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AP_Periph: add support for starting sitl periph in maintenance mode

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bugobliterator 2022-04-29 17:19:13 +05:30 committed by Andrew Tridgell
parent 8e81ee0292
commit c4b182978a
1 changed files with 49 additions and 30 deletions
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79
Tools/AP_Periph/can.cpp
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@ -47,7 +47,13 @@
#include <AP_CANManager/AP_CANSensor.h>
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
extern const HAL_SITL &hal;
#else
extern const AP_HAL::HAL &hal;
#endif
extern AP_Periph_FW periph;
#ifndef HAL_CAN_POOL_SIZE
@ -1351,7 +1357,14 @@ static void process1HzTasks(uint64_t timestamp_usec)
}
#endif
node_status.mode = UAVCAN_PROTOCOL_NODESTATUS_MODE_OPERATIONAL;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (hal.run_in_maintenance_mode()) {
node_status.mode = UAVCAN_PROTOCOL_NODESTATUS_MODE_MAINTENANCE;
} else
#endif
{
node_status.mode = UAVCAN_PROTOCOL_NODESTATUS_MODE_OPERATIONAL;
}
#if 0
// test code for watchdog reset
@ -1658,36 +1671,42 @@ void AP_Periph_FW::can_update()
last_1Hz_ms = now;
process1HzTasks(AP_HAL::native_micros64());
}
can_mag_update();
can_gps_update();
can_battery_update();
can_baro_update();
can_airspeed_update();
can_rangefinder_update();
#if defined(HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY) || defined (HAL_PERIPH_ENABLE_NOTIFY)
can_buzzer_update();
#endif
#ifdef HAL_GPIO_PIN_SAFE_LED
can_safety_LED_update();
#endif
#ifdef HAL_GPIO_PIN_SAFE_BUTTON
can_safety_button_update();
#endif
#ifdef HAL_PERIPH_ENABLE_PWM_HARDPOINT
pwm_hardpoint_update();
#endif
#ifdef HAL_PERIPH_ENABLE_HWESC
hwesc_telem_update();
#endif
#ifdef HAL_PERIPH_ENABLE_MSP
msp_sensor_update();
#endif
#ifdef HAL_PERIPH_ENABLE_RC_OUT
rcout_update();
#endif
#ifdef HAL_PERIPH_ENABLE_EFI
can_efi_update();
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (!hal.run_in_maintenance_mode())
#endif
{
can_mag_update();
can_gps_update();
can_battery_update();
can_baro_update();
can_airspeed_update();
can_rangefinder_update();
#if defined(HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY) || defined (HAL_PERIPH_ENABLE_NOTIFY)
can_buzzer_update();
#endif
#ifdef HAL_GPIO_PIN_SAFE_LED
can_safety_LED_update();
#endif
#ifdef HAL_GPIO_PIN_SAFE_BUTTON
can_safety_button_update();
#endif
#ifdef HAL_PERIPH_ENABLE_PWM_HARDPOINT
pwm_hardpoint_update();
#endif
#ifdef HAL_PERIPH_ENABLE_HWESC
hwesc_telem_update();
#endif
#ifdef HAL_PERIPH_ENABLE_MSP
msp_sensor_update();
#endif
#ifdef HAL_PERIPH_ENABLE_RC_OUT
rcout_update();
#endif
#ifdef HAL_PERIPH_ENABLE_EFI
can_efi_update();
#endif
}
const uint32_t now_us = AP_HAL::micros();
while ((AP_HAL::micros() - now_us) < 1000) {
hal.scheduler->delay_microseconds(HAL_PERIPH_LOOP_DELAY_US);