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px4-firmware
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FMU: Make peripheral rail power controllable

This commit is contained in:
Lorenz Meier 2015-02-26 17:57:58 +01:00
parent 07970689d4
commit dfdf741b13
2 changed files with 61 additions and 0 deletions
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2
src/drivers/drv_gpio.h
View File

@ -159,4 +159,6 @@
#define GPIO_SENSOR_RAIL_RESET GPIOC(13)
#define GPIO_PERIPHERAL_RAIL_RESET GPIOC(14)
#endif /* _DRV_GPIO_H */

59
src/drivers/px4fmu/fmu.cpp
View File

@ -182,6 +182,7 @@ private:
void gpio_reset(void);
void sensor_reset(int ms);
void peripheral_reset(int ms);
void gpio_set_function(uint32_t gpios, int function);
void gpio_write(uint32_t gpios, int function);
uint32_t gpio_read(void);
@ -1376,6 +1377,29 @@ PX4FMU::sensor_reset(int ms)
#endif
}
void
PX4FMU::peripheral_reset(int ms)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
if (ms < 1) {
ms = 1;
}
/* set the peripheral rails off */
stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 0);
/* wait for the peripheral rail to reach GND */
usleep(ms * 1000);
warnx("reset done, %d ms", ms);
/* re-enable power */
/* switch the peripheral rail back on */
stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 1);
#endif
}
void
PX4FMU::gpio_reset(void)
@ -1488,6 +1512,10 @@ PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
sensor_reset(arg);
break;
case GPIO_PERIPHERAL_RAIL_RESET:
peripheral_reset(arg);
break;
case GPIO_SET_OUTPUT:
case GPIO_SET_INPUT:
case GPIO_SET_ALT_1:
@ -1674,6 +1702,24 @@ sensor_reset(int ms)
close(fd);
}
void
peripheral_reset(int ms)
{
int fd;
fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
if (fd < 0) {
errx(1, "open fail");
}
if (ioctl(fd, GPIO_PERIPHERAL_RAIL_RESET, ms) < 0) {
warnx("peripheral rail reset failed");
}
close(fd);
}
void
test(void)
{
@ -1895,6 +1941,19 @@ fmu_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(verb, "peripheral_reset")) {
if (argc > 2) {
int reset_time = strtol(argv[2], 0, 0);
peripheral_reset(reset_time);
} else {
peripheral_reset(0);
warnx("resettet default time");
}
exit(0);
}
if (!strcmp(verb, "i2c")) {
if (argc > 3) {
int bus = strtol(argv[2], 0, 0);