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| author | David Sidrane <david_s5@nscdg.com> | 2015-03-26 14:27:16 -1000 |
|---|---|---|
| committer | David Sidrane <david_s5@nscdg.com> | 2015-03-26 14:27:16 -1000 |
| commit | 20253d26f35e921d6a7f0374db045f6b91009bd6 (patch) | |
| tree | 429b6312fd44460decfffb6f53cf508440a95a61 | |
| parent | 2a65915d596917cefa33b1d6b493e968dabca25d (diff) | |
| download | px4-firmware-20253d26f35e921d6a7f0374db045f6b91009bd6.tar.gz px4-firmware-20253d26f35e921d6a7f0374db045f6b91009bd6.tar.bz2 px4-firmware-20253d26f35e921d6a7f0374db045f6b91009bd6.zip | |
Configure the CAN_CTRL IO line 0 is High speed - enabled, 1 is standby, Half way bit way is Slope Control
| -rw-r--r-- | src/drivers/boards/px4cannode-v1/board_config.h | 14 | ||||
| -rw-r--r-- | src/drivers/boards/px4cannode-v1/px4cannode_init.c | 3 |
2 files changed, 17 insertions, 0 deletions
diff --git a/src/drivers/boards/px4cannode-v1/board_config.h b/src/drivers/boards/px4cannode-v1/board_config.h index 5cb1f8eec..eaed8dedd 100644 --- a/src/drivers/boards/px4cannode-v1/board_config.h +++ b/src/drivers/boards/px4cannode-v1/board_config.h @@ -138,6 +138,20 @@ __BEGIN_DECLS GPIO_PORTD | GPIO_PIN2 | GPIO_OUTPUT_SET) #define MMCSD_CSn GPIO_SPI2_SSn +/* CAN *************************************************************************** + * + * GPIO Function MPU Board + * Pin # Name + * -- ----- -------------------------------- ---------------------------- + * + * PB[08] PB8/TIM4_CH3/I2C1_SCL/CANRX 61 D14(CANRX) + * PB[09] PB9/TIM4_CH4/I2C1_SDA/CANTX 62 D24(CANTX) + * PC[13] PC13/ANTI_TAMP 2 D21(CAN_CTRL) + */ + +#define GPIO_CAN_CTRL (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \ + GPIO_PORTC | GPIO_PIN13 | GPIO_OUTPUT_CLEAR) + /************************************************************************************ * Public Types ************************************************************************************/ diff --git a/src/drivers/boards/px4cannode-v1/px4cannode_init.c b/src/drivers/boards/px4cannode-v1/px4cannode_init.c index facb9fcf4..2ede792bb 100644 --- a/src/drivers/boards/px4cannode-v1/px4cannode_init.c +++ b/src/drivers/boards/px4cannode-v1/px4cannode_init.c @@ -74,6 +74,8 @@ #include <systemlib/systemlib.h> #endif +#include "board_config.h" + /* todo: This is constant but not proper */ __BEGIN_DECLS extern void led_off(int led); @@ -111,6 +113,7 @@ __EXPORT void stm32_boardinitialize(void) /* configure LEDs */ board_led_initialize(); board_button_initialize(); + stm32_configgpio(GPIO_CAN_CTRL); #if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \ defined(CONFIG_STM32_SPI3) board_spiinitialize(); |