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AP_IOMCU: added blue LED support on PH1

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This commit is contained in:
Andrew Tridgell 2018-05-10 17:12:40 +10:00
parent 19c002baaf
commit 89bfd7e850
2 changed files with 26 additions and 6 deletions
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27
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
View File

@ -154,13 +154,15 @@ static UARTConfig uart_cfg = {
void setup(void)
{
hal.gpio->init();
hal.rcin->init();
hal.rcout->init();
for (uint8_t i = 0; i< 14; i++) {
hal.rcout->enable_ch(i);
}
iomcu.init();
iomcu.calculate_fw_crc();
uartStart(&UARTD2, &uart_cfg);
uartStartReceive(&UARTD2, sizeof(iomcu.rx_io_packet), &iomcu.rx_io_packet);
@ -171,6 +173,14 @@ void loop(void)
iomcu.update();
}
void AP_IOMCU_FW::init()
{
if (palReadLine(HAL_GPIO_PIN_IO_HW_DETECT1) == 1 && palReadLine(HAL_GPIO_PIN_IO_HW_DETECT2) == 0) {
has_heater = true;
}
}
void AP_IOMCU_FW::update()
{
if (do_reboot && (AP_HAL::millis() > reboot_time)) {
@ -195,11 +205,18 @@ void AP_IOMCU_FW::pwm_out_update()
void AP_IOMCU_FW::heater_update()
{
if (reg_setup.heater_duty_cycle == 0 || (AP_HAL::millis() - last_heater_ms > 3000UL)) {
hal.gpio->write(0, 0);
uint32_t now = AP_HAL::millis();
if (!has_heater) {
// use blue LED as heartbeat
if (now - last_blue_led_ms > 500) {
palToggleLine(HAL_GPIO_PIN_HEATER);
last_blue_led_ms = now;
}
} else if (reg_setup.heater_duty_cycle == 0 || (now - last_heater_ms > 3000UL)) {
palWriteLine(HAL_GPIO_PIN_HEATER, 0);
} else {
uint8_t cycle = ((AP_HAL::millis() / 10UL) % 100U);
hal.gpio->write(0, !(cycle >= reg_setup.heater_duty_cycle));
uint8_t cycle = ((now / 10UL) % 100U);
palWriteLine(HAL_GPIO_PIN_HEATER, !(cycle >= reg_setup.heater_duty_cycle));
}
}

5
libraries/AP_IOMCU/iofirmware/iofirmware.h
View File

@ -25,6 +25,7 @@ public:
}
} rx_io_packet = {0}, tx_io_packet = {0};
void init();
void update();
void calculate_fw_crc(void);
@ -137,5 +138,7 @@ private:
bool do_reboot;
bool update_default_rate;
bool update_rcout_freq;
};
bool has_heater;
uint32_t last_blue_led_ms;
};