mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-23 22:58:10 +08:00
Changes to px4fmu-v1 for upstream Nuttx
This commit is contained in:
David Sidrane
committed by
Lorenz Meier
Lorenz Meier
parent
64c00e6c95
commit
82cb9353d1
@@ -1,5 +1,7 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
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set(config_module_list
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@@ -1,5 +1,5 @@
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/************************************************************************************
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* configs/stm32f4discovery/include/board.h
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* nuttx-configs/px4fmu-v1/include/board.h
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* include/arch/board/board.h
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*
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* Copyright (C) 2012 Gregory Nutt. All rights reserved.
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@@ -150,11 +150,23 @@
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/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
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* otherwise frequency is 2xAPBx.
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* Note: TIM1,8 are on APB2, others on APB1
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* Note: TIM1,8-11 are on APB2, others on APB1
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*/
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#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY)
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#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY)
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#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
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#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
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#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
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#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
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#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
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#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
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#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
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#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN
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#define BOARD_TIM9_FREQUENCY STM32_APB2_TIM9_CLKIN
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#define BOARD_TIM10_FREQUENCY STM32_APB2_TIM10_CLKIN
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#define BOARD_TIM11_FREQUENCY STM32_APB2_TIM11_CLKIN
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#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
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#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
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#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
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/* LED definitions ******************************************************************/
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/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
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@@ -1,5 +1,5 @@
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############################################################################
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# configs/px4fmu-v1/nsh/Make.defs
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# nuttx-configs/px4fmu-v1/nsh/Make.defs
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#
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# Copyright (C) 2011 Gregory Nutt. All rights reserved.
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# Author: Gregory Nutt <gnutt@nuttx.org>
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@@ -35,14 +35,14 @@
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include ${TOPDIR}/.config
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include ${TOPDIR}/tools/Config.mk
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include $(TOPDIR)/PX4_Warnings.mk
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include $(TOPDIR)/PX4_Config.mk
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#
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# We only support building with the ARM bare-metal toolchain from
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# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
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#
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CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
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CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI${HOST_OS_FIRST_LETTER}
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include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
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@@ -62,17 +62,18 @@ ARCHCPUFLAGS = -mcpu=cortex-m4 \
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-mfpu=fpv4-sp-d16 \
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-mfloat-abi=hard
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# Enable precise stack overflow tracking
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# enable precise stack overflow tracking
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ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
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INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
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endif
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# pull in *just* libm from the toolchain ... this is grody
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# Pull in *just* libm from the toolchain ... this is grody
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LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
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EXTRA_LIBS += $(LIBM)
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# use our linker script
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# Use our linker script
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LDSCRIPT = ld.script
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ifeq ($(WINTOOL),y)
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@@ -94,18 +95,20 @@ else
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ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
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else
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# Linux/Cygwin-native toolchain
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MKDEP = $(TOPDIR)/tools/mkdeps.sh
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MKDEP = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
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ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
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ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
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ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
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endif
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endif
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# tool versions
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# Tool versions
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ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
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ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
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# optimisation flags
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# Optimization flags
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ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
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-fno-strict-aliasing \
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-fno-strength-reduce \
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@@ -127,7 +130,8 @@ ARCHWARNINGSXX = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
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ARCHDEFINES =
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ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
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# this seems to be the only way to add linker flags
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# This seems to be the only way to add linker flags
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EXTRA_LIBS += --warn-common \
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--gc-sections
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@@ -146,8 +150,8 @@ OBJEXT = .o
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LIBEXT = .a
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EXEEXT =
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# Produce partially-linked $1 from files in $2
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# produce partially-linked $1 from files in $2
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define PRELINK
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@echo "PRELINK: $1"
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$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
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File diff suppressed because it is too large
Load Diff
@@ -1,5 +1,5 @@
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#!/bin/bash
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# configs/px4fmu-v1/usbnsh/setenv.sh
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# nuttx-configs/px4fmu-v1/nsh/setenv.sh
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#
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# Copyright (C) 2013 Gregory Nutt. All rights reserved.
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# Author: Gregory Nutt <gnutt@nuttx.org>
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@@ -1,5 +1,5 @@
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/****************************************************************************
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* configs/px4fmu-v1/scripts/ld.script
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* nuttx-configs/px4fmu-v1/scripts/ld.script
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*
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* Copyright (C) 2011 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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@@ -1,5 +1,4 @@
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############################################################################
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# configs/px4fmu-v1/src/Makefile
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#
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# Copyright (C) 2013 Gregory Nutt. All rights reserved.
