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platforms/nuttx: px4_init initialize and reset all I2C buses

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This commit is contained in:
Daniel Agar 2021-06-25 14:57:34 -04:00
parent 2b581ef407
commit 8a8171c7aa
1 changed files with 34 additions and 1 deletions
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35
platforms/nuttx/src/px4/common/px4_init.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2019, 2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -44,6 +44,10 @@
#include <fcntl.h>
#if defined(CONFIG_I2C)
# include <px4_platform_common/i2c.h>
# include <nuttx/i2c/i2c_master.h>
#endif // CONFIG_I2C
int px4_platform_init(void)
{
@ -72,6 +76,35 @@ int px4_platform_init(void)
cpuload_initialize_once();
#endif
#if defined(CONFIG_I2C)
I2CBusIterator i2c_bus_iterator {I2CBusIterator::FilterType::All};
while (i2c_bus_iterator.next()) {
i2c_master_s *i2c_dev = px4_i2cbus_initialize(i2c_bus_iterator.bus().bus);
#if defined(CONFIG_I2C_RESET)
I2C_RESET(i2c_dev);
#endif // CONFIG_I2C_RESET
// send software reset to all
uint8_t buf[1] {};
buf[0] = 0x06; // software reset
i2c_msg_s msg{};
msg.frequency = I2C_SPEED_STANDARD;
msg.addr = 0x00; // general call address
msg.buffer = &buf[0];
msg.length = 1;
I2C_TRANSFER(i2c_dev, &msg, 1);
px4_i2cbus_uninitialize(i2c_dev);
}
#endif // CONFIG_I2C
px4::WorkQueueManagerStart();
uorb_start();