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px4-firmware
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Tease the PWM driver out and fix some build issues after cleaning up behind the cpuload pieces.

This commit is contained in:
px4dev 2012-10-23 21:43:41 -07:00
parent c3fe915b44
commit 3d79b9a0b0
12 changed files with 114 additions and 533 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
apps/commander/commander.c
View File

@ -95,7 +95,7 @@
PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0); /**< Go into low-level failsafe after 0 ms */
//PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0); /**< Go into high-level failsafe after 0 ms */
#include <arch/board/up_cpuload.h>
#include <systemlib/cpuload.h>
extern struct system_load_s system_load;
/* Decouple update interval and hysteris counters, all depends on intervals */

3
apps/drivers/boards/px4fmu/px4fmu_init.c
View File

@ -63,7 +63,6 @@
#include "px4fmu_internal.h"
#include "stm32_uart.h"
#include <arch/board/up_cpuload.h>
#include <arch/board/up_adc.h>
#include <arch/board/board.h>
#include <arch/board/drv_led.h>
@ -71,6 +70,8 @@
#include <drivers/drv_hrt.h>
#include <systemlib/cpuload.h>
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/

66
apps/drivers/drv_pwm_output.h
View File

@ -41,14 +41,15 @@
* channel.
*/
#ifndef _DRV_PWM_OUTPUT_H
#define _DRV_PWM_OUTPUT_H
#pragma once
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_orb_dev.h"
__BEGIN_DECLS
/**
* Path for the default PWM output device.
*
@ -109,4 +110,63 @@ ORB_DECLARE(output_pwm);
#define PWM_SERVO_GET(_servo) _IOC(_PWM_SERVO_BASE, 0x40 + _servo)
#endif /* _DRV_PWM_OUTPUT_H */
/*
* Low-level PWM output interface.
*
* This is the low-level API to the platform-specific PWM driver.
*/
/**
* Intialise the PWM servo outputs using the specified configuration.
*
* @param channel_mask Bitmask of channels (LSB = channel 0) to enable.
* This allows some of the channels to remain configured
* as GPIOs or as another function.
* @return OK on success.
*/
__EXPORT extern int up_pwm_servo_init(uint32_t channel_mask);
/**
* De-initialise the PWM servo outputs.
*/
__EXPORT extern void up_pwm_servo_deinit(void);
/**
* Arm or disarm servo outputs.
*
* When disarmed, servos output no pulse.
*
* @bug This function should, but does not, guarantee that any pulse
* currently in progress is cleanly completed.
*
* @param armed If true, outputs are armed; if false they
* are disarmed.
*/
__EXPORT extern void up_pwm_servo_arm(bool armed);
/**
* Set the servo update rate
*
* @param rate The update rate in Hz to set.
* @return OK on success, -ERANGE if an unsupported update rate is set.
*/
__EXPORT extern int up_pwm_servo_set_rate(unsigned rate);
/**
* Set the current output value for a channel.
*
* @param channel The channel to set.
* @param value The output pulse width in microseconds.
*/
__EXPORT extern int up_pwm_servo_set(unsigned channel, servo_position_t value);
/**
* Get the current output value for a channel.
*
* @param channel The channel to read.
* @return The output pulse width in microseconds, or zero if
* outputs are not armed or not configured.
*/
__EXPORT extern servo_position_t up_pwm_servo_get(unsigned channel);
__END_DECLS

42
apps/drivers/stm32/Makefile Normal file
View File

@ -0,0 +1,42 @@
############################################################################
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# STM32 driver support code
#
# Modules in this directory are compiled for all STM32 targets.
#
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
include $(APPDIR)/mk/app.mk

0
apps/drivers/boards/px4fmu/drv_hrt.c → apps/drivers/stm32/drv_hrt.c
View File

4
nuttx/configs/px4fmu/src/up_pwm_servo.c → apps/drivers/stm32/up_pwm_servo.c
View File

@ -32,6 +32,8 @@
****************************************************************************/
/*
* @file drv_pwm_servo.c
*
* Servo driver supporting PWM servos connected to STM32 timer blocks.
*
* Works with any of the 'generic' or 'advanced' STM32 timers that
@ -54,7 +56,7 @@
#include <stdio.h>
#include <arch/board/board.h>
#include <arch/board/up_pwm_servo.h>
#include <drivers/drv_pwm_output.h>
#include "chip.h"
#include "up_internal.h"

2
apps/systemcmds/top/top.c
View File

@ -46,7 +46,7 @@
#include <string.h>
#include <poll.h>
#include <arch/board/up_cpuload.h>
#include <systemlib/cpuload.h>
#include <drivers/drv_hrt.h>
/**

