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Mantis: move power off tune to commander 

This way we don't allocate inside the interrupt context.
This commit is contained in:
Julian Oes 2021-12-08 13:13:08 +01:00 committed by Daniel Agar
parent 372a0da987
commit b3d830dd11
2 changed files with 25 additions and 15 deletions
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15
boards/atl/mantis-edu/src/pwr.cpp
View File

@ -54,8 +54,6 @@
#include <uORB/uORB.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/led_control.h>
#include <uORB/topics/tune_control.h>
#include <arm_arch.h>
#include "board_config.h"
@ -117,26 +115,13 @@ int board_power_off(int status)
static int board_button_irq(int irq, FAR void *context, FAR void *args)
{
uORB::Publication<tune_control_s, tune_control_s::ORB_QUEUE_LENGTH> tune_control_pub{ORB_ID(tune_control)};
if (board_pwr_button_down()) {
led_on(BOARD_LED_RED);
clock_gettime(CLOCK_REALTIME, &time_down);
power_state_notification(PWR_BUTTON_DOWN);
tune_control_s tune_control{};
tune_control.volume = tune_control_s::VOLUME_LEVEL_DEFAULT - 20;
tune_control.tune_id = tune_control_s::TUNE_ID_POWER_OFF;
tune_control.timestamp = hrt_absolute_time();
tune_control_pub.publish(tune_control);
} else {
tune_control_s tune_control{};
tune_control.tune_override = true;
tune_control.timestamp = hrt_absolute_time();
tune_control_pub.publish(tune_control);
power_state_notification(PWR_BUTTON_UP);
led_off(BOARD_LED_RED);

25
src/modules/commander/Commander.cpp
View File

@ -77,6 +77,7 @@
#include <matrix/math.hpp>
#include <uORB/topics/mavlink_log.h>
#include <uORB/topics/tune_control.h>
typedef enum VEHICLE_MODE_FLAG {
VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1, /* 0b00000001 Reserved for future use. | */
@ -91,6 +92,24 @@ typedef enum VEHICLE_MODE_FLAG {
} VEHICLE_MODE_FLAG;
#if defined(BOARD_HAS_POWER_CONTROL)
static orb_advert_t tune_control_pub = nullptr;
static void play_power_button_down_tune()
{
tune_control_s tune_control{};
tune_control.volume = tune_control_s::VOLUME_LEVEL_DEFAULT - 20;
tune_control.tune_id = tune_control_s::TUNE_ID_POWER_OFF;
tune_control.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);
}
static void stop_tune()
{
tune_control_s tune_control{};
tune_control.tune_override = true;
tune_control.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);
}
static orb_advert_t power_button_state_pub = nullptr;
static int power_button_state_notification_cb(board_power_button_state_notification_e request)
{
@ -107,10 +126,12 @@ static int power_button_state_notification_cb(board_power_button_state_notificat
case PWR_BUTTON_DOWN:
button_state.event = power_button_state_s::PWR_BUTTON_STATE_DOWN;
play_power_button_down_tune();
break;
case PWR_BUTTON_UP:
button_state.event = power_button_state_s::PWR_BUTTON_STATE_UP;
stop_tune();
break;
case PWR_BUTTON_REQUEST_SHUT_DOWN:
@ -1837,6 +1858,10 @@ Commander::run()
power_button_state_pub = orb_advertise(ORB_ID(power_button_state), &button_state);
_power_button_state_sub.copy(&button_state);
tune_control_s tune_control{};
button_state.timestamp = hrt_absolute_time();
tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
}
if (board_register_power_state_notification_cb(power_button_state_notification_cb) != 0) {