amiro-os / devices / PowerManagement / main.cpp @ 58fe0e0b
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#ifndef IN_CCM
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/*
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* @brief Makro to store data in the core coupled memory (ccm).
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* Example:
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* int compute_buffer[128] IN_CCM;
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*
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* @note The ccm is not connected to any bus system.
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*/
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#define IN_CCM __attribute__((section(".ccm"))) __attribute__((aligned(4))) |
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#endif
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#ifndef IN_ETH
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/*
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* @brief Makro to store data in the ethernet memory (eth).
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* Example:
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* int dma_buffer[128] IN_ETH;
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*
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* @note The eth is a dedicated memory block with its own DMA controller.
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*/
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#define IN_ETH __attribute__((section(".eth"))) __attribute__((aligned(4))) |
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#endif
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#define BL_CALLBACK_TABLE_ADDR (0x08000000 + 0x01C0) |
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#define BL_MAGIC_NUMBER ((uint32_t)0xFF669900u) |
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#define SHUTDOWN_NONE 0 |
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#define SHUTDOWN_TRANSPORTATION 1 |
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#define SHUTDOWN_DEEPSLEEP 2 |
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#define SHUTDOWN_HIBERNATE 3 |
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#define SHUTDOWN_RESTART 4 |
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#define SHUTDOWN_HANDLE_REQUEST 5 |
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#include <ch.hpp> |
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#include <shell.h> |
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#include <chprintf.h> |
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#include <wakeup.h> |
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#include <cstdlib> |
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#include <cstring> |
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#include <amiro/util/util.h> |
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#include <global.hpp> |
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#include <exti.hpp> |
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using namespace amiro; |
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using namespace constants::PowerManagement; |
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Global global; |
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void shutdownTimeoutISR(void *arg) { |
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(void) arg;
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} |
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void systemStop() {
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// VirtualTimer shutdownTimeout;
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uint8_t i; |
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// tell all boards that it's time to shut down
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global.robot.broadcastShutdown(); |
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global.userThread.requestTerminate(); |
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global.userThread.wait(); |
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// kill bluetooth
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boardBluetoothSetState(0);
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global.adc1_vsys.requestTerminate(); |
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global.adc1_vsys.wait(); |
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for (i = 0; i < global.vcnl4020.size(); ++i) { |
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global.vcnl4020[i].requestTerminate(); |
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global.vcnl4020[i].wait(); |
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} |
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for (i = 0; i < global.bq27500.size(); ++i) { |
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global.bq27500[i].requestTerminate(); |
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global.bq27500[i].wait(); |
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} |
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for (i = 0; i < global.ina219.size(); ++i) { |
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global.ina219[i].requestTerminate(); |
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global.ina219[i].wait(); |
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} |
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// boardWriteIoPower(0);
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global.mpr121.configure(&global.mpr121_stdby_config); |
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/* cannot shut down touch, b/c we need it to
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* clear any interrupt, so WKUP is not blocked
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*/
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// stop I²C
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for (i = 0; i < global.V_I2C1.size(); ++i) |
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global.V_I2C1[i].stop(); |
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for (i = 0; i < global.V_I2C2.size(); ++i) |
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global.V_I2C2[i].stop(); |
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global.mpr121.requestTerminate(); |
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global.mpr121.wait(); |
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global.HW_I2C2.stop(); |
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global.HW_I2C1.stop(); |
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// stop all threads
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global.robot.terminate(); |
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// // 60 sec timeout
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// palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_HIGH);
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// chVTSet(&shutdownTimeout, MS2ST(60000), shutdownTimeoutISR, NULL);
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// // wait for all boards to release SYS_INT_N
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// while (palReadPad(GPIOC, GPIOC_SYS_INT_N)!=PAL_HIGH && chVTIsArmedI(&shutdownTimeout)) {
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// BaseThread::sleep(MS2ST(1)); /* must sleep for VT, else it will never fire */
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// }
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// chVTReset(&shutdownTimeout);
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// chprintf((BaseSequentialStream*) &SD1, "Stop\n");
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// boardWriteSystemPower(0);
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// boardWriteLed(1);
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// boardStop(0x00, 0x00);
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// /*
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// * HSI-PLL domain now.
