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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 14:54:44 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 14:54:44 +0200 |
commit | 0eafc2ade1dce974d5f7bdf05ca7678fa0b59ab0 (patch) | |
tree | cf15c6f59a3c5d618d1e76ff9e2a392f267a7d26 /src/modules/px4iofirmware/px4io.c | |
parent | 6479ebcc735a96b316bc0624a8b3795bc5677d4e (diff) | |
download | px4-firmware-0eafc2ade1dce974d5f7bdf05ca7678fa0b59ab0.tar.gz px4-firmware-0eafc2ade1dce974d5f7bdf05ca7678fa0b59ab0.tar.bz2 px4-firmware-0eafc2ade1dce974d5f7bdf05ca7678fa0b59ab0.zip |
IO compiling
Diffstat (limited to 'src/modules/px4iofirmware/px4io.c')
-rw-r--r-- | src/modules/px4iofirmware/px4io.c | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c index 9de37e118..6244b1551 100644 --- a/src/modules/px4iofirmware/px4io.c +++ b/src/modules/px4iofirmware/px4io.c @@ -64,8 +64,10 @@ struct sys_state_s system_state; static struct hrt_call serial_dma_call; +#ifdef CONFIG_STM32_I2C1 /* store i2c reset count XXX this should be a register, together with other error counters */ volatile uint32_t i2c_loop_resets = 0; +#endif /* * a set of debug buffers to allow us to send debug information from ISRs @@ -133,7 +135,9 @@ user_start(int argc, char *argv[]) * Poll at 1ms intervals for received bytes that have not triggered * a DMA event. */ +#ifdef CONFIG_ARCH_DMA hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL); +#endif /* print some startup info */ lowsyslog("\nPX4IO: starting\n"); @@ -155,8 +159,10 @@ user_start(int argc, char *argv[]) /* initialise the control inputs */ controls_init(); +#ifdef CONFIG_STM32_I2C1 /* start the i2c handler */ i2c_init(); +#endif /* add a performance counter for mixing */ perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix"); @@ -201,7 +207,7 @@ user_start(int argc, char *argv[]) /* kick the mixer */ perf_begin(mixer_perf); - mixer_tick(); + // mixer_tick(); perf_end(mixer_perf); /* kick the control inputs */ |