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author | px4dev <px4@purgatory.org> | 2012-10-31 00:37:15 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-10-31 00:37:15 -0700 |
commit | 34a3b260f34398994a315388b3ffed22a1fe22fb (patch) | |
tree | cbea6c3fff4e2701921827b122df9d348c38ac1c /apps/drivers/boards/px4fmu/px4fmu_init.c | |
parent | b685d46dbfc583a26a92f1466dca64f9d45c3c4e (diff) | |
download | px4-firmware-34a3b260f34398994a315388b3ffed22a1fe22fb.tar.gz px4-firmware-34a3b260f34398994a315388b3ffed22a1fe22fb.tar.bz2 px4-firmware-34a3b260f34398994a315388b3ffed22a1fe22fb.zip |
Move the last of the board-specific code for PX4FMU out of the NuttX tree. Now it's just configuration.
Diffstat (limited to 'apps/drivers/boards/px4fmu/px4fmu_init.c')
-rw-r--r-- | apps/drivers/boards/px4fmu/px4fmu_init.c | 64 |
1 files changed, 3 insertions, 61 deletions
diff --git a/apps/drivers/boards/px4fmu/px4fmu_init.c b/apps/drivers/boards/px4fmu/px4fmu_init.c index 38a284017..568d861c9 100644 --- a/apps/drivers/boards/px4fmu/px4fmu_init.c +++ b/apps/drivers/boards/px4fmu/px4fmu_init.c @@ -64,9 +64,9 @@ #include "stm32_uart.h" #include <arch/board/board.h> -#include <arch/board/drv_led.h> #include <drivers/drv_hrt.h> +#include <drivers/drv_led.h> #include <systemlib/cpuload.h> @@ -131,9 +131,6 @@ __EXPORT void stm32_boardinitialize(void) static struct spi_dev_s *spi1; static struct spi_dev_s *spi3; -static struct i2c_dev_s *i2c1; -static struct i2c_dev_s *i2c2; -static struct i2c_dev_s *i2c3; #include <math.h> @@ -153,10 +150,6 @@ __EXPORT int nsh_archinitialize(void) { int result; - /* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */ - - /* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */ - /* configure the high-resolution time/callout interface */ #ifdef CONFIG_HRT_TIMER hrt_init(); @@ -190,14 +183,12 @@ __EXPORT int nsh_archinitialize(void) message("\r\n"); + // initial LED state + drv_led_start(); up_ledoff(LED_BLUE); up_ledoff(LED_AMBER); - up_ledon(LED_BLUE); - /* Configure user-space led driver */ - px4fmu_led_init(); - /* Configure SPI-based devices */ spi1 = up_spiinitialize(1); @@ -219,38 +210,6 @@ __EXPORT int nsh_archinitialize(void) message("[boot] Successfully initialized SPI port 1\r\n"); -#if 0 - /* initialize I2C2 bus */ - - i2c2 = up_i2cinitialize(2); - - if (!i2c2) { - message("[boot] FAILED to initialize I2C bus 2\n"); - up_ledon(LED_AMBER); - return -ENODEV; - } - - /* set I2C2 speed */ - I2C_SETFREQUENCY(i2c2, 400000); - - - i2c3 = up_i2cinitialize(3); - - if (!i2c3) { - message("[boot] FAILED to initialize I2C bus 3\n"); - up_ledon(LED_AMBER); - return -ENODEV; - } - - /* set I2C3 speed */ - I2C_SETFREQUENCY(i2c3, 400000); - - /* try to attach, don't fail if device is not responding */ - (void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS, - FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES, - FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES, - FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1); -#endif #if defined(CONFIG_STM32_SPI3) /* Get the SPI port */ @@ -276,24 +235,7 @@ __EXPORT int nsh_archinitialize(void) message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n"); #endif /* SPI3 */ -#if 0 - /* initialize I2C1 bus */ - - i2c1 = up_i2cinitialize(1); - if (!i2c1) { - message("[boot] FAILED to initialize I2C bus 1\n"); - up_ledon(LED_AMBER); - return -ENODEV; - } - - /* set I2C1 speed */ - I2C_SETFREQUENCY(i2c1, 400000); - - /* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */ - - /* Get board information if available */ -#endif #ifdef CONFIG_ADC int adc_state = adc_devinit(); |