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// */
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// //chprintf((BaseSequentialStream*) &SD1, "After Stop\n");
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// boardWriteLed(1);
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// while (true)
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// BaseThread::sleep(MS2ST(250));
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return;
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} |
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void systemShutdown() {
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VirtualTimer shutdownTimeout; |
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uint8_t i; |
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// tell all boards that it's time to shut down
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global.robot.broadcastShutdown(); |
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// wait a little to make sure all boards got the message and had time to pull their SYS_PD_N pins down
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BaseThread::sleep(MS2ST(500));
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// stop the user thread
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global.userThread.requestTerminate(); |
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global.userThread.wait(); |
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// kill bluetooth
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boardBluetoothSetState(0);
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// stop all threads
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global.robot.terminate(); |
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global.adc1_vsys.requestTerminate(); |
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global.adc1_vsys.wait(); |
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for (i = 0; i < global.vcnl4020.size(); ++i) { |
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global.vcnl4020[i].requestTerminate(); |
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global.vcnl4020[i].wait(); |
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} |
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for (i = 0; i < global.bq27500.size(); ++i) { |
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global.bq27500[i].requestTerminate(); |
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global.bq27500[i].wait(); |
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} |
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for (i = 0; i < global.ina219.size(); ++i) { |
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global.ina219[i].requestTerminate(); |
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global.ina219[i].wait(); |
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} |
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// 60 sec timeout
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chVTSet(&shutdownTimeout, MS2ST(60000), shutdownTimeoutISR, NULL); |
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// wait for all boards to release SYS_PD_N
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while (!palReadPad(GPIOC, GPIOC_SYS_PD_N) && chVTIsArmedI(&shutdownTimeout))
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BaseThread::sleep(MS2ST(1)); /* must sleep for VT, else it will never fire */ |
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chVTReset(&shutdownTimeout); |
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boardWriteIoPower(0);
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global.mpr121.configure(&global.mpr121_stdby_config); |
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/* cannot shut down touch, b/c we need it to
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* clear any interrupt, so WKUP is not blocked
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*/
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// stop I²C
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for (i = 0; i < global.V_I2C1.size(); ++i) |
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global.V_I2C1[i].stop(); |
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for (i = 0; i < global.V_I2C2.size(); ++i) |
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global.V_I2C2[i].stop(); |
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boardWriteSystemPower(0);
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boardStandby(); |
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} |
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void boardPeripheryCheck(BaseSequentialStream *chp) {
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#ifndef AMIRO_NSELFTEST
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chprintf(chp, "\nCHECK: START\n");
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msg_t result = 0;
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// Check the proximitysensors
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for (uint8_t i = 0; i < global.vcnl4020.size(); i++) { |
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result = global.vcnl4020[i].getCheck(); |
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if (result == global.vcnl4020[i].CHECK_OK)
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chprintf(chp, "VCNL4020: %d OK\n", i);
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else
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chprintf(chp, "VCNL4020: %d FAIL\n", i);
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} |
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chprintf(chp, "----------------------------------------\n");
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// check the PowerPath controller
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chprintf(chp, "\n");
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if (global.ltc4412.isPluggedIn())
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chprintf(chp, "LTC4412: plugged in\n");
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else
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chprintf(chp, "LTC4412: not plugged in\n");
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chprintf(chp, "----------------------------------------\n");
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// Check the eeprom
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result = global.memory.getCheck(); |
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if ( result != global.memory.OK)
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chprintf(chp, "Memory Structure: FAIL\n");
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else
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chprintf(chp, "Memory Structure: OK\n");
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chprintf(chp, "----------------------------------------\n");
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// Check the power monitors
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INA219::BusVoltage bus_voltage; |
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chprintf(chp, "\n");
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chprintf(chp, "INA219:\n");
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chprintf(chp, "\tVDD (3.3V):\n");
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uint8_t result_ina219_vdd = global.ina219[INA_VDD].selftest(); |
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chprintf(chp, "->\t");
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if (result_ina219_vdd == BaseSensor<>::NOT_IMPLEMENTED)
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chprintf(chp, "not implemented");
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else if (result_ina219_vdd != INA219::Driver::ST_OK) |
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chprintf(chp, "FAIL (error code 0x%02X)", result_ina219_vdd);
