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AP_Periph: support safety button

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This commit is contained in:
Andrew Tridgell 2019-08-31 14:49:38 +10:00
parent 39f4f7c208
commit 01fc8dcb3c
1 changed files with 44 additions and 0 deletions
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44
Tools/AP_Periph/can.cpp
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@ -34,6 +34,7 @@
#include <uavcan/equipment/air_data/StaticTemperature.h>
#include <uavcan/equipment/indication/BeepCommand.h>
#include <ardupilot/indication/SafetyState.h>
#include <ardupilot/indication/Button.h>
#include <uavcan/protocol/debug/LogMessage.h>
#include <stdio.h>
#include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
@ -431,6 +432,46 @@ static void can_safety_LED_update(void)
}
#endif // HAL_GPIO_PIN_SAFE_LED
#ifdef HAL_GPIO_PIN_SAFE_BUTTON
/*
update safety button
*/
static void can_safety_button_update(void)
{
static uint32_t last_update_ms;
static uint8_t counter;
uint32_t now = AP_HAL::millis();
// send at 10Hz when pressed
if (!palReadLine(HAL_GPIO_PIN_SAFE_BUTTON)) {
counter = 0;
return;
}
if (now - last_update_ms < 100) {
return;
}
if (counter < 255) {
counter++;
}
last_update_ms = now;
ardupilot_indication_Button pkt {};
pkt.button = ARDUPILOT_INDICATION_BUTTON_BUTTON_SAFETY;
pkt.press_time = counter;
uint8_t buffer[ARDUPILOT_INDICATION_BUTTON_MAX_SIZE];
uint16_t total_size = ardupilot_indication_Button_encode(&pkt, buffer);
canardBroadcast(&canard,
ARDUPILOT_INDICATION_BUTTON_SIGNATURE,
ARDUPILOT_INDICATION_BUTTON_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
}
#endif // HAL_GPIO_PIN_SAFE_BUTTON
/**
* This callback is invoked by the library when a new message or request or response is received.
*/
@ -782,6 +823,9 @@ void AP_Periph_FW::can_update()
#endif
#ifdef HAL_GPIO_PIN_SAFE_LED
can_safety_LED_update();
#endif
#ifdef HAL_GPIO_PIN_SAFE_BUTTON
can_safety_button_update();
#endif
processTx();
processRx();