update H-Flow Boot config and add stm32_configgpio (#24086)

PX4 · Dec 10, 2024 · 0f1a4eb · 0f1a4eb
1 parent bdbf7fd
commit 0f1a4eb
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/boards/holybro/h-flow/src/board_config.h b/boards/holybro/h-flow/src/board_config.h
@@ -46,9 +46,8 @@
 /* CAN  Silent mode control */
 #define GPIO_CAN1_SILENT_S0   /* PB7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
 
-// TODO: figure out
 /* Boot config */
-//#define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
+#define GPIO_BOOT_CONFIG      /* PC14 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN14|GPIO_EXTI)
 
 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
 #define GPIO_nLED_RED          /* PB0  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
@@ -68,6 +67,10 @@
 // TODO figure out
 #define GPIO_GETNODEINFO_JUMPER 0 //(GPIO_BOOT_CONFIG & ~GPIO_EXTI)
 
+// CAN termination set by param, available from RC02
+#define GPIO_CAN1_TERMINATION /* PA12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12)
+#define GPIO_CAN_TERM                    GPIO_CAN1_TERMINATION
+
 #define FLASH_BASED_PARAMS
 
 /* High-resolution timer */

diff --git a/boards/holybro/h-flow/src/init.c b/boards/holybro/h-flow/src/init.c
@@ -96,6 +96,7 @@ __EXPORT void stm32_boardinitialize(void)
 	stm32_configgpio(GPIO_CAN1_TX);
 
 	stm32_configgpio(GPIO_CAN1_SILENT_S0);
+	stm32_configgpio(GPIO_CAN1_TERMINATION);
 
 	// Configure SPI all interfaces GPIO & enable power.
 	stm32_spiinitialize();