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px4_platform_common: Break out I2C init if BOARD_I2C_LATEINIT is used

This commit is contained in:
David Sidrane 2023-06-20 09:10:44 -07:00
parent 6c1c7b9054
commit 416caf4f9a
2 changed files with 35 additions and 26 deletions
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1
platforms/common/include/px4_platform_common/init.h
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@ -34,6 +34,7 @@
__BEGIN_DECLS
int px4_platform_init(void);
void px4_platform_i2c_init(void);
int px4_platform_console_init(void);
int px4_platform_configure(void);

60
platforms/nuttx/src/px4/common/px4_init.cpp
View File

@ -93,6 +93,37 @@ static void cxx_initialize(void)
}
#endif
#if defined(CONFIG_I2C)
void px4_platform_i2c_init()
{
I2CBusIterator i2c_bus_iterator {I2CBusIterator::FilterType::All};
while (i2c_bus_iterator.next()) {
i2c_master_s *i2c_dev = px4_i2cbus_initialize(i2c_bus_iterator.bus().bus);
#if defined(CONFIG_I2C_RESET)
I2C_RESET(i2c_dev);
#endif // CONFIG_I2C_RESET
// send software reset to all
uint8_t buf[1] {};
buf[0] = 0x06; // software reset
i2c_msg_s msg{};
msg.frequency = I2C_SPEED_STANDARD;
msg.addr = 0x00; // general call address
msg.buffer = &buf[0];
msg.length = 1;
I2C_TRANSFER(i2c_dev, &msg, 1);
px4_i2cbus_uninitialize(i2c_dev);
}
}
#endif // CONFIG_I2C
int px4_platform_init()
{
@ -135,32 +166,9 @@ int px4_platform_init()
#endif
#if defined(CONFIG_I2C)
I2CBusIterator i2c_bus_iterator {I2CBusIterator::FilterType::All};
while (i2c_bus_iterator.next()) {
i2c_master_s *i2c_dev = px4_i2cbus_initialize(i2c_bus_iterator.bus().bus);
#if defined(CONFIG_I2C_RESET)
I2C_RESET(i2c_dev);
#endif // CONFIG_I2C_RESET
// send software reset to all
uint8_t buf[1] {};
buf[0] = 0x06; // software reset
i2c_msg_s msg{};
msg.frequency = I2C_SPEED_STANDARD;
msg.addr = 0x00; // general call address
msg.buffer = &buf[0];
msg.length = 1;
I2C_TRANSFER(i2c_dev, &msg, 1);
px4_i2cbus_uninitialize(i2c_dev);
}
#endif // CONFIG_I2C
#if defined(CONFIG_I2C) && !defined(BOARD_I2C_LATEINIT)
px4_platform_i2c_init();
#endif
#if defined(CONFIG_FS_PROCFS)
int ret_mount_procfs = mount(nullptr, "/proc", "procfs", 0, nullptr);