amiro-os / devices / PowerManagement / main.cpp @ eef47799
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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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struct blVersion_t {
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const uint8_t identifier;
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const uint8_t major;
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const uint8_t minor;
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const uint8_t patch;
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} __attribute__((packed)); |
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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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chprintf(chp, "BQ24103A:\n");
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if (!global.ltc4412.isPluggedIn())
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chprintf(chp, "This test is skipped. Rerun when plugged in.\n");
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else {
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bool status1, status2, status3;
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chprintf(chp, "\tP7:\n");
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bool status_p7 = global.bq27500[BAT_P7].isBatteryGood();
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chprintf(chp, "Battery good: %s\n", (status_p7? "yes" : "no")); |
| 350 |
if (!status_p7) {
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chprintf(chp, "-> Rerun test with (another) battery!\n");
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status_p7 = true;
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} else {
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status1 = global.bq24103a[BAT_P7]->isCharging(); |
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chprintf(chp, "status:%scharging\n", (status1? " " : " not ")); |
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chprintf(chp, "%sabling charger...\n", (status1? "dis" : "en")); |
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global.bq24103a[BAT_P7]->enable(!status1); |
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BaseThread::sleep(MS2ST(1500));
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status2 = global.bq24103a[BAT_P7]->isCharging(); |
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chprintf(chp, "status:%scharging\n", (status2? " " : " not ")); |
| 361 |
chprintf(chp, "%sabling charger...\n", (!status1? "dis" : "en")); |
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global.bq24103a[BAT_P7]->enable(status1); |
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BaseThread::sleep(MS2ST(1500));
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status3 = global.bq24103a[BAT_P7]->isCharging(); |
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chprintf(chp, "status:%scharging\n", (status3? " " : " not ")); |
| 366 |
status_p7 = status2 != status1 && status3 == status1; |
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chprintf(chp, "->\t");
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| 368 |
if (status_p7) {
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chprintf(chp, "OK");
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} else {
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chprintf(chp, "FAIL");
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} |
| 373 |
chprintf(chp, "\n");
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} |
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chprintf(chp, "\n");
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chprintf(chp, "\tP8:\n");
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bool status_p8 = global.bq27500[BAT_P8].isBatteryGood();
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chprintf(chp, "Battery good: %s\n", (status_p8? "yes" : "no")); |
| 379 |
if (!status_p8) {
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chprintf(chp, "-> Rerun test with (another) battery!\n");
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status_p8 = true;
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} else {
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status1 = global.bq24103a[BAT_P8]->isCharging(); |
| 384 |
chprintf(chp, "status:%scharging\n", (status1? " " : " not ")); |
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chprintf(chp, "%sabling charger...\n", (status1? "dis" : "en")); |
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global.bq24103a[BAT_P8]->enable(!status1); |
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BaseThread::sleep(MS2ST(1500));
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status2 = global.bq24103a[BAT_P8]->isCharging(); |
| 389 |
chprintf(chp, "status:%scharging\n", (status2? " " : " not ")); |
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chprintf(chp, "%sabling charger...\n", (!status1? "dis" : "en")); |
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global.bq24103a[BAT_P8]->enable(status1); |
| 392 |
BaseThread::sleep(MS2ST(1500));
|
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status3 = global.bq24103a[BAT_P8]->isCharging(); |
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chprintf(chp, "status:%scharging\n", (status3? " " : "not ")); |
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status_p8 = status2 != status1 && status3 == status1; |
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chprintf(chp, "->\t");
