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HAL_PX4: fixed USB connected on AUAV-X2

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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 committed by Randy Mackay
parent 4ae8e36000
commit 5ce802b946
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; struct stat st;
/* /*
we use a combination of voltage on the USB connector and the 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 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 */ /* return true if USB cable is connected */
bool usb_connected(void); 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: private:
int _led_fd; int _led_fd;
int _tone_alarm_fd; int _tone_alarm_fd;
int _gpio_fmu_fd; int _gpio_fmu_fd;
int _gpio_io_fd; int _gpio_io_fd;
bool _usb_connected = false;
}; };
class PX4::PX4DigitalSource : public AP_HAL::DigitalSource { 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 <drivers/drv_hrt.h>
#include <assert.h> #include <assert.h>
#include "../AP_HAL/utility/RingBuffer.h" #include "../AP_HAL/utility/RingBuffer.h"
#include "GPIO.h"
using namespace PX4; 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 (_writebuf_size != 0 && _readbuf_size != 0 && _fd != -1) {
if (!_initialised) { if (!_initialised) {
if (strcmp(_devpath, "/dev/ttyACM0") == 0) {
((PX4GPIO *)hal.gpio)->set_usb_connected();
}
::printf("initialised %s OK %u %u\n", _devpath, ::printf("initialised %s OK %u %u\n", _devpath,
(unsigned)_writebuf_size, (unsigned)_readbuf_size); (unsigned)_writebuf_size, (unsigned)_readbuf_size);
} }