mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
250 lines
7.6 KiB
C
250 lines
7.6 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2015, 2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mindpx_spi.c
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*
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* Board-specific SPI functions.
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*/
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <px4_platform_common/px4_config.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <debug.h>
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#include <nuttx/spi/spi.h>
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#include <arch/board/board.h>
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#include <up_arch.h>
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#include <chip.h>
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#include <stm32.h>
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#include "board_config.h"
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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/************************************************************************************
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* Name: stm32_spiinitialize
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*
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* Description:
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* Called to configure SPI chip select GPIO pins for the PX4FMU board.
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*
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************************************************************************************/
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__EXPORT void weak_function stm32_spiinitialize(void)
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{
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#ifdef CONFIG_STM32_SPI4
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px4_arch_configgpio(GPIO_SPI_CS_GYRO);
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px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
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px4_arch_configgpio(GPIO_SPI_CS_BARO);
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px4_arch_configgpio(GPIO_SPI_CS_MPU);
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/* De-activate all peripherals,
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* required for some peripheral
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* state machines
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*/
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px4_arch_configgpio(GPIO_EXTI_GYRO_DRDY);
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px4_arch_configgpio(GPIO_EXTI_MAG_DRDY);
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px4_arch_configgpio(GPIO_EXTI_ACCEL_DRDY);
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px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
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#endif
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#ifdef CONFIG_STM32_SPI1
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stm32_configgpio(GPIO_SPI_CS_FRAM);
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stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
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#endif
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#ifdef CONFIG_STM32_SPI2
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px4_arch_configgpio(GPIO_SPI_CS_EXT0);
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#endif
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}
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__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
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{
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/* SPI select is active low, so write !selected to select the device */
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switch (devid) {
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case PX4_SPIDEV_GYRO:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
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stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
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stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
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break;
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case PX4_SPIDEV_ACCEL_MAG:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
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stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
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stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
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break;
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case PX4_SPIDEV_BARO:
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/* Making sure the other peripherals are not selected */
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px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
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px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected);
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px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
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break;
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case PX4_SPIDEV_MPU:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
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stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
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stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
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break;
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default:
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break;
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}
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}
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__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
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{
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return SPI_STATUS_PRESENT;
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}
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__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
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{
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/* there can only be one device on this bus, so always select it */
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stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
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}
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__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
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{
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/* FRAM is always present */
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return SPI_STATUS_PRESENT;
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}
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#ifdef CONFIG_STM32_SPI2
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__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
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{
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px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, !selected);
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}
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__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
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{
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return SPI_STATUS_PRESENT;
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}
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#endif
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__EXPORT void board_spi_reset(int ms)
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{
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/* disable SPI bus */
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px4_arch_configgpio(GPIO_SPI_CS_GYRO_OFF);
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px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF);
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px4_arch_configgpio(GPIO_SPI_CS_BARO_OFF);
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px4_arch_configgpio(GPIO_SPI_CS_MPU_OFF);
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px4_arch_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0);
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px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0);
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px4_arch_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
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px4_arch_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
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px4_arch_configgpio(GPIO_SPI4_SCK_OFF);
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px4_arch_configgpio(GPIO_SPI4_MISO_OFF);
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px4_arch_configgpio(GPIO_SPI4_MOSI_OFF);
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px4_arch_gpiowrite(GPIO_SPI4_SCK_OFF, 0);
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px4_arch_gpiowrite(GPIO_SPI4_MISO_OFF, 0);
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px4_arch_gpiowrite(GPIO_SPI4_MOSI_OFF, 0);
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px4_arch_configgpio(GPIO_GYRO_DRDY_OFF);
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px4_arch_configgpio(GPIO_MAG_DRDY_OFF);
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px4_arch_configgpio(GPIO_ACCEL_DRDY_OFF);
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px4_arch_configgpio(GPIO_EXTI_MPU_DRDY_OFF);
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px4_arch_gpiowrite(GPIO_GYRO_DRDY_OFF, 0);
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px4_arch_gpiowrite(GPIO_MAG_DRDY_OFF, 0);
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px4_arch_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0);
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px4_arch_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0);
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// /* set the sensor rail off */
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// stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
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// stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
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//
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/* wait for the sensor rail to reach GND */
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usleep(ms * 1000);
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syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
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//
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// /* re-enable power */
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//
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// /* switch the sensor rail back on */
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// stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
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//
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/* wait a bit before starting SPI, different times didn't influence results */
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usleep(100);
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/* reconfigure the SPI pins */
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#ifdef CONFIG_STM32_SPI4
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px4_arch_configgpio(GPIO_SPI_CS_GYRO);
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px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
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px4_arch_configgpio(GPIO_SPI_CS_BARO);
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px4_arch_configgpio(GPIO_SPI_CS_MPU);
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/* De-activate all peripherals,
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* required for some peripheral
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* state machines
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*/
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
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stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
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stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
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stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
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stm32_configgpio(GPIO_SPI4_SCK);
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stm32_configgpio(GPIO_SPI4_MISO);
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stm32_configgpio(GPIO_SPI4_MOSI);
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// XXX bring up the EXTI pins again
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// px4_arch_configgpio(GPIO_GYRO_DRDY);
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// px4_arch_configgpio(GPIO_MAG_DRDY);
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// px4_arch_configgpio(GPIO_ACCEL_DRDY);
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#endif
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}
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