fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 07:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

cdc_acm_check:Prevent USB disconect on param save

Browse Source 
If the hardware support RESET lockout that has nArmed ANDed with VBUS
   vbus_sense may drop during a param save which uses
   BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE to prevent external resets
   while writing the params.  If we are not armed and nARMRED is low
   we are in such a lock out so ignore changes on VBUS_SENSE during this
   time.
This commit is contained in:
David Sidrane
2022-02-21 10:56:41 +01:00
committed by Beat Küng
parent 9b35b680f6
commit c0facec889
5 changed files with 24 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/nuttx/src/px4/common/cdc_acm_check.cpp
+19 -2
View File
@@ -87,9 +87,26 @@ static void mavlink_usb_check(void *arg)
uORB::SubscriptionData<actuator_armed_s> actuator_armed_sub{ORB_ID(actuator_armed)};
const bool armed = actuator_armed_sub.get().armed;
const bool vbus_present = (board_read_VBUS_state() == PX4_OK);
bool vbus_present = (board_read_VBUS_state() == PX4_OK);
bool locked_out = false;
if (!armed) {
// If the hardware support RESET lockout that has nArmed ANDed with VBUS
// vbus_sense may drop during a param save which uses
// BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE to prevent external resets
// while writing the params. If we are not armed and nARMRED is low
// we are in such a lock out so ignore changes on VBUS_SENSE during this
// time.
#if defined(BOARD_GET_EXTERNAL_LOCKOUT_STATE)
locked_out = BOARD_GET_EXTERNAL_LOCKOUT_STATE() == 0;
if (locked_out) {
vbus_present = vbus_present_prev;
}
#endif
if (!armed && !locked_out) {
switch (usb_auto_start_state) {
case UsbAutoStartState::disconnected:
if (vbus_present && vbus_present_prev) {