amiro-os / devices / PowerManagement / main.cpp @ e404e6c0
History | View | Annotate | Download (42.586 KB)
| 1 |
#ifndef IN_CCM
|
|---|---|
| 2 |
/*
|
| 3 |
* @brief Makro to store data in the core coupled memory (ccm).
|
| 4 |
* Example:
|
| 5 |
* int compute_buffer[128] IN_CCM;
|
| 6 |
*
|
| 7 |
* @note The ccm is not connected to any bus system.
|
| 8 |
*/
|
| 9 |
#define IN_CCM __attribute__((section(".ccm"))) __attribute__((aligned(4))) |
| 10 |
#endif
|
| 11 |
|
| 12 |
#ifndef IN_ETH
|
| 13 |
/*
|
| 14 |
* @brief Makro to store data in the ethernet memory (eth).
|
| 15 |
* Example:
|
| 16 |
* int dma_buffer[128] IN_ETH;
|
| 17 |
*
|
| 18 |
* @note The eth is a dedicated memory block with its own DMA controller.
|
| 19 |
*/
|
| 20 |
#define IN_ETH __attribute__((section(".eth"))) __attribute__((aligned(4))) |
| 21 |
#endif
|
| 22 |
|
| 23 |
#define BL_CALLBACK_TABLE_ADDR (0x08000000 + 0x01C0) |
| 24 |
#define BL_MAGIC_NUMBER ((uint32_t)0xFF669900u) |
| 25 |
|
| 26 |
#define SHUTDOWN_NONE 0 |
| 27 |
#define SHUTDOWN_TRANSPORTATION 1 |
| 28 |
#define SHUTDOWN_DEEPSLEEP 2 |
| 29 |
#define SHUTDOWN_HIBERNATE 3 |
| 30 |
#define SHUTDOWN_RESTART 4 |
| 31 |
#define SHUTDOWN_HANDLE_REQUEST 5 |
| 32 |
|
| 33 |
#include <ch.hpp> |
| 34 |
#include <shell.h> |
| 35 |
#include <chprintf.h> |
| 36 |
#include <wakeup.h> |
| 37 |
#include <cstdlib> |
| 38 |
#include <cstring> |
| 39 |
#include <amiro/util/util.h> |
| 40 |
#include <global.hpp> |
| 41 |
#include <exti.hpp> |
| 42 |
|
| 43 |
using namespace amiro; |
| 44 |
using namespace constants::PowerManagement; |
| 45 |
|
| 46 |
Global global; |
| 47 |
|
| 48 |
struct blVersion_t {
|
| 49 |
const uint8_t identifier;
|
| 50 |
const uint8_t major;
|
| 51 |
const uint8_t minor;
|
| 52 |
const uint8_t patch;
|
| 53 |
} __attribute__((packed)); |
| 54 |
|
| 55 |
void shutdownTimeoutISR(void *arg) { |
| 56 |
|
| 57 |
(void) arg;
|
| 58 |
|
| 59 |
} |
| 60 |
|
| 61 |
void systemStop() {
|
| 62 |
|
| 63 |
// VirtualTimer shutdownTimeout;
|
| 64 |
uint8_t i; |
| 65 |
|
| 66 |
// tell all boards that it's time to shut down
|
| 67 |
global.robot.broadcastShutdown(); |
| 68 |
|
| 69 |
global.userThread.requestTerminate(); |
| 70 |
global.userThread.wait(); |
| 71 |
|
| 72 |
// kill bluetooth
|
| 73 |
boardBluetoothSetState(0);
|
| 74 |
|
| 75 |
global.adc1_vsys.requestTerminate(); |
| 76 |
global.adc1_vsys.wait(); |
| 77 |
|
| 78 |
for (i = 0; i < global.vcnl4020.size(); ++i) { |
| 79 |
global.vcnl4020[i].requestTerminate(); |
| 80 |
global.vcnl4020[i].wait(); |
| 81 |
} |
| 82 |
|
| 83 |
for (i = 0; i < global.bq27500.size(); ++i) { |
| 84 |
global.bq27500[i].requestTerminate(); |
| 85 |
global.bq27500[i].wait(); |
| 86 |
} |
| 87 |
|
| 88 |
for (i = 0; i < global.ina219.size(); ++i) { |
| 89 |
global.ina219[i].requestTerminate(); |
| 90 |
global.ina219[i].wait(); |
| 91 |
} |
| 92 |
|
| 93 |
// boardWriteIoPower(0);
|
| 94 |
global.mpr121.configure(&global.mpr121_stdby_config); |
| 95 |
/* cannot shut down touch, b/c we need it to
|
| 96 |
* clear any interrupt, so WKUP is not blocked
|
| 97 |
*/
|
| 98 |
|
| 99 |
// stop I²C
|
| 100 |
