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Allowed board to init properly as intended with or without SPI2

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This commit is contained in:
Lorenz Meier
2013-04-23 12:35:19 +02:00
parent 59d12ee77f
commit c52278f679
1 changed files with 24 additions and 35 deletions
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src/drivers/boards/px4fmu/px4fmu_init.c
+24 -35
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@@ -148,16 +148,10 @@ __EXPORT int nsh_archinitialize(void)
{
int result;
// /* configure ADC pins */
// stm32_configgpio(GPIO_ADC1_IN10);
// stm32_configgpio(GPIO_ADC1_IN11);
// stm32_configgpio(GPIO_ADC1_IN12);
// /* configure power supply control pins */
// stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
// stm32_configgpio(GPIO_VDD_2V8_SENSORS_EN);
// stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
// stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
/* configure always-on ADC pins */
stm32_configgpio(GPIO_ADC1_IN10);
stm32_configgpio(GPIO_ADC1_IN11);
/* IN12 and IN13 further below */
/* configure the high-resolution time/callout interface */
hrt_init();
@@ -200,39 +194,39 @@ __EXPORT int nsh_archinitialize(void)
return -ENODEV;
}
// Default SPI1 to 1MHz and de-assert the known chip selects.
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
// SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
// SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20);
message("[boot] Successfully initialized SPI port 1\r\n");
/*
* If SPI2 is enabled in the defconfig, we loose some ADC pins as chip selects.
* Keep the SPI2 init optional and conditionally initialize the ADC pins
*/
spi2 = up_spiinitialize(2);
if (!spi2) {
message("[boot] FAILED to initialize SPI port 2\r\n");
up_ledon(LED_AMBER);
return -ENODEV;
message("[boot] Enabling IN12/13 instead of SPI2\n");
/* no SPI2, use pins for ADC */
stm32_configgpio(GPIO_ADC1_IN12);
stm32_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards
} else {
/* Default SPI2 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi2, 10000000);
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi2, PX4_SPIDEV_ACCEL_MAG, false);
message("[boot] Initialized SPI port2 (ADC IN12/13 blocked)\n");
}
// Default SPI1 to 1MHz and de-assert the known chip selects.
SPI_SETFREQUENCY(spi2, 10000000);
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi2, PX4_SPIDEV_ACCEL_MAG, false);
// SPI_SELECT(spi2, PX4_SPIDEV_ACCEL, false);
// SPI_SELECT(spi2, PX4_SPIDEV_MPU, false);
up_udelay(20);
message("[boot] Successfully initialized SPI port2\r\n");
/* Get the SPI port for the microSD slot */
message("[boot] Initializing SPI port 3\n");
@@ -257,10 +251,5 @@ __EXPORT int nsh_archinitialize(void)
message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
stm32_configgpio(GPIO_ADC1_IN10);
stm32_configgpio(GPIO_ADC1_IN11);
// stm32_configgpio(GPIO_ADC1_IN12);
// stm32_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards
return OK;
}