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px4fmu-v4pro:Board does CAN GPIO init

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This commit is contained in:
David Sidrane
2018-07-25 15:55:30 -07:00
committed by Daniel Agar
parent f2fbffab84
commit 5da93ad7c5
2 changed files with 50 additions and 43 deletions
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platforms/nuttx/nuttx-configs/px4fmu-v4pro/include/board.h
+24 -24
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@@ -269,24 +269,24 @@
* The following definitions are used to access individual LEDs. * The following definitions are used to access individual LEDs.
*/ */
/* LED index values for use with board_userled() */ /* LED index values for use with board_userled() */
#define BOARD_LED1 0 #define BOARD_LED1 0
#define BOARD_LED2 1 #define BOARD_LED2 1
#define BOARD_LED3 2 #define BOARD_LED3 2
#define BOARD_NLEDS 3 #define BOARD_NLEDS 3
#define BOARD_LED_RED BOARD_LED1 #define BOARD_LED_RED BOARD_LED1
#define BOARD_LED_GREEN BOARD_LED2 #define BOARD_LED_GREEN BOARD_LED2
#define BOARD_LED_BLUE BOARD_LED3 #define BOARD_LED_BLUE BOARD_LED3
/* LED bits for use with board_userled_all() */ /* LED bits for use with board_userled_all() */
#define BOARD_LED1_BIT (1 << BOARD_LED1) #define BOARD_LED1_BIT (1 << BOARD_LED1)
#define BOARD_LED2_BIT (1 << BOARD_LED2) #define BOARD_LED2_BIT (1 << BOARD_LED2)
#define BOARD_LED3_BIT (1 << BOARD_LED3) #define BOARD_LED3_BIT (1 << BOARD_LED3)
/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in /* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
* include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
* events as follows: * events as follows:
* *
@@ -295,17 +295,17 @@
* Red Green Blue * Red Green Blue
* ---------------------- -------------------------- ------ ------ ----*/ * ---------------------- -------------------------- ------ ------ ----*/
#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */ #define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */
#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */ #define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */
#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */ #define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */
#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */ #define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */
#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */ #define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */
#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */ #define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */
#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */ #define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */
#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */ #define LED_PANIC 7 /* The system has crashed Blink OFF N/C */
#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */ #define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */
/* Thus if the Green LED is statically on, NuttX has successfully booted and /* Thus if the Green LED is statically on, NuttX has successfully booted and
* is, apparently, running normally. If the Red LED is flashing at * is, apparently, running normally. If the Red LED is flashing at
* approximately 2Hz, then a fatal error has been detected and the system * approximately 2Hz, then a fatal error has been detected and the system
* has halted. * has halted.
@@ -348,7 +348,7 @@
/* /*
* CAN * CAN
* *
* CAN1 is routed to the onboard transceiver. * CAN1 and CAN2 is routed to the onboard transceiver.
*/ */
#define GPIO_CAN1_RX GPIO_CAN1_RX_3 #define GPIO_CAN1_RX GPIO_CAN1_RX_3
#define GPIO_CAN1_TX GPIO_CAN1_TX_3 #define GPIO_CAN1_TX GPIO_CAN1_TX_3
src/drivers/boards/px4fmu-v4pro/init.c
+7
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@@ -227,6 +227,13 @@ stm32_boardinitialize(void)
stm32_configgpio(GPIO_ADC1_IN11); /* BATT2_VOLTAGE_SENS */ stm32_configgpio(GPIO_ADC1_IN11); /* BATT2_VOLTAGE_SENS */
stm32_configgpio(GPIO_ADC1_IN13); /* BATT2_CURRENT_SENS */ stm32_configgpio(GPIO_ADC1_IN13); /* BATT2_CURRENT_SENS */
/* configure CAN interfaces */
stm32_configgpio(GPIO_CAN1_RX);
stm32_configgpio(GPIO_CAN1_TX);
stm32_configgpio(GPIO_CAN2_RX);
stm32_configgpio(GPIO_CAN2_TX);
/* configure power supply control/sense pins */ /* configure power supply control/sense pins */
stm32_configgpio(GPIO_VDD_3V3_PERIPH_EN); stm32_configgpio(GPIO_VDD_3V3_PERIPH_EN);
stm32_configgpio(GPIO_VDD_5V_PERIPH_EN); stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);