for (i = 0; i < global.V_I2C1.size(); ++i) |
| 101 |
global.V_I2C1[i].stop(); |
| 102 |
for (i = 0; i < global.V_I2C2.size(); ++i) |
| 103 |
global.V_I2C2[i].stop(); |
| 104 |
|
| 105 |
global.mpr121.requestTerminate(); |
| 106 |
global.mpr121.wait(); |
| 107 |
|
| 108 |
global.HW_I2C2.stop(); |
| 109 |
global.HW_I2C1.stop(); |
| 110 |
|
| 111 |
// stop all threads
|
| 112 |
global.robot.terminate(); |
| 113 |
|
| 114 |
// // 60 sec timeout
|
| 115 |
// palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_HIGH);
|
| 116 |
// chVTSet(&shutdownTimeout, MS2ST(60000), shutdownTimeoutISR, NULL);
|
| 117 |
// // wait for all boards to release SYS_INT_N
|
| 118 |
// while (palReadPad(GPIOC, GPIOC_SYS_INT_N)!=PAL_HIGH && chVTIsArmedI(&shutdownTimeout)) {
|
| 119 |
// BaseThread::sleep(MS2ST(1)); /* must sleep for VT, else it will never fire */
|
| 120 |
// }
|
| 121 |
// chVTReset(&shutdownTimeout);
|
| 122 |
|
| 123 |
// chprintf((BaseSequentialStream*) &SD1, "Stop\n");
|
| 124 |
// boardWriteSystemPower(0);
|
| 125 |
// boardWriteLed(1);
|
| 126 |
// boardStop(0x00, 0x00);
|
| 127 |
|
| 128 |
// /*
|
| 129 |
// * HSI-PLL domain now.
|
| 130 |
// */
|
| 131 |
// //chprintf((BaseSequentialStream*) &SD1, "After Stop\n");
|
| 132 |
// boardWriteLed(1);
|
| 133 |
|
| 134 |
// while (true)
|
| 135 |
// BaseThread::sleep(MS2ST(250));
|
| 136 |
|
| 137 |
return;
|
| 138 |
} |
| 139 |
|
| 140 |
void systemShutdown() {
|
| 141 |
|
| 142 |
VirtualTimer shutdownTimeout; |
| 143 |
uint8_t i; |
| 144 |
|
| 145 |
// tell all boards that it's time to shut down
|
| 146 |
global.robot.broadcastShutdown(); |
| 147 |
|
| 148 |
// wait a little to make sure all boards got the message and had time to pull their SYS_PD_N pins down
|
| 149 |
BaseThread::sleep(MS2ST(500));
|
| 150 |
|
| 151 |
// stop the user thread
|
| 152 |
global.userThread.requestTerminate(); |
| 153 |
global.userThread.wait(); |
| 154 |
|
| 155 |
// kill bluetooth
|
| 156 |
boardBluetoothSetState(0);
|
| 157 |
|
| 158 |
// stop all threads
|
| 159 |
global.robot.terminate(); |
| 160 |
|
| 161 |
global.adc1_vsys.requestTerminate(); |
| 162 |
global.adc1_vsys.wait(); |
| 163 |
|
| 164 |
for (i = 0; i < global.vcnl4020.size(); ++i) { |
| 165 |
global.vcnl4020[i].requestTerminate(); |
| 166 |
global.vcnl4020[i].wait(); |
| 167 |
} |
| 168 |
|
| 169 |
for (i = 0; i < global.bq27500.size(); ++i) { |
| 170 |
global.bq27500[i].requestTerminate(); |
| 171 |
global.bq27500[i].wait(); |
| 172 |
} |
| 173 |
|
| 174 |
for (i = 0; i < global.ina219.size(); ++i) { |
| 175 |
global.ina219[i].requestTerminate(); |
| 176 |
global.ina219[i].wait(); |
| 177 |
} |
| 178 |
|
| 179 |
// 60 sec timeout
|
| 180 |
chVTSet(&shutdownTimeout, MS2ST(60000), shutdownTimeoutISR, NULL); |
| 181 |
|
| 182 |
// wait for all boards to release SYS_PD_N
|
| 183 |
while (!palReadPad(GPIOC, GPIOC_SYS_PD_N) && chVTIsArmedI(&shutdownTimeout))
|
| 184 |
BaseThread::sleep(MS2ST(1)); /* must sleep for VT, else it will never fire */ |
| 185 |
|
| 186 |
chVTReset(&shutdownTimeout); |
| 187 |
boardWriteIoPower(0);
|
| 188 |
global.mpr121.configure(&global.mpr121_stdby_config); |
| 189 |
/* cannot shut down touch, b/c we need it to
