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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-23 20:23:30 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-23 20:23:30 +0100 |
| commit | 720a1140b2473d0cdd30deeeb6ee71569d1f0c70 (patch) | |
| tree | d32c3861ae9b7955ca1b81d251a0a8c84d799246 /apps/drivers | |
| parent | f2fb8c7960fa251cc4f30bc2b1065759b3ab09bf (diff) | |
| parent | adb04f632f765f821cb327448339de8af1e49adb (diff) | |
| download | px4-firmware-720a1140b2473d0cdd30deeeb6ee71569d1f0c70.tar.gz px4-firmware-720a1140b2473d0cdd30deeeb6ee71569d1f0c70.tar.bz2 px4-firmware-720a1140b2473d0cdd30deeeb6ee71569d1f0c70.zip | |
Merged NuttX
Diffstat (limited to 'apps/drivers')
| -rw-r--r-- | apps/drivers/boards/px4fmu/px4fmu_init.c | 42 |
1 files changed, 16 insertions, 26 deletions
diff --git a/apps/drivers/boards/px4fmu/px4fmu_init.c b/apps/drivers/boards/px4fmu/px4fmu_init.c index 57ffb77d3..bc047aa4f 100644 --- a/apps/drivers/boards/px4fmu/px4fmu_init.c +++ b/apps/drivers/boards/px4fmu/px4fmu_init.c @@ -150,9 +150,7 @@ __EXPORT int nsh_archinitialize(void) int result; /* configure the high-resolution time/callout interface */ -#ifdef CONFIG_HRT_TIMER hrt_init(); -#endif /* configure CPU load estimation */ #ifdef CONFIG_SCHED_INSTRUMENTATION @@ -160,27 +158,21 @@ __EXPORT int nsh_archinitialize(void) #endif /* set up the serial DMA polling */ -#ifdef SERIAL_HAVE_DMA - { - static struct hrt_call serial_dma_call; - struct timespec ts; - - /* - * Poll at 1ms intervals for received bytes that have not triggered - * a DMA event. - */ - ts.tv_sec = 0; - ts.tv_nsec = 1000000; - - hrt_call_every(&serial_dma_call, - ts_to_abstime(&ts), - ts_to_abstime(&ts), - (hrt_callout)stm32_serial_dma_poll, - NULL); - } -#endif - - message("\r\n"); + static struct hrt_call serial_dma_call; + struct timespec ts; + + /* + * Poll at 1ms intervals for received bytes that have not triggered + * a DMA event. + */ + ts.tv_sec = 0; + ts.tv_nsec = 1000000; + + hrt_call_every(&serial_dma_call, + ts_to_abstime(&ts), + ts_to_abstime(&ts), + (hrt_callout)stm32_serial_dma_poll, + NULL); // initial LED state drv_led_start(); @@ -209,8 +201,7 @@ __EXPORT int nsh_archinitialize(void) message("[boot] Successfully initialized SPI port 1\r\n"); -#if defined(CONFIG_STM32_SPI3) - /* Get the SPI port */ + /* Get the SPI port for the microsd slot */ message("[boot] Initializing SPI port 3\n"); spi3 = up_spiinitialize(3); @@ -233,7 +224,6 @@ __EXPORT int nsh_archinitialize(void) } message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n"); -#endif /* SPI3 */ #ifdef CONFIG_ADC int adc_state = adc_devinit(); |