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px4_fmu-v6x_bootloader:Ensure PWM pins are low from boot

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This commit is contained in:
David Sidrane 2022-04-25 10:11:34 -07:00 committed by Daniel Agar
parent 585e81fc30
commit eaac84ab20
3 changed files with 14 additions and 18 deletions
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5
boards/px4/fmu-v6x/src/CMakeLists.txt
View File

@ -31,14 +31,19 @@
#
############################################################################
if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
add_compile_definitions(BOOTLOADER)
add_library(drivers_board
bootloader_main.c
init.c
usb.c
timer_config.cpp
)
target_link_libraries(drivers_board
PRIVATE
nuttx_arch # sdio
nuttx_drivers # sdio
px4_layer #gpio
arch_io_pins # iotimer
bootloader
)
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)

13
boards/px4/fmu-v6x/src/bootloader_main.c
View File

@ -50,19 +50,6 @@
extern int sercon_main(int c, char **argv);
__EXPORT void board_on_reset(int status) {}
__EXPORT void stm32_boardinitialize(void)
{
/* configure USB interfaces */
stm32_usbinitialize();
}
__EXPORT int board_app_initialize(uintptr_t arg)
{
return 0;
}
void board_late_initialize(void)
{
sercon_main(0, NULL);

14
boards/px4/fmu-v6x/src/init.c
View File

@ -141,7 +141,7 @@ __EXPORT void board_peripheral_reset(int ms)
__EXPORT void board_on_reset(int status)
{
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
}
if (status >= 0) {
@ -208,6 +208,8 @@ stm32_boardinitialize(void)
__EXPORT int board_app_initialize(uintptr_t arg)
{
#if !defined(BOOTLOADER)
/* Power on Interfaces */
VDD_3V3_SD_CARD_EN(true);
VDD_5V_PERIPH_EN(true);
@ -247,11 +249,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
}
#if defined(SERIAL_HAVE_RXDMA)
# if defined(SERIAL_HAVE_RXDMA)
// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
static struct hrt_call serial_dma_call;
hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
#endif
# endif
/* initial LED state */
drv_led_start();
@ -268,7 +270,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
VDD_3V3_SD_CARD_EN(true);
usleep(500 * 1000);
#ifdef CONFIG_MMCSD
# ifdef CONFIG_MMCSD
int ret = stm32_sdio_initialize();
if (ret != OK) {
@ -276,7 +278,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
return ret;
}
#endif /* CONFIG_MMCSD */
# endif /* CONFIG_MMCSD */
#endif /* !defined(BOOTLOADER) */
return OK;
}