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av/x-v1 board support cleanup and sync with fmu-v5

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This commit is contained in:
Daniel Agar
2019-04-15 12:22:49 -04:00
parent 56591954ad
commit db5dbb25b3
10 changed files with 425 additions and 558 deletions
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37
boards/av/x-v1/src/init.c
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@@ -45,9 +45,7 @@
* Included Files
****************************************************************************/
#include <px4_config.h>
#include <px4_tasks.h>
#include <px4_log.h>
#include "board_config.h"
#include <stdbool.h>
#include <stdio.h>
@@ -55,6 +53,7 @@
#include <debug.h>
#include <errno.h>
#include <nuttx/config.h>
#include <nuttx/board.h>
#include <nuttx/spi/spi.h>
#include <nuttx/i2c/i2c_master.h>
@@ -62,24 +61,17 @@
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <nuttx/mm/gran.h>
#include <chip.h>
#include "board_config.h"
#include <stm32_uart.h>
#include <arch/board/board.h>
#include "up_internal.h"
#include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h>
#include <systemlib/px4_macros.h>
#include <px4_init.h>
#include <px4_i2c.h>
#include "up_internal.h"
static int configure_switch(void);
/************************************************************************************
@@ -238,7 +230,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
/* configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
PX4_ERR("DMA alloc FAILED");
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
}
/* set up the serial DMA polling */
@@ -260,27 +252,16 @@ __EXPORT int board_app_initialize(uintptr_t arg)
(void) board_hardfault_init(2, true);
#ifdef CONFIG_SPI
int ret = stm32_spi_bus_initialize();
if (ret != OK) {
PX4_ERR("SPI init failed");
return ret;
}
#endif
#ifdef CONFIG_MMCSD
ret = stm32_sdio_initialize();
int ret = stm32_sdio_initialize();
if (ret != OK) {
PX4_ERR("SDIO init failed");
syslog(LOG_ERR, "[boot] SDIO init failed\n");
return ret;
}
#endif
#endif /* CONFIG_MMCSD */
configure_switch();
@@ -302,7 +283,7 @@ static int configure_switch(void)
struct i2c_master_s *i2c = px4_i2cbus_initialize(PX4_I2C_BUS_ONBOARD);
if (i2c == NULL) {
PX4_ERR("I2C device not opened");
syslog(LOG_ERR, "[boot] I2C device not opened\n");
}
// ethernet switch enable
@@ -327,7 +308,7 @@ static int configure_switch(void)
break;
} else {
PX4_ERR("ETH switch I2C fail: %d, retrying", ret);
syslog(LOG_ERR, "[boot] ETH switch I2C fail: %d, retrying\n", ret);
}
/* if we have already retried once, or we are going to give up, then reset the bus */