62
nuttx/configs/px4fmu/include/up_cpuload.h
View File

@ -1,62 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef UP_CPULOAD_H_
#define UP_CPULOAD_H_
#ifdef CONFIG_SCHED_INSTRUMENTATION
#include <nuttx/sched.h>
struct system_load_taskinfo_s {
uint64_t total_runtime; ///< Runtime since start (start_time - total_runtime)/(start_time - current_time) = load
uint64_t curr_start_time; ///< Start time of the current scheduling slot
uint64_t start_time; ///< FIRST start time of task
FAR struct _TCB *tcb; ///<
bool valid; ///< Task is currently active / valid
};
struct system_load_s {
uint64_t start_time; ///< Global start time of measurements
struct system_load_taskinfo_s tasks[CONFIG_MAX_TASKS];
uint8_t initialized;
int total_count;
int running_count;
int sleeping_count;
};
void cpuload_initialize_once(void);
#endif
#endif

1
nuttx/configs/px4fmu/nsh/appconfig
View File

@ -95,6 +95,7 @@ CONFIGURED_APPS += drivers/mpu6000
CONFIGURED_APPS += drivers/bma180
CONFIGURED_APPS += drivers/l3gd20
CONFIGURED_APPS += drivers/px4io
CONFIGURED_APPS += drivers/stm32
CONFIGURED_APPS += drivers/stm32/tone_alarm
CONFIGURED_APPS += px4/fmu

2
nuttx/configs/px4fmu/src/Makefile
View File

@ -43,7 +43,7 @@ AOBJS = $(ASRCS:.S=$(OBJEXT))
CSRCS = up_boot.c up_leds.c up_spi.c \
drv_gpio.c \
drv_led.c drv_eeprom.c \
up_pwm_servo.c up_usbdev.c
up_usbdev.c
ifeq ($(CONFIG_ADC),y)
CSRCS += up_adc.c

183
nuttx/configs/px4fmu/src/up_cpuload.c
View File

@ -1,183 +0,0 @@
/****************************************************************************
* configs/px4fmu/src/up_leds.c
* arch/arm/src/board/up_leds.c
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <sys/time.h>
#include <sched.h>
#include <arch/board/board.h>
#include <arch/board/up_hrt.h>
#include <arch/board/up_cpuload.h>
#include "chip.h"
#include "up_arch.h"
#include "up_internal.h"
#include "stm32_internal.h"
#include "px4fmu-internal.h"
/****************************************************************************
* Definitions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name:
****************************************************************************/
#ifdef CONFIG_SCHED_INSTRUMENTATION
struct system_load_s system_load;
extern FAR _TCB *sched_gettcb(pid_t pid);
void cpuload_initialize_once(void);
void cpuload_initialize_once()
{
// if (!system_load.initialized)
// {
system_load.start_time = hrt_absolute_time();
int i;
for (i = 0; i < CONFIG_MAX_TASKS; i++)
{
system_load.tasks[i].valid = false;
}
system_load.total_count = 0;
uint64_t now = hrt_absolute_time();
/* initialize idle thread statically */
system_load.tasks[0].start_time = now;
system_load.tasks[0].total_runtime = 0;
system_load.tasks[0].curr_start_time = 0;
system_load.tasks[0].tcb = sched_gettcb(0);
system_load.tasks[0].valid = true;
system_load.total_count++;
/* initialize init thread statically */
system_load.tasks[1].start_time = now;
system_load.tasks[1].total_runtime = 0;
system_load.tasks[1].curr_start_time = 0;
system_load.tasks[1].tcb = sched_gettcb(1);
system_load.tasks[1].valid = true;
/* count init thread */
system_load.total_count++;
// }
}
void sched_note_start(FAR _TCB *tcb )
{
/* search first free slot */
int i;
for (i = 1; i < CONFIG_MAX_TASKS; i++)
{
if (!system_load.tasks[i].valid)
{
/* slot is available */
system_load.tasks[i].start_time = hrt_absolute_time();
system_load.tasks[i].total_runtime = 0;
system_load.tasks[i].curr_start_time = 0;
system_load.tasks[i].tcb = tcb;
system_load.tasks[i].valid = true;
system_load.total_count++;
break;
}
}
}
void sched_note_stop(FAR _TCB *tcb )
{
int i;
for (i = 1; i < CONFIG_MAX_TASKS; i++)
{
if (system_load.tasks[i].tcb->pid == tcb->pid)
{
/* mark slot as fee */
system_load.tasks[i].valid = false;
system_load.tasks[i].total_runtime = 0;
system_load.tasks[i].curr_start_time = 0;
system_load.tasks[i].tcb = NULL;
system_load.total_count--;
break;
}
}
}
void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb)
{
uint64_t new_time = hrt_absolute_time();
/* Kind of inefficient: find both tasks and update times */
uint8_t both_found = 0;
for (int i = 0; i < CONFIG_MAX_TASKS; i++)
{
/* Task ending its current scheduling run */
if (system_load.tasks[i].tcb->pid == pFromTcb->pid)
{
//if (system_load.tasks[i].curr_start_time != 0)
{
system_load.tasks[i].total_runtime += new_time - system_load.tasks[i].curr_start_time;
}
both_found++;
}
else if (system_load.tasks[i].tcb->pid == pToTcb->pid)
{
system_load.tasks[i].curr_start_time = new_time;
both_found++;
}
/* Do only iterate as long as needed */
if (both_found == 2)
{
break;
}
}
}
#endif /* CONFIG_SCHED_INSTRUMENTATION */

