__END_DECLS
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: board_peripheral_reset
*
* Description:
*
************************************************************************************/
__EXPORT void board_peripheral_reset(int ms)
{
/* set the peripheral rails off */
px4_arch_configgpio(GPIO_VDD_5V_PERIPH_EN);
px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 1);
/* wait for the peripheral rail to reach GND */
usleep(ms * 1000);
warnx("reset done, %d ms", ms);
/* re-enable power */
/* switch the peripheral rail back on */
px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 0);
}
__EXPORT void stm32_spiinitialize(void)
{
#ifdef CONFIG_STM32_SPI1
px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G);
px4_arch_configgpio(GPIO_SPI_CS_BARO);
px4_arch_configgpio(GPIO_SPI_CS_MPU);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
px4_arch_configgpio(GPIO_EXTI_ICM_20608_G_DRDY);
#endif
#ifdef CONFIG_STM32_SPI2
px4_arch_configgpio(GPIO_SPI_CS_FRAM);
px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, 1);
#endif
}
__EXPORT void stm32_spiinitialize(void)
{
#ifdef CONFIG_STM32_SPI1
px4_arch_configgpio(GPIO_SPI_CS_MPU9250);
px4_arch_configgpio(GPIO_SPI_CS_HMC5983);
px4_arch_configgpio(GPIO_SPI_CS_MS5611);
px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
px4_arch_configgpio(GPIO_DRDY_MPU9250);
px4_arch_configgpio(GPIO_DRDY_HMC5983);
px4_arch_configgpio(GPIO_DRDY_ICM_20608_G);
#endif
#ifdef CONFIG_STM32_SPI2
px4_arch_configgpio(GPIO_SPI_CS_FRAM);
px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, 1);
#endif
}
void resetwifi(void){
//pull down the rst pin more than 300 milisec
px4_arch_gpiowrite(GPIO_wifi_rst, 0);
usleep(800);
px4_arch_gpiowrite(GPIO_wifi_rst, 1);
//usleep(1000000);
}
__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
UNUSED(devid);
/* SPI select is active low, so write !selected to select the device */
px4_arch_gpiowrite(GPIO_SPI3_CS_BARO, !selected);
px4_arch_gpiowrite(GPIO_SPI3_CS_OSD, !selected);
}
void TAP_ESC::select_responder(uint8_t sel)
{
#if defined(GPIO_S0)
px4_arch_gpiowrite(GPIO_S0, sel & 1);
px4_arch_gpiowrite(GPIO_S1, sel & 2);
px4_arch_gpiowrite(GPIO_S2, sel & 4);
#endif
}
__EXPORT void board_spi_reset(int ms)
{
/* disable SPI bus */
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X_OFF);
px4_arch_configgpio(GPIO_SPI_CS_BARO_OFF);
px4_arch_configgpio(GPIO_SPI_CS_MPU_OFF);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
px4_arch_configgpio(GPIO_SPI1_SCK_OFF);
px4_arch_configgpio(GPIO_SPI1_MISO_OFF);
px4_arch_configgpio(GPIO_SPI1_MOSI_OFF);
px4_arch_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY_OFF);
px4_arch_configgpio(GPIO_EXTI_MPU_DRDY_OFF);
px4_arch_gpiowrite(GPIO_EXTI_ICM_2060X_DRDY_OFF, 0);
px4_arch_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0);
/* set the sensor rail off */
px4_arch_configgpio(GPIO_VDD_3V3_SENSORS_EN);
px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
/* switch the sensor rail back on */
px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
#ifdef CONFIG_STM32_SPI1
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
px4_arch_configgpio(GPIO_SPI_CS_BARO);
px4_arch_configgpio(GPIO_SPI_CS_MPU);
px4_arch_configgpio(GPIO_SPI1_SCK);
px4_arch_configgpio(GPIO_SPI1_MISO);
px4_arch_configgpio(GPIO_SPI1_MOSI);
// // XXX bring up the EXTI pins again
// px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
// px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY);
#endif
}
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
/* intended fallthrough */
case PX4_SPIDEV_ICM_20602:
/* intended fallthrough */
case PX4_SPIDEV_ICM_20608:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, !selected);
break;
default:
break;
}
}
__EXPORT void led_toggle(int led)
{
if (led == 1) {
if (px4_arch_gpioread(GPIO_LED1)) {
px4_arch_gpiowrite(GPIO_LED1, false);
} else {
px4_arch_gpiowrite(GPIO_LED1, true);
}
}
}
void
