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Updated PX4 use / API of low level GPIO and other hardware-centric system facilities

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This commit is contained in:
Lorenz Meier
2016-05-28 14:56:17 +02:00
parent c2e2645c82
commit 7398164fcc
89 changed files with 1294 additions and 1087 deletions
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src/drivers/stm32/adc/adc.cpp
+12 -30
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@@ -273,9 +273,9 @@ ADC::read(file *filp, char *buffer, size_t len)
}
/* block interrupts while copying samples to avoid racing with an update */
irqstate_t flags = irqsave();
irqstate_t flags = px4_enter_critical_section();
memcpy(buffer, _samples, len);
irqrestore(flags);
px4_leave_critical_section(flags);
return len;
}
@@ -343,9 +343,7 @@ ADC::update_adc_report(hrt_abstime now)
void
ADC::update_system_power(hrt_abstime now)
{
#if defined (CONFIG_ARCH_BOARD_PX4FMU_V2) || \
defined (CONFIG_ARCH_BOARD_MINDPX_V2) || \
defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
#if defined (BOARD_ADC_USB_CONNECTED)
system_power_s system_power = {};
system_power.timestamp = now;
@@ -358,35 +356,19 @@ ADC::update_system_power(hrt_abstime now)
}
}
/* Note once the board_config.h provides BOARD_ADC_USB_CONNECTED,
* It must provide the true logic GPIO BOARD_ADC_xxxx macros.
*/
// these are not ADC related, but it is convenient to
// publish these to the same topic
system_power.usb_connected = stm32_gpioread(GPIO_OTGFS_VBUS);
system_power.usb_connected = BOARD_ADC_USB_CONNECTED;
#if defined (CONFIG_ARCH_BOARD_MINDPX_V2)
// note that the valid pins are active low
system_power.brick_valid = 1;
system_power.servo_valid = 1;
system_power.brick_valid = BOARD_ADC_BRICK_VALID;
system_power.servo_valid = BOARD_ADC_SERVO_VALID;
// OC pins are active low
system_power.periph_5V_OC = 1;
system_power.hipower_5V_OC = 1;
#elif defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
// note that the valid pins are active high
system_power.brick_valid = stm32_gpioread(GPIO_VDD_BRICK_VALID);
system_power.servo_valid = 1;
// OC pins are not supported
system_power.periph_5V_OC = 0;
system_power.hipower_5V_OC = 0;
#else
// note that the valid pins are active low
system_power.brick_valid = !stm32_gpioread(GPIO_VDD_BRICK_VALID);
system_power.servo_valid = !stm32_gpioread(GPIO_VDD_SERVO_VALID);
// OC pins are active low
system_power.periph_5V_OC = !stm32_gpioread(GPIO_VDD_5V_PERIPH_OC);
system_power.hipower_5V_OC = !stm32_gpioread(GPIO_VDD_5V_HIPOWER_OC);
#endif
system_power.periph_5V_OC = BOARD_ADC_PERIPH_5V_OC;
system_power.hipower_5V_OC = BOARD_ADC_HIPOWER_5V_OC;
/* lazily publish */
if (_to_system_power != nullptr) {
@@ -396,7 +378,7 @@ ADC::update_system_power(hrt_abstime now)
_to_system_power = orb_advertise(ORB_ID(system_power), &system_power);
}
#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
#endif // BOARD_ADC_USB_CONNECTED
}
uint16_t