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px4fmu-v4pro::Insure the discharge of the PWM pins on rest. 

As done on fmuV4 on resets invoked from system (not boot) insure
  we establish a low output state (discharge the pins) on PWM pins
  before they become inputs as a result of the pending reset.

  We also delay the reset by 400 MS to insure the 3.1 Ms pulse is
  not too close to the last PWM pulse.
This commit is contained in:
David Sidrane 2017-06-27 12:53:30 -10:00
parent b23e6fc87c
commit 892ae1436c
2 changed files with 47 additions and 8 deletions
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1
src/drivers/boards/px4fmu-v4pro/board_config.h
View File

@ -366,6 +366,7 @@
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
#define BOARD_HAS_ON_RESET 1
__BEGIN_DECLS
/****************************************************************************************************

54
src/drivers/boards/px4fmu-v4pro/px4fmu_init.c
View File

@ -156,6 +156,47 @@ __EXPORT void board_peripheral_reset(int ms)
stm32_gpiowrite(GPIO_VDD_5V_HIPOWER_EN, 0);
}
/************************************************************************************
* Name: board_on_reset
*
* Description:
* Optionally provided function called on entry to board_system_reset
* It should perform any house keeping prior to the rest.
*
* status - 1 if resetting to boot loader
* 0 if just resetting
*
************************************************************************************/
__EXPORT void board_on_reset(int status)
{
UNUSED(status);
/* configure the GPIO pins to outputs and keep them low */
stm32_configgpio(GPIO_GPIO0_OUTPUT);
stm32_configgpio(GPIO_GPIO1_OUTPUT);
stm32_configgpio(GPIO_GPIO2_OUTPUT);
stm32_configgpio(GPIO_GPIO3_OUTPUT);
stm32_configgpio(GPIO_GPIO4_OUTPUT);
stm32_configgpio(GPIO_GPIO5_OUTPUT);
/* On resets invoked from system (not boot) insure we establish a low
* output state (discharge the pins) on PWM pins before they become inputs.
*
* We also delay the onset of the that 3.1 Ms pulse as boot. This has
* triggered some ESC to spin. By adding this delay here the reset
* is pushed out > 400 ms. So the ESC PWM input can not mistake
* the 3.1 Ms pulse as a valid PWM command.
*
* fixme:Establish in upstream NuttX an CONFIG_IO_INIT_STATE to
* the initialize the IO lines in the clock config.
*
*/
if (status >= 0) {
up_mdelay(400);
}
}
/************************************************************************************
* Name: stm32_boardinitialize
*
@ -169,7 +210,12 @@ __EXPORT void board_peripheral_reset(int ms)
__EXPORT void
stm32_boardinitialize(void)
{
/* Reset all PWM to Low outputs */
board_on_reset(-1);
/* configure LEDs */
board_autoled_initialize();
/* Start with Power off */
@ -201,13 +247,6 @@ stm32_boardinitialize(void)
stm32_configgpio(GPIO_8266_RST);
stm32_configgpio(GPIO_BTN_SAFETY_FMU);
/* configure the GPIO pins to outputs and keep them low */
stm32_configgpio(GPIO_GPIO0_OUTPUT);
stm32_configgpio(GPIO_GPIO1_OUTPUT);
stm32_configgpio(GPIO_GPIO2_OUTPUT);
stm32_configgpio(GPIO_GPIO3_OUTPUT);
stm32_configgpio(GPIO_GPIO4_OUTPUT);
stm32_configgpio(GPIO_GPIO5_OUTPUT);
/* configure SPI interfaces
* is deferred to board_app_initialize
@ -215,7 +254,6 @@ stm32_boardinitialize(void)
* out adding a delay
*/
stm32_usbinitialize();
}