yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

px4fmu-v2:Board does CAN GPIO init

Browse Source
This commit is contained in:
David Sidrane
2018-07-25 15:06:58 -07:00
committed by Daniel Agar
parent dc4c09e5f4
commit 885fed0402
1 changed files with 19 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
src/drivers/boards/px4fmu-v2/init.c
View File

@@ -340,6 +340,18 @@ stm32_boardinitialize(void)
stm32_configgpio(GPIO_VDD_USB_VALID); stm32_configgpio(GPIO_VDD_USB_VALID);
stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC); stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
stm32_configgpio(GPIO_VDD_5V_PERIPH_OC); stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
/*
* CAN GPIO config.
* Forced pull up on CAN2 is required for FMUv2 where the second interface lacks a transceiver.
* If no transceiver is connected, the RX pin will float, occasionally causing CAN controller to
* fail during initialization.
*/
stm32_configgpio(GPIO_CAN1_RX);
stm32_configgpio(GPIO_CAN1_TX);
stm32_configgpio(GPIO_CAN2_RX | GPIO_PULLUP);
stm32_configgpio(GPIO_CAN2_TX);
} }
/**************************************************************************** /****************************************************************************
@@ -387,15 +399,19 @@ __EXPORT int board_app_initialize(uintptr_t arg)
if (OK == determin_hw_version(&hw_version, & hw_revision)) { if (OK == determin_hw_version(&hw_version, & hw_revision)) {
switch (hw_version) { switch (hw_version) {
case 0x8: case HW_VER_FMUV2_STATE:
break; break;
case 0xE: case HW_VER_FMUV3_STATE:
hw_type[1]++; hw_type[1]++;
hw_type[2] = '0'; hw_type[2] = '0';
/* Has CAN2 transceiver Remove pull up */
stm32_configgpio(GPIO_CAN2_RX);
break; break;
case 0xA: case HW_VER_FMUV2MINI_STATE:
hw_type[2] = 'M'; hw_type[2] = 'M';
break; break;