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Added workaround for hardware issue on Pixhawk v1

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This commit is contained in:
Pavel Kirienko
2014-05-06 20:14:07 +04:00
parent 7d7a375dd1
commit 5716dad25d
2 changed files with 8 additions and 2 deletions
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src/modules/uavcan/uavcan_main.cpp
+7 -1
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@@ -37,6 +37,7 @@
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <arch/board/board.h>
#include <arch/chip/chip.h>
#include "uavcan_main.hpp"
extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);
@@ -53,9 +54,14 @@ void print_usage()
int test_thread(int argc, char *argv[])
{
/*
* Forced pull up on CAN2 is required for Pixhawk v1 where the second interface lacks a transceiver.
* If no transceiver is connected, the RX pin will float, occasionally causing CAN controller to
* fail during initialization.
*/
stm32_configgpio(GPIO_CAN1_RX);
stm32_configgpio(GPIO_CAN1_TX);
stm32_configgpio(GPIO_CAN2_RX);
stm32_configgpio(GPIO_CAN2_RX | GPIO_PULLUP);
stm32_configgpio(GPIO_CAN2_TX);
int res = can_driver.init(1000000);
if (res < 0)