280
nuttx/configs/px4fmu/src/up_nsh.c
View File

@ -1,280 +0,0 @@
/****************************************************************************
* config/px4fmu/src/up_nsh.c
* arch/arm/src/board/up_nsh.c
*
* Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdbool.h>
#include <stdio.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/arch.h>
#include <nuttx/spi.h>
#include <nuttx/i2c.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <nuttx/arch.h>
#include "stm32_internal.h"
#include "px4fmu-internal.h"
#include "stm32_uart.h"
#include <arch/board/up_hrt.h>
#include <arch/board/up_cpuload.h>
#include <arch/board/up_adc.h>
#include <arch/board/board.h>
#include <arch/board/drv_led.h>
#include <arch/board/drv_eeprom.h>
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) lib_lowprintf(__VA_ARGS__)
# else
# define message(...) printf(__VA_ARGS__)
# endif
#else
# ifdef CONFIG_DEBUG
# define message lib_lowprintf
# else
# define message printf
# endif
#endif
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: nsh_archinitialize
*
* Description:
* Perform architecture specific initialization
*
****************************************************************************/
static struct spi_dev_s *spi1;
static struct spi_dev_s *spi3;
static struct i2c_dev_s *i2c1;
static struct i2c_dev_s *i2c2;
static struct i2c_dev_s *i2c3;
#include <math.h>
#ifdef __cplusplus
int matherr(struct __exception *e) {
return 1;
}
#else
int matherr(struct exception *e) {
return 1;
}
#endif
int nsh_archinitialize(void)
{
int result;
/* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
/* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
/* configure the high-resolution time/callout interface */
#ifdef CONFIG_HRT_TIMER
hrt_init();
#endif
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* set up the serial DMA polling */
#ifdef SERIAL_HAVE_DMA
{
static struct hrt_call serial_dma_call;
struct timespec ts;
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
ts.tv_sec = 0;
ts.tv_nsec = 1000000;
hrt_call_every(&serial_dma_call,
ts_to_abstime(&ts),
ts_to_abstime(&ts),
(hrt_callout)stm32_serial_dma_poll,
NULL);
}
#endif
message("\r\n");
up_ledoff(LED_BLUE);
up_ledoff(LED_AMBER);
up_ledon(LED_BLUE);
/* Configure user-space led driver */
px4fmu_led_init();
/* Configure SPI-based devices */
spi1 = up_spiinitialize(1);
if (!spi1)
{
message("[boot] FAILED to initialize SPI port 1\r\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
// Default SPI1 to 1MHz and de-assert the known chip selects.
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20);
message("[boot] Successfully initialized SPI port 1\r\n");
/* initialize I2C2 bus */
i2c2 = up_i2cinitialize(2);
if (!i2c2) {
message("[boot] FAILED to initialize I2C bus 2\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* set I2C2 speed */
I2C_SETFREQUENCY(i2c2, 400000);
i2c3 = up_i2cinitialize(3);
if (!i2c3) {
message("[boot] FAILED to initialize I2C bus 3\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* set I2C3 speed */
I2C_SETFREQUENCY(i2c3, 400000);
/* try to attach, don't fail if device is not responding */
(void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS,
FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
#if defined(CONFIG_STM32_SPI3)
/* Get the SPI port */
message("[boot] Initializing SPI port 3\n");
spi3 = up_spiinitialize(3);
if (!spi3)
{
message("[boot] FAILED to initialize SPI port 3\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
message("[boot] Successfully initialized SPI port 3\n");
/* Now bind the SPI interface to the MMCSD driver */
result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
if (result != OK)
{
message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
#endif /* SPI3 */
/* initialize I2C1 bus */
i2c1 = up_i2cinitialize(1);
if (!i2c1) {
message("[boot] FAILED to initialize I2C bus 1\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* set I2C1 speed */
I2C_SETFREQUENCY(i2c1, 400000);
/* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
/* Get board information if available */
/* Initialize the user GPIOs */
px4fmu_gpio_init();
#ifdef CONFIG_ADC
int adc_state = adc_devinit();
if (adc_state != OK)
{
/* Try again */
adc_state = adc_devinit();
if (adc_state != OK)
{
/* Give up */
message("[boot] FAILED adc_devinit: %d\n", adc_state);
return -ENODEV;
}
}
#endif
return OK;
}