GPS::cmd_reset()
{
#ifdef GPIO_GPS_NRESET
PX4_WARN("Toggling GPS reset pin");
px4_arch_configgpio(GPIO_GPS_NRESET);
px4_arch_gpiowrite(GPIO_GPS_NRESET, 0);
usleep(100);
px4_arch_gpiowrite(GPIO_GPS_NRESET, 1);
PX4_WARN("Toggled GPS reset pin");
#endif
}
__EXPORT void stm32_spiinitialize(void)
{
#ifdef CONFIG_STM32_SPI1
px4_arch_configgpio(GPIO_SPI_CS_MS5611);
px4_arch_configgpio(GPIO_SPI_CS_EXP_MS5611);
px4_arch_configgpio(GPIO_SPI_CS_EXP_MPU6000);
px4_arch_configgpio(GPIO_SPI_CS_EXP_HMC5983);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXP_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXP_MPU6000, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXP_HMC5983, 1);
#endif
#ifdef CONFIG_STM32_SPI2
px4_arch_configgpio(GPIO_SPI_CS_MPU6000);
px4_arch_configgpio(GPIO_SPI_CS_IMU_MS5611);
px4_arch_configgpio(GPIO_SPI_CS_IMU_MPU6000);
px4_arch_configgpio(GPIO_SPI_CS_IMU_HMC5983);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
px4_arch_gpiowrite(GPIO_SPI_CS_MPU6000, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_IMU_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_IMU_MPU6000, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_IMU_HMC5983, 1);
px4_arch_configgpio(GPIO_DRDY_MPU6000);
#endif
#ifdef CONFIG_STM32_SPI3
px4_arch_configgpio(GPIO_SPI_CS_RAMTRON);
px4_arch_configgpio(GPIO_SPI_CS_SDCARD);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
px4_arch_gpiowrite(GPIO_SPI_CS_RAMTRON, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_SDCARD, 1);
#endif
}
void CameraInterfaceGPIO::setup()
{
for (unsigned i = 0; i < arraySize(_pins); i++) {
px4_arch_configgpio(_gpios[_pins[i]]);
px4_arch_gpiowrite(_gpios[_pins[i]], !_polarity);
}
}
__EXPORT void led_off(int led)
{
if (led == 1) {
/* Pull up to switch off */
px4_arch_gpiowrite(GPIO_LED1, true);
}
}
void
TEST_PPM::do_out(void)
{
if ((_call_times % 2) == 0) {
px4_arch_gpiowrite(TEST_PPM_PIN, false);
hrt_call_after(&_call, _values[_call_times / 2] - _plus_width, (hrt_callout)&TEST_PPM::loops, this);
} else {
px4_arch_gpiowrite(TEST_PPM_PIN, true);
hrt_call_after(&_call, _plus_width, (hrt_callout)&TEST_PPM::loops, this);
}
if ((_call_times / 2) < _channels + 1) { _call_times++; }
else { _call_times = 0; }
}
__EXPORT void led_on(int led)
{
if (led == 1) {
/* Pull down to switch on */
px4_arch_gpiowrite(GPIO_LED1, false);
}
}
void CameraInterfaceGPIO::trigger(bool enable)
{
if (enable) {
for (unsigned i = 0; i < arraySize(_pins); i++) {
if (_pins[i] >= 0) {
// ACTIVE_LOW == 1
px4_arch_gpiowrite(_gpios[_pins[i]], _polarity);
}
}
} else {
for (unsigned i = 0; i < arraySize(_pins); i++) {
if (_pins[i] >= 0) {
// ACTIVE_LOW == 1
px4_arch_gpiowrite(_gpios[_pins[i]], !_polarity);
}
}
}
}
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
case SPIDEV_FLASH:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
break;
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, !selected);
break;
default:
break;
}
}
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
/* Shared PC2 CS devices */
case PX4_SPIDEV_BMI:
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, !selected);
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, 1);
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTE_PIN15, 1);
break;
/* Shared PC15 CS devices */
case PX4_SPIDEV_ICM:
case PX4_SPIDEV_ICM_20602:
case PX4_SPIDEV_ICM_20608:
case PX4_SPIDEV_BMI055_ACC:
case PX4_SPIDEV_MPU2:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1);
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, !selected);
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTE_PIN15, 1);
break;
/* Shared PE15 CS devices */
case PX4_SPIDEV_HMC:
case PX4_SPIDEV_LIS:
case PX4_SPIDEV_BMI055_GYR:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1);
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, 1);
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTE_PIN15, !selected);
break;
default:
break;
}