|
| 190 |
* clear any interrupt, so WKUP is not blocked
|
| 191 |
*/
|
| 192 |
|
| 193 |
// stop I²C
|
| 194 |
for (i = 0; i < global.V_I2C1.size(); ++i) |
| 195 |
global.V_I2C1[i].stop(); |
| 196 |
for (i = 0; i < global.V_I2C2.size(); ++i) |
| 197 |
global.V_I2C2[i].stop(); |
| 198 |
|
| 199 |
boardWriteSystemPower(0);
|
| 200 |
boardStandby(); |
| 201 |
|
| 202 |
} |
| 203 |
|
| 204 |
|
| 205 |
void boardPeripheryCheck(BaseSequentialStream *chp) {
|
| 206 |
|
| 207 |
#ifndef AMIRO_NSELFTEST
|
| 208 |
chprintf(chp, "\nCHECK: START\n");
|
| 209 |
msg_t result = 0;
|
| 210 |
|
| 211 |
// Check the proximitysensors
|
| 212 |
for (uint8_t i = 0; i < global.vcnl4020.size(); i++) { |
| 213 |
result = global.vcnl4020[i].getCheck(); |
| 214 |
if (result == global.vcnl4020[i].CHECK_OK)
|
| 215 |
chprintf(chp, "VCNL4020: %d OK\n", i);
|
| 216 |
else
|
| 217 |
chprintf(chp, "VCNL4020: %d FAIL\n", i);
|
| 218 |
} |
| 219 |
chprintf(chp, "----------------------------------------\n");
|
| 220 |
|
| 221 |
// check the PowerPath controller
|
| 222 |
chprintf(chp, "\n");
|
| 223 |
if (global.ltc4412.isPluggedIn())
|
| 224 |
chprintf(chp, "LTC4412: plugged in\n");
|
| 225 |
else
|
| 226 |
chprintf(chp, "LTC4412: not plugged in\n");
|
| 227 |
chprintf(chp, "----------------------------------------\n");
|
| 228 |
|
| 229 |
// Check the eeprom
|
| 230 |
result = global.memory.getCheck(); |
| 231 |
if ( result != global.memory.OK)
|
| 232 |
chprintf(chp, "Memory Structure: FAIL\n");
|
| 233 |
else
|
| 234 |
chprintf(chp, "Memory Structure: OK\n");
|
| 235 |
chprintf(chp, "----------------------------------------\n");
|
| 236 |
|
| 237 |
// Check the power monitors
|
| 238 |
INA219::BusVoltage bus_voltage; |
| 239 |
chprintf(chp, "\n");
|
| 240 |
chprintf(chp, "INA219:\n");
|
| 241 |
chprintf(chp, "\tVDD (3.3V):\n");
|
| 242 |
uint8_t result_ina219_vdd = global.ina219[INA_VDD].selftest(); |
| 243 |
chprintf(chp, "->\t");
|
| 244 |
if (result_ina219_vdd == BaseSensor<>::NOT_IMPLEMENTED)
|
| 245 |
chprintf(chp, "not implemented");
|
| 246 |
else if (result_ina219_vdd != INA219::Driver::ST_OK) |
| 247 |
chprintf(chp, "FAIL (error code 0x%02X)", result_ina219_vdd);
|
| 248 |
else
|
| 249 |
chprintf(chp, "OK");
|
| 250 |
|
| 251 |
chprintf(chp, "\n\n");
|
| 252 |
chprintf(chp, "\tVIO1.8:\n");
|
| 253 |
uint8_t result_ina219_vio18 = global.ina219[INA_VIO18].selftest(); |
| 254 |
chprintf(chp, "->\t");
|
| 255 |
if (result_ina219_vio18 == BaseSensor<>::NOT_IMPLEMENTED)
|
| 256 |
chprintf(chp, "not implemented");
|
| 257 |
else if (result_ina219_vio18 != INA219::Driver::ST_OK) |
| 258 |
chprintf(chp, "FAIL (error code 0x%02X)", result_ina219_vio18);
|
| 259 |
else
|
| 260 |
chprintf(chp, "OK");
|
| 261 |
|
| 262 |
chprintf(chp, "\n\n");
|
| 263 |
chprintf(chp, "\tVIO3.3:\n");
|
| 264 |
uint8_t result_ina219_vio33 = global.ina219[INA_VIO33].selftest(); |
| 265 |
chprintf(chp, "->\t");
|
| 266 |
if (result_ina219_vio33 == BaseSensor<>::NOT_IMPLEMENTED)
|
| 267 |
chprintf(chp, "not implemented");
|
| 268 |
else if (result_ina219_vio33 != INA219::Driver::ST_OK) |
| 269 |
chprintf(chp, "FAIL (error code 0x%02X)", result_ina219_vio33);
