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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-08 12:30:39 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-08 12:30:39 +0100 |
| commit | 0fd11b78ebf027a7bf13c65c8e3ff9bd71754cc6 (patch) | |
| tree | 9dabc3e4ba3c5bc91e32a45671fce39e80e3269f /src/drivers/px4io/px4io_serial.cpp | |
| parent | 769df2ff47ce05f8de95b4d355f53f2f4cc550d3 (diff) | |
| download | px4-firmware-0fd11b78ebf027a7bf13c65c8e3ff9bd71754cc6.tar.gz px4-firmware-0fd11b78ebf027a7bf13c65c8e3ff9bd71754cc6.tar.bz2 px4-firmware-0fd11b78ebf027a7bf13c65c8e3ff9bd71754cc6.zip | |
Fix PX4IO startup
Diffstat (limited to 'src/drivers/px4io/px4io_serial.cpp')
| -rw-r--r-- | src/drivers/px4io/px4io_serial.cpp | 11 |
1 files changed, 10 insertions, 1 deletions
diff --git a/src/drivers/px4io/px4io_serial.cpp b/src/drivers/px4io/px4io_serial.cpp index d227e15d5..1a848cbc0 100644 --- a/src/drivers/px4io/px4io_serial.cpp +++ b/src/drivers/px4io/px4io_serial.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013-2015 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 @@ -217,6 +217,9 @@ PX4IO_serial::~PX4IO_serial() stm32_unconfiggpio(PX4IO_SERIAL_TX_GPIO); stm32_unconfiggpio(PX4IO_SERIAL_RX_GPIO); + /* Disable APB clock for the USART peripheral */ + modifyreg32(STM32_RCC_APB2ENR, RCC_APB2ENR_USART6EN, 0); + /* and kill our semaphores */ sem_destroy(&_completion_semaphore); sem_destroy(&_bus_semaphore); @@ -239,12 +242,17 @@ PX4IO_serial::~PX4IO_serial() int PX4IO_serial::init() { + /* allocate DMA */ _tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP); _rx_dma = stm32_dmachannel(PX4IO_SERIAL_RX_DMAMAP); if ((_tx_dma == nullptr) || (_rx_dma == nullptr)) return -1; + + /* Enable the APB clock for the USART peripheral */ + modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_USART6EN); + /* configure pins for serial use */ stm32_configgpio(PX4IO_SERIAL_TX_GPIO); stm32_configgpio(PX4IO_SERIAL_RX_GPIO); @@ -258,6 +266,7 @@ PX4IO_serial::init() (void)rSR; (void)rDR; + /* configure line speed */ uint32_t usartdiv32 = PX4IO_SERIAL_CLOCK / (PX4IO_SERIAL_BITRATE / 2); uint32_t mantissa = usartdiv32 >> 5; |