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# Author: Gregory Nutt <gnutt@nuttx.org>
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@@ -80,5 +79,9 @@ distclean: clean
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$(call DELFILE, Make.dep)
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$(call DELFILE, .depend)
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ifneq ($(BOARD_CONTEXT),y)
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context:
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endif
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-include Make.dep
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@@ -46,9 +46,7 @@
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#include <px4_config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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#include <stm32.h>
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#include <arch/board/board.h>
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#include <nuttx/board.h>
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/****************************************************************************************************
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* Definitions
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@@ -57,7 +55,6 @@
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/* PX4IO connection configuration */
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#define PX4IO_SERIAL_DEVICE "/dev/ttyS2"
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#define UDID_START 0x1FFF7A10
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//#ifdef CONFIG_STM32_SPI2
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//# error "SPI2 is not supported on this board"
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@@ -252,25 +249,6 @@ extern void stm32_usbinitialize(void);
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#define board_peripheral_reset(ms)
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/****************************************************************************
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* Name: nsh_archinitialize
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*
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* Description:
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* Perform architecture specific initialization for NSH.
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*
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* CONFIG_NSH_ARCHINIT=y :
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* Called from the NSH library
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*
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* CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
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* CONFIG_NSH_ARCHINIT=n :
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* Called from board_initialize().
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*
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****************************************************************************/
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#ifdef CONFIG_NSH_LIBRARY
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int nsh_archinitialize(void);
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#endif
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#include "../common/board_common.h"
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#endif /* __ASSEMBLY__ */
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@@ -46,7 +46,7 @@
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/can.h>
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#include <nuttx/drivers/can.h>
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#include <arch/board/board.h>
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#include "chip.h"
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@@ -74,21 +74,6 @@
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# define CAN_PORT 2
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#endif
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/* Debug ***************************************************************************/
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/* Non-standard debug that may be enabled just for testing CAN */
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#ifdef CONFIG_DEBUG_CAN
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# define candbg dbg
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# define canvdbg vdbg
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# define canlldbg lldbg
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# define canllvdbg llvdbg
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#else
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# define candbg(x...)
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# define canvdbg(x...)
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# define canlldbg(x...)
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# define canllvdbg(x...)
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#endif
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/************************************************************************************
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* Private Functions
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************************************************************************************/
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@@ -120,7 +105,7 @@ int can_devinit(void)
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can = stm32_caninitialize(CAN_PORT);
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if (can == NULL) {
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candbg("ERROR: Failed to get CAN interface\n");
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canerr("ERROR: Failed to get CAN interface\n");
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return -ENODEV;
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}
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@@ -129,7 +114,7 @@ int can_devinit(void)
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ret = can_register("/dev/can0", can);
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if (ret < 0) {
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candbg("ERROR: can_register failed: %d\n", ret);
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canerr("ERROR: can_register failed: %d\n", ret);
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return ret;
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}
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@@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -35,10 +35,10 @@
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* @file px4fmu_init.c
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*
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* PX4FMU-specific early startup code. This file implements the
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* nsh_archinitialize() function that is called early by nsh during startup.
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* board_app_initialize() function that is called early by nsh during startup.
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*
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* Code here is run before the rcS script is invoked; it should start required
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* subsystems and perform board-specific initialisation.
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* subsystems and perform board-specific initialization.