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else
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chprintf(chp, "OK");
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chprintf(chp, "\n\n");
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chprintf(chp, "\tVIO1.8:\n");
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uint8_t result_ina219_vio18 = global.ina219[INA_VIO18].selftest(); |
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chprintf(chp, "->\t");
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if (result_ina219_vio18 == BaseSensor<>::NOT_IMPLEMENTED)
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chprintf(chp, "not implemented");
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else if (result_ina219_vio18 != INA219::Driver::ST_OK) |
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chprintf(chp, "FAIL (error code 0x%02X)", result_ina219_vio18);
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else
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chprintf(chp, "OK");
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chprintf(chp, "\n\n");
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chprintf(chp, "\tVIO3.3:\n");
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uint8_t result_ina219_vio33 = global.ina219[INA_VIO33].selftest(); |
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chprintf(chp, "->\t");
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if (result_ina219_vio33 == BaseSensor<>::NOT_IMPLEMENTED)
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chprintf(chp, "not implemented");
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else if (result_ina219_vio33 != INA219::Driver::ST_OK) |
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chprintf(chp, "FAIL (error code 0x%02X)", result_ina219_vio33);
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else
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chprintf(chp, "OK");
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chprintf(chp, "\n\n");
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chprintf(chp, "\tVIO4.2:\n");
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uint8_t result_ina219_vio42 = global.ina219[INA_VIO42].selftest(); |
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chprintf(chp, "->\t");
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if (result_ina219_vio42 == BaseSensor<>::NOT_IMPLEMENTED)
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chprintf(chp, "not implemented");
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else if (result_ina219_vio42 != INA219::Driver::ST_OK) |
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chprintf(chp, "FAIL (error code 0x%02X)", result_ina219_vio42);
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else
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chprintf(chp, "OK");
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bus_voltage = global.ina219[INA_VIO42].readBusVoltage(); |
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chprintf(chp, "\n\n");
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chprintf(chp, "\tVIO5.0:\n");
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uint8_t result_ina219_vio50 = global.ina219[INA_VIO50].selftest(); |
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chprintf(chp, "->\t");
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if (result_ina219_vio50 == BaseSensor<>::NOT_IMPLEMENTED)
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chprintf(chp, "not implemented");
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else if (result_ina219_vio50 != INA219::Driver::ST_OK) |
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chprintf(chp, "FAIL (error code 0x%02X)", result_ina219_vio50);
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else
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chprintf(chp, "OK");
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chprintf(chp, "\n\n");
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result = result_ina219_vdd | result_ina219_vio18 | result_ina219_vio33 | result_ina219_vio42 | result_ina219_vio50; |
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if (result == BaseSensor<>::NOT_IMPLEMENTED)
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chprintf(chp, "->\tINA219: not implemented\n");
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else
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chprintf(chp, "->\tINA219: %s\n", (result != INA219::Driver::ST_OK)? "FAIL" : "OK"); |
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chprintf(chp, "----------------------------------------\n");
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// check the fuel gauges
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chprintf(chp, "\n");
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chprintf(chp, "BQ27500:\n");
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chprintf(chp, "\tP7:\n");
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msg_t result_bq27500_p7 = global.bq27500[BAT_P7].selftest(); |
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chprintf(chp, "->\tP7: ");
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if (result == BaseSensor<>::NOT_IMPLEMENTED)
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chprintf(chp, "not implemented");
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else if (result_bq27500_p7 == BQ27500::Driver::ST_ABORT_NO_BAT) |
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chprintf(chp, "ABORT (no battery detected)");
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else if (result_bq27500_p7 != BQ27500::Driver::ST_OK) |
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chprintf(chp, "FAIL (error code 0x%02X)", result);
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else
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chprintf(chp, "OK");
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chprintf(chp, "\n\n");
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chprintf(chp, "\tP8:\n");
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msg_t result_bq27500_p8 = global.bq27500[BAT_P8].selftest(); |
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chprintf(chp, "->\tP8: ");
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if (result == BaseSensor<>::NOT_IMPLEMENTED)
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chprintf(chp, "not implemented");
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else if (result_bq27500_p8 == BQ27500::Driver::ST_ABORT_NO_BAT) |
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chprintf(chp, "ABORT (no battery detected)");
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else if (result_bq27500_p8 != BQ27500::Driver::ST_OK) |
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chprintf(chp, "FAIL (error code 0x%02X)", result);
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else
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chprintf(chp, "OK");
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chprintf(chp, "\n");
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result = result_bq27500_p7 | result_bq27500_p8; |
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if (result == BaseSensor<>::NOT_IMPLEMENTED)
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chprintf(chp, "\n->\tBQ27500: not implemented\n");
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else
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chprintf(chp, "\n->\tBQ27500: %s\n", (result != BQ27500::Driver::ST_OK)? "FAIL" : "OK"); |
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chprintf(chp, "----------------------------------------\n");
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// check the chargers
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chprintf(chp, "\n");
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