fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-05 09:11:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added IOCTL and command for sensor rail reset (does not yet re-initialize sensor drivers)

Browse Source
This commit is contained in:
Lorenz Meier
2013-12-04 07:57:23 +01:00
parent edc5b68499
commit 881cf61553
2 changed files with 94 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4fmu/fmu.cpp
+77 -1
View File
@@ -1052,6 +1052,71 @@ PX4FMU::write(file *filp, const char *buffer, size_t len)
return count * 2;
}
void
PX4FMU::sensor_reset(int ms)
{
if (ms < 1) {
ms = 1;
}
/* disable SPI bus */
stm32_configgpio(GPIO_SPI_CS_GYRO_OFF);
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF);
stm32_configgpio(GPIO_SPI_CS_BARO_OFF);
stm32_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0);
stm32_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
stm32_configgpio(GPIO_SPI1_SCK_OFF);
stm32_configgpio(GPIO_SPI1_MISO_OFF);
stm32_configgpio(GPIO_SPI1_MOSI_OFF);
stm32_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
stm32_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
stm32_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
stm32_configgpio(GPIO_GYRO_DRDY_OFF);
stm32_configgpio(GPIO_MAG_DRDY_OFF);
stm32_configgpio(GPIO_ACCEL_DRDY_OFF);
stm32_gpiowrite(GPIO_GYRO_DRDY_OFF, 0);
stm32_gpiowrite(GPIO_MAG_DRDY_OFF, 0);
stm32_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0);
/* set the sensor rail off */
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* wait for the sensor rail to reach GND */
usleep(ms * 000);
/* re-enable power */
/* switch the sensor rail back on */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
#ifdef CONFIG_STM32_SPI1
stm32_configgpio(GPIO_SPI_CS_GYRO);
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
stm32_configgpio(GPIO_SPI_CS_BARO);
stm32_configgpio(GPIO_SPI_CS_MPU);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
#endif
}
void
PX4FMU::gpio_reset(void)
{
@@ -1154,6 +1219,10 @@ PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
gpio_reset();
break;
case SENSOR_RESET:
sensor_reset();
break;
case GPIO_SET_OUTPUT:
case GPIO_SET_INPUT:
case GPIO_SET_ALT_1:
@@ -1489,11 +1558,18 @@ fmu_main(int argc, char *argv[])
if (!strcmp(verb, "fake"))
fake(argc - 1, argv + 1);
if (!strcmp(verb, "sensor_reset"))
if (argc > 2) {
sensor_reset(strtol(argv[2], 0, 0));
} else {
sensor_reset(0);
}
fprintf(stderr, "FMU: unrecognised command, try:\n");
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test\n");
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
fprintf(stderr, " mode_gpio, mode_pwm, test\n");
fprintf(stderr, " mode_gpio, mode_pwm, test, sensor_reset [milliseconds]\n");
#endif
exit(1);
}