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*/
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/****************************************************************************
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@@ -53,8 +53,9 @@
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#include <errno.h>
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#include <nuttx/arch.h>
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#include <nuttx/spi.h>
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#include <nuttx/i2c.h>
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#include <nuttx/board.h>
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#include <nuttx/spi/spi.h>
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#include <nuttx/i2c/i2c_master.h>
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#include <nuttx/mmcsd.h>
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#include <nuttx/analog/adc.h>
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@@ -79,13 +80,13 @@
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#ifdef CONFIG_CPP_HAVE_VARARGS
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# ifdef CONFIG_DEBUG
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# define message(...) lowsyslog(__VA_ARGS__)
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# define message(...) syslog(__VA_ARGS__)
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# else
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# define message(...) printf(__VA_ARGS__)
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# endif
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#else
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# ifdef CONFIG_DEBUG
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# define message lowsyslog
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# define message syslog
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# else
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# define message printf
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# endif
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@@ -124,18 +125,39 @@ __END_DECLS
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__EXPORT void stm32_boardinitialize(void)
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{
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/* configure always-on ADC pins */
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stm32_configgpio(GPIO_ADC1_IN10);
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stm32_configgpio(GPIO_ADC1_IN11);
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/* configure SPI interfaces */
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stm32_spiinitialize();
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/* configure LEDs (empty call to NuttX' ledinit) */
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up_ledinit();
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/* configure LEDs (empty call to NuttX' ) */
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board_autoled_initialize();
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}
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/****************************************************************************
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* Name: nsh_archinitialize
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* Name: board_app_initialize
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*
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* Description:
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* Perform architecture specific initialization
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* Perform application specific initialization. This function is never
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* called directly from application code, but only indirectly via the
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* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
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*
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* Input Parameters:
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* arg - The boardctl() argument is passed to the board_app_initialize()
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* implementation without modification. The argument has no
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* meaning to NuttX; the meaning of the argument is a contract
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* between the board-specific initalization logic and the the
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* matching application logic. The value cold be such things as a
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* mode enumeration value, a set of DIP switch switch settings, a
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* pointer to configuration data read from a file or serial FLASH,
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* or whatever you would like to do with it. Every implementation
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* should accept zero/NULL as a default configuration.
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*
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* Returned Value:
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* Zero (OK) is returned on success; a negated errno value is returned on
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* any failure to indicate the nature of the failure.
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*
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****************************************************************************/
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@@ -143,17 +165,27 @@ static struct spi_dev_s *spi1;
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static struct spi_dev_s *spi2;
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static struct spi_dev_s *spi3;
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#include <math.h>
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__EXPORT int nsh_archinitialize(void)
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__EXPORT int board_app_initialize(uintptr_t arg)
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{
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int result;
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/* configure always-on ADC pins */
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px4_arch_configgpio(GPIO_ADC1_IN10);
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px4_arch_configgpio(GPIO_ADC1_IN11);
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/* IN12 and IN13 further below */
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#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
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/* run C++ ctors before we go any further */
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up_cxxinitialize();
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# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
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# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
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# endif
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#else
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# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
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#endif
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/* configure the high-resolution time/callout interface */
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hrt_init();
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@@ -187,11 +219,11 @@ __EXPORT int nsh_archinitialize(void)
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/* Configure SPI-based devices */
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spi1 = px4_spibus_initialize(1);