}
__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
case SPIDEV_MMCSD:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_RAMTRON, 1);
break;
case SPIDEV_FLASH:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_SDCARD, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_RAMTRON, !selected);
break;
default:
break;
}
}
// XXX refactor this out of this driver
void
PWMIN::_turn_off()
{
px4_arch_gpiowrite(GPIO_VDD_RANGEFINDER_EN, 0);
}
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
case PX4_SPIDEV_ICM:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, !selected);
break;
case PX4_SPIDEV_ACCEL_MAG:
/* Making sure the other peripherals are not selected */
break;
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
break;
case PX4_SPIDEV_HMC:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
break;
default:
break;
}
}
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
case SPIDEV_MS5611:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_EXP_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXP_MPU6000, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXP_HMC5983, 1);
break;
case SPIDEV_EXP_MS5611:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXP_MS5611, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_EXP_MPU6000, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXP_HMC5983, 1);
break;
case SPIDEV_EXP_MPU6000:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXP_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXP_MPU6000, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_EXP_HMC5983, 1);
break;
case SPIDEV_EXP_HMC5983:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXP_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXP_MPU6000, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXP_HMC5983, !selected);
break;
default:
break;
}
}
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* there can only be one device on this bus, so always select it */
px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
}
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
case PX4_SPIDEV_GYRO:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_ACCEL_MAG:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, !selected);
break;
default:
break;
}
}
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
UNUSED(devid);
px4_arch_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
}
__EXPORT void board_spi_reset(int ms)
{
/* disable SPI bus */
px4_arch_configgpio(GPIO_SPI_CS_GYRO_OFF);
px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF);
px4_arch_configgpio(GPIO_SPI_CS_BARO_OFF);
px4_arch_configgpio(GPIO_SPI_CS_MPU_OFF);
px4_arch_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
px4_arch_configgpio(GPIO_SPI1_SCK_OFF);
px4_arch_configgpio(GPIO_SPI1_MISO_OFF);
px4_arch_configgpio(GPIO_SPI1_MOSI_OFF);
px4_arch_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
px4_arch_configgpio(GPIO_GYRO_DRDY_OFF);
px4_arch_configgpio(GPIO_ACCEL_DRDY_OFF);
px4_arch_configgpio(GPIO_MAG_DRDY_OFF);
px4_arch_configgpio(GPIO_EXTI_MPU_DRDY_OFF);
px4_arch_gpiowrite(GPIO_GYRO_DRDY_OFF, 0);
px4_arch_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0);
px4_arch_gpiowrite(GPIO_MAG_DRDY_OFF, 0);
px4_arch_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0);
/* set the sensor rail off */
px4_arch_configgpio(GPIO_VDD_3V3_SENSORS_EN);
px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
warnx("reset done, %d ms", ms);
/* re-enable power */
/* switch the sensor rail back on */
px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
#ifdef CONFIG_STM32_SPI4
px4_arch_configgpio(GPIO_SPI_CS_GYRO);
px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
px4_arch_configgpio(GPIO_SPI_CS_BARO);
px4_arch_configgpio(GPIO_SPI_CS_MPU);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
px4_arch_configgpio(GPIO_SPI4_SCK);
px4_arch_configgpio(GPIO_SPI4_MISO);
px4_arch_configgpio(GPIO_SPI4_MOSI);
#endif
}
