diff options
| -rw-r--r-- | src/modules/px4iofirmware/module.mk | 11 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/px4io.c | 13 |
2 files changed, 14 insertions, 10 deletions
diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk index 6379366f4..016be6d3b 100644 --- a/src/modules/px4iofirmware/module.mk +++ b/src/modules/px4iofirmware/module.mk @@ -3,7 +3,6 @@ SRCS = adc.c \ controls.c \ dsm.c \ - i2c.c \ px4io.c \ registers.c \ safety.c \ @@ -16,4 +15,12 @@ SRCS = adc.c \ ../systemlib/mixer/mixer_group.cpp \ ../systemlib/mixer/mixer_multirotor.cpp \ ../systemlib/mixer/mixer_simple.cpp \ -
\ No newline at end of file + +ifneq ($(CONFIG_ARCH_BOARD_PX4IO),) +SRCS += i2c.c +EXTRADEFINES += -DINTERFACE_I2C +endif +ifneq ($(CONFIG_ARCH_BOARD_PX4IOV2),) +#SRCS += serial.c +EXTRADEFINES += -DINTERFACE_SERIAL +endif diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c index bc8dfc116..39f05c112 100644 --- a/src/modules/px4iofirmware/px4io.c +++ b/src/modules/px4iofirmware/px4io.c @@ -64,11 +64,6 @@ 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 */ @@ -159,10 +154,13 @@ user_start(int argc, char *argv[]) /* initialise the control inputs */ controls_init(); -#ifdef CONFIG_STM32_I2C1 +#ifdef INTERFACE_I2C /* start the i2c handler */ i2c_init(); #endif +#ifdef INTERFACE_SERIAL + /* start the serial interface */ +#endif /* add a performance counter for mixing */ perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix"); @@ -223,12 +221,11 @@ user_start(int argc, char *argv[]) struct mallinfo minfo = mallinfo(); - isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x r=%u m=%u", + isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x m=%u", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG], (unsigned)r_status_flags, (unsigned)r_setup_arming, (unsigned)r_setup_features, - (unsigned)i2c_loop_resets, (unsigned)minfo.mxordblk); last_debug_time = hrt_absolute_time(); } |