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HAL_PX4: fixed USB connected on AUAV-X2 

this is the 2nd attempt at a fix for the usb_connected status on
AUAV-X2
This commit is contained in:
Andrew Tridgell 2015-08-11 11:40:32 +10:00
parent 69bfeaf58e
commit 1b61f6f636
3 changed files with 11 additions and 2 deletions
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5
libraries/AP_HAL_PX4/GPIO.cpp
View File

@ -245,10 +245,11 @@ bool PX4GPIO::usb_connected(void)
struct stat st;
/*
we use a combination of voltage on the USB connector and the
existance of the /dev/ttyACM0 character device. This copes with
open of the /dev/ttyACM0 character device. This copes with
systems where the VBUS may go high even with no USB connected
(such as AUAV-X2)
*/
return stm32_gpioread(GPIO_OTGFS_VBUS) && stat("/dev/ttyACM0", &st) == 0;
return stm32_gpioread(GPIO_OTGFS_VBUS) && _usb_connected;
}

4
libraries/AP_HAL_PX4/GPIO.h
View File

@ -46,11 +46,15 @@ public:
/* return true if USB cable is connected */
bool usb_connected(void);
// used by UART code to avoid a hw bug in the AUAV-X2
void set_usb_connected(void) { _usb_connected = true; }
private:
int _led_fd;
int _tone_alarm_fd;
int _gpio_fmu_fd;
int _gpio_io_fd;
bool _usb_connected = false;
};
class PX4::PX4DigitalSource : public AP_HAL::DigitalSource {

4
libraries/AP_HAL_PX4/UARTDriver.cpp
View File

@ -17,6 +17,7 @@
#include <drivers/drv_hrt.h>
#include <assert.h>
#include "../AP_HAL/utility/RingBuffer.h"
#include "GPIO.h"
using namespace PX4;
@ -146,6 +147,9 @@ void PX4UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
if (_writebuf_size != 0 && _readbuf_size != 0 && _fd != -1) {
if (!_initialised) {
if (strcmp(_devpath, "/dev/ttyACM0") == 0) {
((PX4GPIO *)hal.gpio)->set_usb_connected();
}
::printf("initialised %s OK %u %u\n", _devpath,
(unsigned)_writebuf_size, (unsigned)_readbuf_size);
}