = stm32_adcinitialize(3, (g_chanlist), 4);
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if (adc == NULL)
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{
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if (adc == NULL) {
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adbg("ERROR: Failed to get ADC interface\n");
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return -ENODEV;
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}
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@@ -126,8 +123,8 @@ int adc_devinit(void)
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/* Register the ADC driver at "/dev/adc0" */
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sprintf(name, "/dev/adc%d", i);
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ret = adc_register(name, adc[i]);
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if (ret < 0)
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{
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if (ret < 0) {
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adbg("adc_register failed for adc %s: %d\n", name, ret);
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return ret;
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}
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@@ -107,36 +107,35 @@
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int can_devinit(void)
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{
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static bool initialized = false;
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struct can_dev_s *can;
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int ret;
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static bool initialized = false;
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struct can_dev_s *can;
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int ret;
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/* Check if we have already initialized */
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/* Check if we have already initialized */
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if (!initialized)
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{
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/* Call stm32_caninitialize() to get an instance of the CAN interface */
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if (!initialized) {
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/* Call stm32_caninitialize() to get an instance of the CAN interface */
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can = stm32_caninitialize(CAN_PORT);
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if (can == NULL)
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{
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candbg("ERROR: Failed to get CAN interface\n");
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return -ENODEV;
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}
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can = stm32_caninitialize(CAN_PORT);
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/* Register the CAN driver at "/dev/can0" */
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if (can == NULL) {
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candbg("ERROR: Failed to get CAN interface\n");
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return -ENODEV;
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}
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ret = can_register("/dev/can0", can);
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if (ret < 0)
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{
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candbg("ERROR: can_register failed: %d\n", ret);
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return ret;
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}
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/* Register the CAN driver at "/dev/can0" */
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/* Now we are initialized */
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ret = can_register("/dev/can0", can);
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initialized = true;
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}
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if (ret < 0) {
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candbg("ERROR: can_register failed: %d\n", ret);
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return ret;
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}
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return OK;
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/* Now we are initialized */
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initialized = true;
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}
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return OK;
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}
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@@ -34,7 +34,7 @@
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/**
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* @file px4fmu_init.c
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*
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* PX4FMU-specific early startup code. This file implements the
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* PX4FMU-specific early startup code. This file implements the
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* nsh_archinitialize() function that is called early by nsh during startup.
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*
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* Code here is run before the rcS script is invoked; it should start required
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@@ -115,11 +115,11 @@ extern int adc_devinit(void);
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__EXPORT void stm32_boardinitialize(void)
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{
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/* configure SPI interfaces */
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stm32_spiinitialize();
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/* configure SPI interfaces */
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stm32_spiinitialize();
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/* configure LEDs */
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up_ledinit();
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/* configure LEDs */
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up_ledinit();
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}
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/****************************************************************************
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@@ -139,171 +139,179 @@ static struct i2c_dev_s *i2c3;
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#include <math.h>
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#ifdef __cplusplus
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__EXPORT int matherr(struct __exception *e) {
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return 1;
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__EXPORT int matherr(struct __exception *e)
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{
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return 1;
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}
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#else
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__EXPORT int matherr(struct exception *e) {
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return 1;
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__EXPORT int matherr(struct exception *e)
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{
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return 1;
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}
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#endif
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__EXPORT int nsh_archinitialize(void)
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{
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int result;
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int result;
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/* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
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/* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
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/* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
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/* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
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/* configure the high-resolution time/callout interface */
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/* configure the high-resolution time/callout interface */
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#ifdef CONFIG_HRT_TIMER
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hrt_init();
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hrt_init();
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#endif
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/* configure CPU load estimation */
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#ifdef CONFIG_SCHED_INSTRUMENTATION
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cpuload_initialize_once();
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#endif
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/* configure CPU load estimation */
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#ifdef CONFIG_SCHED_INSTRUMENTATION
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cpuload_initialize_once();
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#endif
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/* set up the serial DMA polling */
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/* set up the serial DMA polling */
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#ifdef SERIAL_HAVE_DMA
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{
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static struct hrt_call serial_dma_call;
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struct timespec ts;
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{
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static struct hrt_call serial_dma_call;
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struct timespec ts;
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/*
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* Poll at 1ms intervals for received bytes that have not triggered
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* a DMA event.