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spi1 = stm32_spibus_initialize(1);
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if (!spi1) {
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message("[boot] FAILED to initialize SPI port 1\r\n");
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up_ledon(LED_AMBER);
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board_autoled_on(LED_AMBER);
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return -ENODEV;
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||||
}
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||||
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@@ -210,7 +242,7 @@ __EXPORT int nsh_archinitialize(void)
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*/
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#ifdef CONFIG_STM32_SPI2
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spi2 = px4_spibus_initialize(2);
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spi2 = stm32_spibus_initialize(2);
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/* Default SPI2 to 1MHz and de-assert the known chip selects. */
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SPI_SETFREQUENCY(spi2, 10000000);
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SPI_SETBITS(spi2, 8);
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@@ -223,17 +255,17 @@ __EXPORT int nsh_archinitialize(void)
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spi2 = NULL;
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message("[boot] Enabling IN12/13 instead of SPI2\n");
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/* no SPI2, use pins for ADC */
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px4_arch_configgpio(GPIO_ADC1_IN12);
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||||
px4_arch_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards
|
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stm32_configgpio(GPIO_ADC1_IN12);
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stm32_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards
|
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#endif
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/* Get the SPI port for the microSD slot */
|
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spi3 = px4_spibus_initialize(3);
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spi3 = stm32_spibus_initialize(3);
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if (!spi3) {
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message("[boot] FAILED to initialize SPI port 3\n");
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up_ledon(LED_AMBER);
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board_autoled_on(LED_AMBER);
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return -ENODEV;
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}
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@@ -242,7 +274,7 @@ __EXPORT int nsh_archinitialize(void)
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if (result != OK) {
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message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
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up_ledon(LED_AMBER);
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board_autoled_on(LED_AMBER);
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return -ENODEV;
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}
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@@ -64,20 +64,20 @@ __EXPORT void led_init(void)
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{
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/* Configure LED1-2 GPIOs for output */
|
||||
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px4_arch_configgpio(GPIO_LED1);
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px4_arch_configgpio(GPIO_LED2);
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stm32_configgpio(GPIO_LED1);
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stm32_configgpio(GPIO_LED2);
|
||||
}
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
if (led == 0) {
|
||||
/* Pull down to switch on */
|
||||
px4_arch_gpiowrite(GPIO_LED1, false);
|
||||
stm32_gpiowrite(GPIO_LED1, false);
|
||||
}
|
||||
|
||||
if (led == 1) {
|
||||
/* Pull down to switch on */
|
||||
px4_arch_gpiowrite(GPIO_LED2, false);
|
||||
stm32_gpiowrite(GPIO_LED2, false);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -85,32 +85,32 @@ __EXPORT void led_off(int led)
|
||||
{
|
||||
if (led == 0) {
|
||||
/* Pull up to switch off */
|
||||
px4_arch_gpiowrite(GPIO_LED1, true);
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
}
|
||||
|
||||
if (led == 1) {
|
||||
/* Pull up to switch off */
|
||||
px4_arch_gpiowrite(GPIO_LED2, true);
|
||||
stm32_gpiowrite(GPIO_LED2, true);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
if (led == 0) {
|
||||
if (px4_arch_gpioread(GPIO_LED1)) {
|
||||
px4_arch_gpiowrite(GPIO_LED1, false);
|
||||
if (stm32_gpioread(GPIO_LED1)) {
|
||||
stm32_gpiowrite(GPIO_LED1, false);
|
||||
|
||||
} else {
|
||||
px4_arch_gpiowrite(GPIO_LED1, true);
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
}
|
||||
}
|
||||
|
||||
if (led == 1) {
|
||||
if (px4_arch_gpioread(GPIO_LED2)) {
|
||||
px4_arch_gpiowrite(GPIO_LED2, false);
|
||||
if (stm32_gpioread(GPIO_LED2)) {
|
||||
stm32_gpiowrite(GPIO_LED2, false);
|
||||
|
||||
} else {
|
||||
px4_arch_gpiowrite(GPIO_LED2, true);
|
||||
stm32_gpiowrite(GPIO_LED2, true);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -47,7 +47,7 @@
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/spi.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "up_arch.h"
|
||||
@@ -69,19 +69,19 @@
|
||||
|
||||
__EXPORT void stm32_spiinitialize(void)
|
||||
{
|
||||
px4_arch_configgpio(GPIO_SPI_CS_GYRO);
|
||||
px4_arch_configgpio(GPIO_SPI_CS_ACCEL);
|
||||
px4_arch_configgpio(GPIO_SPI_CS_MPU);
|
||||
px4_arch_configgpio(GPIO_SPI_CS_SDCARD);
|
||||
stm32_configgpio(GPIO_SPI_CS_GYRO);
|
||||
stm32_configgpio(GPIO_SPI_CS_ACCEL);
|
||||
stm32_configgpio(GPIO_SPI_CS_MPU);
|
||||
stm32_configgpio(GPIO_SPI_CS_SDCARD);
|
||||
|
||||
/* De-activate all peripherals,
|
||||
* required for some peripheral
|
||||
* state machines
|
||||
*/
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_SDCARD, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 1);
|
||||
}
|
||||
|
||||
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
||||
@@ -91,23 +91,23 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
|
||||
switch (devid) {
|
||||
case PX4_SPIDEV_GYRO:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_ACCEL:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_MPU:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, !selected);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
|
||||
break;
|
||||
|
||||
default:
|
||||
@@ -121,6 +121,8 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
|
||||
#ifdef CONFIG_STM32_SPI2
|
||||
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
||||
{
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
@@ -138,12 +140,13 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
||||
{
|
||||
/* there can only be one device on this bus, so always select it */
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||
|
||||
@@ -82,10 +82,10 @@ __EXPORT void stm32_usbinitialize(void)
|
||||
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
||||
|
||||
#ifdef CONFIG_STM32_OTGFS
|
||||
px4_arch_configgpio(GPIO_OTGFS_VBUS);
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
/* XXX We only support device mode
|
||||
px4_arch_configgpio(GPIO_OTGFS_PWRON);
|
||||
px4_arch_configgpio(GPIO_OTGFS_OVER);
|
||||
stm32_configgpio(GPIO_OTGFS_PWRON);
|
||||
stm32_configgpio(GPIO_OTGFS_OVER);
|
||||
*/
|
||||
#endif
|
||||
}
|
||||
@@ -103,6 +103,6 @@ __EXPORT void stm32_usbinitialize(void)
|
||||
|
||||
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
//ulldbg("resume: %d\n", resume);
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user