|
| 270 |
else
|
| 271 |
chprintf(chp, "OK");
|
| 272 |
|
| 273 |
chprintf(chp, "\n\n");
|
| 274 |
chprintf(chp, "\tVIO4.2:\n");
|
| 275 |
uint8_t result_ina219_vio42 = global.ina219[INA_VIO42].selftest(); |
| 276 |
chprintf(chp, "->\t");
|
| 277 |
if (result_ina219_vio42 == BaseSensor<>::NOT_IMPLEMENTED)
|
| 278 |
chprintf(chp, "not implemented");
|
| 279 |
else if (result_ina219_vio42 != INA219::Driver::ST_OK) |
| 280 |
chprintf(chp, "FAIL (error code 0x%02X)", result_ina219_vio42);
|
| 281 |
else
|
| 282 |
chprintf(chp, "OK");
|
| 283 |
|
| 284 |
bus_voltage = global.ina219[INA_VIO42].readBusVoltage(); |
| 285 |
chprintf(chp, "\n\n");
|
| 286 |
chprintf(chp, "\tVIO5.0:\n");
|
| 287 |
uint8_t result_ina219_vio50 = global.ina219[INA_VIO50].selftest(); |
| 288 |
chprintf(chp, "->\t");
|
| 289 |
if (result_ina219_vio50 == BaseSensor<>::NOT_IMPLEMENTED)
|
| 290 |
chprintf(chp, "not implemented");
|
| 291 |
else if (result_ina219_vio50 != INA219::Driver::ST_OK) |
| 292 |
chprintf(chp, "FAIL (error code 0x%02X)", result_ina219_vio50);
|
| 293 |
else
|
| 294 |
chprintf(chp, "OK");
|
| 295 |
|
| 296 |
chprintf(chp, "\n\n");
|
| 297 |
result = result_ina219_vdd | result_ina219_vio18 | result_ina219_vio33 | result_ina219_vio42 | result_ina219_vio50; |
| 298 |
if (result == BaseSensor<>::NOT_IMPLEMENTED)
|
| 299 |
chprintf(chp, "->\tINA219: not implemented\n");
|
| 300 |
else
|
| 301 |
chprintf(chp, "->\tINA219: %s\n", (result != INA219::Driver::ST_OK)? "FAIL" : "OK"); |
| 302 |
chprintf(chp, "----------------------------------------\n");
|
| 303 |
|
| 304 |
// check the fuel gauges
|
| 305 |
chprintf(chp, "\n");
|
| 306 |
chprintf(chp, "BQ27500:\n");
|
| 307 |
chprintf(chp, "\tP7:\n");
|
| 308 |
msg_t result_bq27500_p7 = global.bq27500[BAT_P7].selftest(); |
| 309 |
chprintf(chp, "->\tP7: ");
|
| 310 |
if (result == BaseSensor<>::NOT_IMPLEMENTED)
|
| 311 |
chprintf(chp, "not implemented");
|
| 312 |
else if (result_bq27500_p7 == BQ27500::Driver::ST_ABORT_NO_BAT) |
| 313 |
chprintf(chp, "ABORT (no battery detected)");
|
| 314 |
else if (result_bq27500_p7 != BQ27500::Driver::ST_OK) |
| 315 |
chprintf(chp, "FAIL (error code 0x%02X)", result);
|
| 316 |
else
|
| 317 |
chprintf(chp, "OK");
|
| 318 |
|
| 319 |
chprintf(chp, "\n\n");
|
| 320 |
chprintf(chp, "\tP8:\n");
|
| 321 |
msg_t result_bq27500_p8 = global.bq27500[BAT_P8].selftest(); |
| 322 |
chprintf(chp, "->\tP8: ");
|
| 323 |
if (result == BaseSensor<>::NOT_IMPLEMENTED)
|
| 324 |
chprintf(chp, "not implemented");
|
| 325 |
else if (result_bq27500_p8 == BQ27500::Driver::ST_ABORT_NO_BAT) |
| 326 |
chprintf(chp, "ABORT (no battery detected)");
|
| 327 |
else if (result_bq27500_p8 != BQ27500::Driver::ST_OK) |
| 328 |
chprintf(chp, "FAIL (error code 0x%02X)", result);
|
| 329 |
else
|
| 330 |
chprintf(chp, "OK");
|
| 331 |
|
| 332 |
chprintf(chp, "\n");
|
| 333 |
result = result_bq27500_p7 | result_bq27500_p8; |
| 334 |
if (result == BaseSensor<>::NOT_IMPLEMENTED)
|
| 335 |
chprintf(chp, "\n->\tBQ27500: not implemented\n");
|
| 336 |
else
|
| 337 |
chprintf(chp, "\n->\tBQ27500: %s\n", (result != BQ27500::Driver::ST_OK)? " |