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HAL_ChibiOS: added power status flags reporting

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This commit is contained in:
Andrew Tridgell 2018-04-08 19:30:32 +10:00
parent 7c85d06600
commit b4aeffbaed
3 changed files with 58 additions and 0 deletions
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47
libraries/AP_HAL_ChibiOS/AnalogIn.cpp
View File

@ -256,6 +256,9 @@ void AnalogIn::_timer_tick(void)
/* read all channels available */
read_adc(buf_adc);
// update power status flags
update_power_flags();
// match the incoming channels to the currently active pins
for (uint8_t i=0; i < ADC_GRP1_NUM_CHANNELS; i++) {
@ -310,3 +313,47 @@ AP_HAL::AnalogSource* AnalogIn::channel(int16_t pin)
return nullptr;
}
/*
update power status flags
*/
void AnalogIn::update_power_flags(void)
{
uint16_t flags = 0;
#ifdef HAL_GPIO_PIN_VDD_BRICK_VALID
if (!palReadLine(HAL_GPIO_PIN_VDD_BRICK_VALID)) {
flags |= MAV_POWER_STATUS_BRICK_VALID;
}
#endif
#ifdef HAL_GPIO_PIN_VDD_SERVO_VALID
if (!palReadLine(HAL_GPIO_PIN_VDD_SERVO_VALID)) {
flags |= MAV_POWER_STATUS_SERVO_VALID;
}
#endif
#ifdef HAL_GPIO_PIN_VBUS
if (palReadLine(HAL_GPIO_PIN_VBUS)) {
flags |= MAV_POWER_STATUS_USB_CONNECTED;
}
#endif
#ifdef HAL_GPIO_PIN_VDD_5V_HIPOWER_OC
if (!palReadLine(HAL_GPIO_PIN_VDD_5V_HIPOWER_OC)) {
flags |= MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENT;
}
#endif
#ifdef HAL_GPIO_PIN_VDD_5V_PERIPH_OC
if (!palReadLine(HAL_GPIO_PIN_VDD_5V_PERIPH_OC)) {
flags |= MAV_POWER_STATUS_PERIPH_OVERCURRENT;
}
#endif
if (_power_flags != 0 &&
_power_flags != flags &&
hal.util->get_soft_armed()) {
// the power status has changed while armed
flags |= MAV_POWER_STATUS_CHANGED;
}
_power_flags = flags;
}

3
libraries/AP_HAL_ChibiOS/AnalogIn.h
View File

@ -62,8 +62,11 @@ public:
float servorail_voltage(void) override { return _servorail_voltage; }
uint16_t power_status_flags(void) override { return _power_flags; }
static void adccallback(ADCDriver *adcp, adcsample_t *buffer, size_t n);
private:
void read_adc(uint32_t *val);
void update_power_flags(void);
int _battery_handle;
int _servorail_handle;
int _system_power_handle;

8
libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
View File

@ -374,6 +374,14 @@ PE15 VDD_5V_PERIPH_OC INPUT
# define a LED, mapping it to GPIO(0)
PE12 FMU_LED_AMBER OUTPUT GPIO(0)
# power flag pins. These tell the MCU the status of the various power
# supplies that are available. The pin names need to exactly match the
# names used in AnalogIn.cpp.
PB5 VDD_BRICK_VALID INPUT PULLUP
PB7 VDD_SERVO_VALID INPUT PULLUP
PE10 VDD_5V_HIPOWER_OC INPUT PULLUP
PE15 VDD_5V_PERIPH_OC INPUT PULLUP
# now the SPI device table. This table creates all accessible SPI
# devices, giving the name of the device (which is used by device
# drivers to open the device), plus which SPI bus it it on, what