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*/
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ts.tv_sec = 0;
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ts.tv_nsec = 1000000;
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/*
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* Poll at 1ms intervals for received bytes that have not triggered
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* a DMA event.
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*/
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ts.tv_sec = 0;
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ts.tv_nsec = 1000000;
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hrt_call_every(&serial_dma_call,
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ts_to_abstime(&ts),
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ts_to_abstime(&ts),
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(hrt_callout)stm32_serial_dma_poll,
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NULL);
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}
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hrt_call_every(&serial_dma_call,
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ts_to_abstime(&ts),
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ts_to_abstime(&ts),
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(hrt_callout)stm32_serial_dma_poll,
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NULL);
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}
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#endif
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message("\r\n");
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message("\r\n");
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up_ledoff(LED_BLUE);
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up_ledoff(LED_AMBER);
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up_ledoff(LED_BLUE);
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up_ledoff(LED_AMBER);
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up_ledon(LED_BLUE);
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up_ledon(LED_BLUE);
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/* Configure user-space led driver */
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px4fmu_led_init();
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/* Configure user-space led driver */
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px4fmu_led_init();
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/* Configure SPI-based devices */
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/* Configure SPI-based devices */
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spi1 = up_spiinitialize(1);
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if (!spi1)
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{
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message("[boot] FAILED to initialize SPI port 1\r\n");
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up_ledon(LED_AMBER);
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return -ENODEV;
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}
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spi1 = up_spiinitialize(1);
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// Default SPI1 to 1MHz and de-assert the known chip selects.
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SPI_SETFREQUENCY(spi1, 10000000);
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SPI_SETBITS(spi1, 8);
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SPI_SETMODE(spi1, SPIDEV_MODE3);
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SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
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SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
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SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
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up_udelay(20);
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if (!spi1) {
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message("[boot] FAILED to initialize SPI port 1\r\n");
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up_ledon(LED_AMBER);
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return -ENODEV;
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}
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message("[boot] Successfully initialized SPI port 1\r\n");
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// Default SPI1 to 1MHz and de-assert the known chip selects.
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SPI_SETFREQUENCY(spi1, 10000000);
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SPI_SETBITS(spi1, 8);
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SPI_SETMODE(spi1, SPIDEV_MODE3);
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SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
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SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
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SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
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up_udelay(20);
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/* initialize I2C2 bus */
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message("[boot] Successfully initialized SPI port 1\r\n");
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i2c2 = up_i2cinitialize(2);
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if (!i2c2) {
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message("[boot] FAILED to initialize I2C bus 2\n");
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up_ledon(LED_AMBER);
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return -ENODEV;
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}
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/* initialize I2C2 bus */
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/* set I2C2 speed */
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I2C_SETFREQUENCY(i2c2, 400000);
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i2c2 = up_i2cinitialize(2);
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if (!i2c2) {
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message("[boot] FAILED to initialize I2C bus 2\n");
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up_ledon(LED_AMBER);
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return -ENODEV;
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}
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/* set I2C2 speed */
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I2C_SETFREQUENCY(i2c2, 400000);
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i2c3 = up_i2cinitialize(3);
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if (!i2c3) {
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message("[boot] FAILED to initialize I2C bus 3\n");
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up_ledon(LED_AMBER);
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return -ENODEV;
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}
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i2c3 = up_i2cinitialize(3);
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/* set I2C3 speed */
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I2C_SETFREQUENCY(i2c3, 400000);
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if (!i2c3) {
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message("[boot] FAILED to initialize I2C bus 3\n");
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up_ledon(LED_AMBER);
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return -ENODEV;
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}
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/* try to attach, don't fail if device is not responding */
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(void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS,
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FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
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FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
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FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
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/* set I2C3 speed */
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I2C_SETFREQUENCY(i2c3, 400000);
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/* try to attach, don't fail if device is not responding */
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(void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS,
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FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
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FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
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FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
