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AP_BoardConfig: added BRD_BOOT_DELAY

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this allows for a configurable boot delay in case a board has
peripherals that take a long time to bootup
This commit is contained in:
Andrew Tridgell 2019-07-19 16:55:57 +10:00
parent 05c608e725
commit bcfdc91900
2 changed files with 24 additions and 0 deletions
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22
libraries/AP_BoardConfig/AP_BoardConfig.cpp
View File

@ -76,6 +76,10 @@
#endif
#endif
#ifndef HAL_DEFAULT_BOOT_DELAY
#define HAL_DEFAULT_BOOT_DELAY 0
#endif
extern const AP_HAL::HAL& hal;
AP_BoardConfig *AP_BoardConfig::_singleton;
@ -245,6 +249,14 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
// @User: Advanced
AP_GROUPINFO("OPTIONS", 19, AP_BoardConfig, _options, HAL_BRD_OPTIONS_DEFAULT),
// @Param: BOOT_DELAY
// @DisplayName: Boot delay
// @Description: This adds a delay in milliseconds to boot to ensure peripherals initialise fully
// @Range: 0 10000
// @Units: ms
// @User: Advanced
AP_GROUPINFO("BOOT_DELAY", 20, AP_BoardConfig, _boot_delay_ms, HAL_DEFAULT_BOOT_DELAY),
AP_GROUPEND
};
@ -261,6 +273,16 @@ void AP_BoardConfig::init()
AP::rtc().set_utc_usec(hal.util->get_hw_rtc(), AP_RTC::SOURCE_HW);
if (_boot_delay_ms > 0) {
uint16_t delay_ms = uint16_t(_boot_delay_ms.get());
if (hal.util->was_watchdog_armed() && delay_ms > 200) {
// don't delay a long time on watchdog reset, the pilot
// may be able to save the vehicle
delay_ms = 200;
}
hal.scheduler->delay(delay_ms);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && defined(USE_POSIX)
uint8_t slowdown = constrain_int16(_sdcard_slowdown.get(), 0, 32);
const uint8_t max_slowdown = 8;

2
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -234,5 +234,7 @@ private:
AP_Int8 _sdcard_slowdown;
#endif
AP_Int16 _boot_delay_ms;
AP_Int32 _options;
};