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232 lines
6.7 KiB
232 lines
6.7 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 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 px4fmu_init.c |
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* |
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* PX4FMU-specific early startup code. This file implements the |
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* nsh_archinitialize() function that is called early by nsh during startup. |
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* |
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* Code here is run before the rcS script is invoked; it should start required |
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* subsystems and perform board-specific initialisation. |
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*/ |
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/**************************************************************************** |
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* Included Files |
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****************************************************************************/ |
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#include <nuttx/config.h> |
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#include <stdbool.h> |
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#include <stdio.h> |
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#include <debug.h> |
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#include <errno.h> |
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#include <nuttx/arch.h> |
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#include <nuttx/spi.h> |
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#include <nuttx/i2c.h> |
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#include <nuttx/mmcsd.h> |
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#include <nuttx/analog/adc.h> |
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#include "stm32_internal.h" |
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#include "px4fmu_internal.h" |
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#include "stm32_uart.h" |
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#include <arch/board/board.h> |
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#include <drivers/drv_hrt.h> |
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#include <drivers/drv_led.h> |
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#include <systemlib/cpuload.h> |
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/**************************************************************************** |
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* Pre-Processor Definitions |
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****************************************************************************/ |
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/* Configuration ************************************************************/ |
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/* Debug ********************************************************************/ |
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#ifdef CONFIG_CPP_HAVE_VARARGS |
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# ifdef CONFIG_DEBUG |
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# define message(...) lib_lowprintf(__VA_ARGS__) |
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# else |
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# define message(...) printf(__VA_ARGS__) |
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# endif |
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#else |
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# ifdef CONFIG_DEBUG |
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# define message lib_lowprintf |
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# else |
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# define message printf |
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# endif |
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#endif |
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/**************************************************************************** |
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* Protected Functions |
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****************************************************************************/ |
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/**************************************************************************** |
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* Public Functions |
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****************************************************************************/ |
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/************************************************************************************ |
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* Name: stm32_boardinitialize |
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* |
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* Description: |
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* All STM32 architectures must provide the following entry point. This entry point |
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* is called early in the intitialization -- after all memory has been configured |
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* and mapped but before any devices have been initialized. |
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* |
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************************************************************************************/ |
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__EXPORT void stm32_boardinitialize(void) |
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{ |
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/* configure SPI interfaces */ |
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stm32_spiinitialize(); |
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/* configure LEDs */ |
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up_ledinit(); |
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} |
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/**************************************************************************** |
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* Name: nsh_archinitialize |
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* |
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* Description: |
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* Perform architecture specific initialization |
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* |
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****************************************************************************/ |
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static struct spi_dev_s *spi1; |
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static struct spi_dev_s *spi3; |
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#include <math.h> |
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#ifdef __cplusplus |
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__EXPORT int matherr(struct __exception *e) |
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{ |
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return 1; |
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} |
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#else |
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__EXPORT int matherr(struct exception *e) |
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{ |
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return 1; |
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} |
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#endif |
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__EXPORT int nsh_archinitialize(void) |
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{ |
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int result; |
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/* configure the high-resolution time/callout interface */ |
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hrt_init(); |
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/* configure CPU load estimation */ |
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#ifdef CONFIG_SCHED_INSTRUMENTATION |
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cpuload_initialize_once(); |
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#endif |
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/* set up the serial DMA polling */ |
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static struct hrt_call serial_dma_call; |
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struct timespec ts; |
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/* |
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* Poll at 1ms intervals for received bytes that have not triggered |
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* a DMA event. |
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*/ |
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ts.tv_sec = 0; |
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ts.tv_nsec = 1000000; |
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hrt_call_every(&serial_dma_call, |
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ts_to_abstime(&ts), |
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ts_to_abstime(&ts), |
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(hrt_callout)stm32_serial_dma_poll, |
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NULL); |
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// initial LED state |
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drv_led_start(); |
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up_ledoff(LED_BLUE); |
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up_ledoff(LED_AMBER); |
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up_ledon(LED_BLUE); |
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/* Configure SPI-based devices */ |
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spi1 = up_spiinitialize(1); |
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if (!spi1) { |
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message("[boot] FAILED to initialize SPI port 1\r\n"); |
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up_ledon(LED_AMBER); |
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return -ENODEV; |
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} |
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// Default SPI1 to 1MHz and de-assert the known chip selects. |
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SPI_SETFREQUENCY(spi1, 10000000); |
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SPI_SETBITS(spi1, 8); |
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SPI_SETMODE(spi1, SPIDEV_MODE3); |
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SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false); |
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SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false); |
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SPI_SELECT(spi1, PX4_SPIDEV_MPU, false); |
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up_udelay(20); |
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message("[boot] Successfully initialized SPI port 1\r\n"); |
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/* Get the SPI port for the microSD slot */ |
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message("[boot] Initializing SPI port 3\n"); |
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spi3 = up_spiinitialize(3); |
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if (!spi3) { |
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message("[boot] FAILED to initialize SPI port 3\n"); |
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up_ledon(LED_AMBER); |
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return -ENODEV; |
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} |
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message("[boot] Successfully initialized SPI port 3\n"); |
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/* Now bind the SPI interface to the MMCSD driver */ |
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result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3); |
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if (result != OK) { |
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message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n"); |
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up_ledon(LED_AMBER); |
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return -ENODEV; |
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} |
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message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n"); |
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stm32_configgpio(GPIO_ADC1_IN10); |
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stm32_configgpio(GPIO_ADC1_IN11); |
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stm32_configgpio(GPIO_ADC1_IN12); |
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//stm32_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards |
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return OK; |
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}
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