[subsystem] possibility to poweron gps and imu via gpio at init

closes #706
paparazzi · May 13, 2014 · a34b7c6 · a34b7c6
1 parent 260dd67
commit a34b7c6
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diff --git a/sw/airborne/subsystems/gps.c b/sw/airborne/subsystems/gps.c
@@ -28,6 +28,14 @@
 
 #include "led.h"
 
+#ifdef GPS_POWER_GPIO
+#include "mcu_periph/gpio.h"
+
+#ifndef GPS_POWER_GPIO_ON
+#define GPS_POWER_GPIO_ON gpio_set
+#endif
+#endif
+
 #define MSEC_PER_WEEK (1000*60*60*24*7)
 
 struct GpsState gps;
@@ -106,6 +114,10 @@ void gps_init(void) {
   gps.last_3dfix_time = 0;
   gps.last_msg_ticks = 0;
   gps.last_msg_time = 0;
+#ifdef GPS_POWER_GPIO
+  gpio_setup_output(GPS_POWER_GPIO);
+  GPS_POWER_GPIO_ON(GPS_POWER_GPIO);
+#endif
 #ifdef GPS_LED
   LED_OFF(GPS_LED);
 #endif

diff --git a/sw/airborne/subsystems/imu.c b/sw/airborne/subsystems/imu.c
@@ -26,6 +26,14 @@
 
 #include "subsystems/imu.h"
 
+#ifdef IMU_POWER_GPIO
+#include "mcu_periph/gpio.h"
+
+#ifndef IMU_POWER_GPIO_ON
+#define IMU_POWER_GPIO_ON gpio_set
+#endif
+#endif
+
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
@@ -102,6 +110,11 @@ struct ImuFloat imuf;
 
 void imu_init(void) {
 
+#ifdef IMU_POWER_GPIO
+  gpio_setup_output(IMU_POWER_GPIO);
+  IMU_POWER_GPIO_ON(IMU_POWER_GPIO);
+#endif
+
   /* initialises neutrals */
   RATES_ASSIGN(imu.gyro_neutral,  IMU_GYRO_P_NEUTRAL,  IMU_GYRO_Q_NEUTRAL,  IMU_GYRO_R_NEUTRAL);