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px4fmu-v2:Board does CAN GPIO init

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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
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22
src/drivers/boards/px4fmu-v2/init.c
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@@ -340,6 +340,18 @@ stm32_boardinitialize(void)
stm32_configgpio(GPIO_VDD_USB_VALID);
stm32_configgpio(GPIO_VDD_5V_HIPOWER_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)) {
switch (hw_version) {
case 0x8:
case HW_VER_FMUV2_STATE:
break;
case 0xE:
case HW_VER_FMUV3_STATE:
hw_type[1]++;
hw_type[2] = '0';
/* Has CAN2 transceiver Remove pull up */
stm32_configgpio(GPIO_CAN2_RX);
break;
case 0xA:
case HW_VER_FMUV2MINI_STATE:
hw_type[2] = 'M';
break;