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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-30 09:59:50 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-11 07:40:58 +0100 |
| commit | 8a50be65526df782b266cb995b8df29241700789 (patch) | |
| tree | bf819a79963f1048c5df2ebc0c7697289c26b7bf | |
| parent | ab27cd9009015fca95597f8ca2c6d4718f27d0c0 (diff) | |
| download | px4-firmware-8a50be65526df782b266cb995b8df29241700789.tar.gz px4-firmware-8a50be65526df782b266cb995b8df29241700789.tar.bz2 px4-firmware-8a50be65526df782b266cb995b8df29241700789.zip | |
FMUv1: board init
| -rw-r--r-- | src/drivers/boards/px4fmu-v1/px4fmu_init.c | 40 |
1 files changed, 22 insertions, 18 deletions
diff --git a/src/drivers/boards/px4fmu-v1/px4fmu_init.c b/src/drivers/boards/px4fmu-v1/px4fmu_init.c index c9d4cce1e..cc8e6757e 100644 --- a/src/drivers/boards/px4fmu-v1/px4fmu_init.c +++ b/src/drivers/boards/px4fmu-v1/px4fmu_init.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -91,6 +91,10 @@ __END_DECLS * Public Functions ****************************************************************************/ +#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE) +__EXPORT extern void up_cxxinitialize(); +#endif + /************************************************************************************ * Name: stm32_boardinitialize * @@ -216,23 +220,23 @@ __EXPORT int nsh_archinitialize(void) * Keep the SPI2 init optional and conditionally initialize the ADC pins */ - #ifdef CONFIG_STM32_SPI2 - spi2 = up_spiinitialize(2); - /* 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); - - syslog(LOG_INFO, "[boot] Initialized SPI port2 (ADC IN12/13 blocked)\n"); - #else - spi2 = NULL; - syslog(LOG_INFO, "[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 - #endif +#ifdef CONFIG_STM32_SPI2 + spi2 = up_spiinitialize(2); + /* 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); + + syslog(LOG_INFO, "[boot] Initialized SPI port2 (ADC IN12/13 blocked)\n"); +#else + spi2 = NULL; + syslog(LOG_INFO, "[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 +#endif /* Get the SPI port for the microSD slot */ |