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#if defined(CONFIG_STM32_SPI3)
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/* Get the SPI port */
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/* Get the SPI port */
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message("[boot] Initializing SPI port 3\n");
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spi3 = up_spiinitialize(3);
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if (!spi3)
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{
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message("[boot] FAILED to initialize SPI port 3\n");
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up_ledon(LED_AMBER);
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return -ENODEV;
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}
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message("[boot] Successfully initialized SPI port 3\n");
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message("[boot] Initializing SPI port 3\n");
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spi3 = up_spiinitialize(3);
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/* Now bind the SPI interface to the MMCSD driver */
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result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
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if (result != OK)
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{
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message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
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up_ledon(LED_AMBER);
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return -ENODEV;
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}
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message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
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if (!spi3) {
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message("[boot] FAILED to initialize SPI port 3\n");
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up_ledon(LED_AMBER);
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return -ENODEV;
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}
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message("[boot] Successfully initialized SPI port 3\n");
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/* Now bind the SPI interface to the MMCSD driver */
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result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
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if (result != OK) {
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message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
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up_ledon(LED_AMBER);
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return -ENODEV;
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}
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message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
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#endif /* SPI3 */
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/* initialize I2C1 bus */
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/* initialize I2C1 bus */
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i2c1 = up_i2cinitialize(1);
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if (!i2c1) {
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message("[boot] FAILED to initialize I2C bus 1\n");
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up_ledon(LED_AMBER);
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return -ENODEV;
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}
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i2c1 = up_i2cinitialize(1);
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/* set I2C1 speed */
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I2C_SETFREQUENCY(i2c1, 400000);
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if (!i2c1) {
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message("[boot] FAILED to initialize I2C bus 1\n");
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up_ledon(LED_AMBER);
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return -ENODEV;
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}
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/* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
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/* set I2C1 speed */
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I2C_SETFREQUENCY(i2c1, 400000);
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/* Get board information if available */
|
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/* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
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|
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/* Initialize the user GPIOs */
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px4fmu_gpio_init();
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/* Get board information if available */
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/* Initialize the user GPIOs */
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px4fmu_gpio_init();
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#ifdef CONFIG_ADC
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int adc_state = adc_devinit();
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if (adc_state != OK)
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{
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/* Try again */
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adc_state = adc_devinit();
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if (adc_state != OK)
|
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{
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/* Give up */
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message("[boot] FAILED adc_devinit: %d\n", adc_state);
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return -ENODEV;
|
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}
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}
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int adc_state = adc_devinit();
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||||
|
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if (adc_state != OK) {
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/* Try again */
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adc_state = adc_devinit();
|
||||
|
||||
if (adc_state != OK) {
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||||
/* Give up */
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message("[boot] FAILED adc_devinit: %d\n", adc_state);
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||||
return -ENODEV;
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
return OK;
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||||
return OK;
|
||||
}
|
||||
|
||||
@@ -95,21 +95,24 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
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||||
stm32_gpiowrite(GPIO_SPI_CS_MPU, selected);
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||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, selected);
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||||
break;
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||||
|
||||
case PX4_SPIDEV_ACCEL:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_MPU, selected);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, selected);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_MPU:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, selected);
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||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, selected);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -77,16 +77,16 @@
|
||||
|
||||
__EXPORT void stm32_usbinitialize(void)
|
||||
{
|
||||
/* The OTG FS has an internal soft pull-up */
|
||||
/* The OTG FS has an internal soft pull-up */
|
||||
|
||||
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
||||
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
||||
|
||||
#ifdef CONFIG_STM32_OTGFS
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
/* XXX We only support device mode
|
||||
stm32_configgpio(GPIO_OTGFS_PWRON);
|
||||
stm32_configgpio(GPIO_OTGFS_OVER);
|
||||
*/
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
/* XXX We only support device mode
|
||||
stm32_configgpio(GPIO_OTGFS_PWRON);
|
||||
stm32_configgpio(GPIO_OTGFS_OVER);
|
||||
*/
|
||||
#endif
|
||||
}
|
||||
|
||||
@@ -103,6 +103,6 @@ __EXPORT void stm32_usbinitialize(void)
|
||||
|
||||
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
ulldbg("resume: %d\n", resume);
|
||||
ulldbg("resume: %d\n", resume);
|
||||
}
|
||||
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Reference in New Issue
Block a user