fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 03:41:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

px4_fmu-v6x_bootloader:Ensure PWM pins are low from boot

Browse Source
This commit is contained in:
David Sidrane
2022-09-15 19:24:50 -04:00
committed by Daniel Agar
parent 585e81fc30
commit eaac84ab20
3 changed files with 14 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/px4/fmu-v6x/src/CMakeLists.txt
+5
View File
@@ -31,14 +31,19 @@
# #
############################################################################ ############################################################################
if("${PX4_BOARD_LABEL}" STREQUAL "bootloader") if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
add_compile_definitions(BOOTLOADER)
add_library(drivers_board add_library(drivers_board
bootloader_main.c bootloader_main.c
init.c
usb.c usb.c
timer_config.cpp
) )
target_link_libraries(drivers_board target_link_libraries(drivers_board
PRIVATE PRIVATE
nuttx_arch # sdio nuttx_arch # sdio
nuttx_drivers # sdio nuttx_drivers # sdio
px4_layer #gpio
arch_io_pins # iotimer
bootloader bootloader
) )
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common) target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
boards/px4/fmu-v6x/src/bootloader_main.c
-13
View File
@@ -50,19 +50,6 @@
extern int sercon_main(int c, char **argv); 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) void board_late_initialize(void)
{ {
sercon_main(0, NULL); sercon_main(0, NULL);
boards/px4/fmu-v6x/src/init.c
+9 -5
View File
@@ -141,7 +141,7 @@ __EXPORT void board_peripheral_reset(int ms)
__EXPORT void board_on_reset(int status) __EXPORT void board_on_reset(int status)
{ {
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) { 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) { if (status >= 0) {
@@ -208,6 +208,8 @@ stm32_boardinitialize(void)
__EXPORT int board_app_initialize(uintptr_t arg) __EXPORT int board_app_initialize(uintptr_t arg)
{ {
#if !defined(BOOTLOADER)
/* Power on Interfaces */ /* Power on Interfaces */
VDD_3V3_SD_CARD_EN(true); VDD_3V3_SD_CARD_EN(true);
VDD_5V_PERIPH_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"); 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. // 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; static struct hrt_call serial_dma_call;
hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL); hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
#endif # endif
/* initial LED state */ /* initial LED state */
drv_led_start(); drv_led_start();
@@ -268,7 +270,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
VDD_3V3_SD_CARD_EN(true); VDD_3V3_SD_CARD_EN(true);
usleep(500 * 1000); usleep(500 * 1000);
#ifdef CONFIG_MMCSD # ifdef CONFIG_MMCSD
int ret = stm32_sdio_initialize(); int ret = stm32_sdio_initialize();
if (ret != OK) { if (ret != OK) {
@@ -276,7 +278,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
return ret; return ret;
} }
#endif /* CONFIG_MMCSD */ # endif /* CONFIG_MMCSD */
#endif /* !defined(BOOTLOADER) */
return OK; return OK;
} }