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if (status_p8)
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chprintf(chp, "OK");
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else
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chprintf(chp, "FAIL");
|
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chprintf(chp, "\n");
|
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} |
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chprintf(chp, "\n");
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chprintf(chp, "->\tBQ24103A: ");
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if (status_p7 && status_p8)
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chprintf(chp, "OK");
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else
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chprintf(chp, "FAIL");
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chprintf(chp, "\n");
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} |
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chprintf(chp, "----------------------------------------\n");
|
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|
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// check Bluetooth (TODO: move this check to driver)
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| 414 |
chprintf(chp, "\n");
|
| 415 |
chprintf(chp, "WT12-A-AI:\n");
|
| 416 |
|
| 417 |
chprintf(chp, "testing for MUX mode:\t");
|
| 418 |
|
| 419 |
if (global.wt12.bluetoothIsMuxMode()) {
|
| 420 |
chprintf(chp, "PASSED\n");
|
| 421 |
} else {
|
| 422 |
chprintf(chp, "FAILED -> setting MUX mode now\n");
|
| 423 |
/* initialise the WT-12 bluetooth chip on AMIRO (Please, run this processes once) */
|
| 424 |
global.wt12.bluetoothSendCommand("SET BT AUTH *");
|
| 425 |
global.wt12.bluetoothSendCommand("SET BT PAIR *");
|
| 426 |
global.wt12.bluetoothSendCommand("SET BT SSP 3 0");
|
| 427 |
global.wt12.bluetoothEnableMux(); |
| 428 |
global.wt12.bluetoothReset(); |
| 429 |
} |
| 430 |
|
| 431 |
global.wt12.bluetoothSendCommand("TEMP");
|
| 432 |
global.wt12.bluetoothSendCommand("SET");
|
| 433 |
|
| 434 |
chprintf(chp, "----------------------------------------\n");
|
| 435 |
|
| 436 |
// check the buzzer
|
| 437 |
chprintf(chp, "\n");
|
| 438 |
chprintf(chp, "PKLCS1212E4001:\n");
|
| 439 |
chprintf(chp, "you should hear the buzzer for one second...\n");
|
| 440 |
pwmEnableChannel(&PWMD3, 1, 50); |
| 441 |
BaseThread::sleep(MS2ST(1000));
|
| 442 |
pwmDisableChannel(&PWMD3, 1);
|
| 443 |
chprintf(chp, "----------------------------------------\n");
|
| 444 |
|
| 445 |
chprintf(chp, "CHECK: FINISH\n");
|
| 446 |
#endif
|
| 447 |
|
| 448 |
return;
|
| 449 |
} |
| 450 |
|
| 451 |
void shellRequestShutdown(BaseSequentialStream* chp, int __unused argc, char __unused *argv[]) { |
| 452 |
|
| 453 |
chprintf(chp, "shellRequestShutdown\n");
|
| 454 |
|
| 455 |
/* if no argument was given, print some help text */
|
| 456 |
if (argc == 0 || strcmp(argv[0],"help") == 0) { |
| 457 |
chprintf(chp, "\tUSAGE:\n");
|
| 458 |
chprintf(chp, "> shutdown <type>\n");
|
| 459 |
chprintf(chp, "\n");
|
| 460 |
chprintf(chp, "\ttype\n");
|
| 461 |
chprintf(chp, "The type of shutdown to perform.\n");
|
| 462 |
chprintf(chp, "Choose one of the following types:\n");
|
| 463 |
chprintf(chp, " transportation - Ultra low-power mode with all wakeups disabled.\n");
|
| 464 |
chprintf(chp, " The robot can not be charged.\n");
|
| 465 |
chprintf(chp, " deepsleep - Ultra low-power mode with several wakeups enabled.\n");
|
| 466 |
chprintf(chp, " The robot can only be charged via the power plug.\n");
|
| 467 |
chprintf(chp, " hibernate - Medium low-power mode, but with full charging capabilities.\n");
|
| 468 |
chprintf(chp, " restart - Performs a system restart.\n");
|
| 469 |
chprintf(chp, "Alternatively, you can use the shortcuts 't', 'd', 'h', and 'r' respectively.");
|
| 470 |
chprintf(chp, "\n");
|
| 471 |
return;
|
| 472 |
} |
| 473 |
|
| 474 |
if (strcmp(argv[0],"transportation") == 0 || strcmp(argv[0],"t") == 0) { |
| 475 |
shutdown_now = SHUTDOWN_TRANSPORTATION; |
| 476 |
chprintf(chp, "shutdown to transportation mode initialized\n");
|
| 477 |
} else if (strcmp(argv[0],"deepsleep") == 0 || strcmp(argv[0],"d") == 0) { |
| 478 |
shutdown_now = SHUTDOWN_DEEPSLEEP; |
| 479 |
chprintf(chp, "shutdown to deepsleep mode initialized\n");
|
| 480 |
} else if (strcmp(argv[0],"hibernate") == 0 || strcmp(argv[0],"h") == 0) { |
| 481 |
shutdown_now = SHUTDOWN_HIBERNATE; |
| 482 |
chprintf(chp, "shutdown to hibernate mode initialized\n");
|
| 483 |
} else if (strcmp(argv[0],"restart") == 0 || strcmp(argv[0],"r") == 0) { |
| 484 |
chprintf(chp, "restart initialized\n");
|
| 485 |
shutdown_now = SHUTDOWN_RESTART; |
| 486 |
} else {
|
| 487 |
chprintf(chp, "ERROR: unknown argument!\n");
|
| 488 |
shutdown_now = SHUTDOWN_NONE; |
| 489 |
} |
| 490 |
|
| 491 |
return;
|
| 492 |
} |
| 493 |
|
| 494 |
void shellRequestResetMemory(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
| 495 |
chprintf(chp, "shellRequestInitMemory\n");
|
| 496 |
|
| 497 |
msg_t res = global.memory.resetMemory(); |
| 498 |
|
| 499 |
if ( res != global.memory.OK)
|
| 500 |
chprintf(chp, "Memory Init: FAIL\n");
|
| 501 |
else
|
| 502 |
chprintf(chp, "Memory Init: OK\n");
|
| 503 |
} |
| 504 |
|
| 505 |
void shellRequestGetBoardId(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
| 506 |
chprintf(chp, "shellRequestGetBoardId\n");
|
| 507 |
|
| 508 |
uint8_t id = 0xFFu;
|
| 509 |
msg_t res = global.memory.getBoardId(&id); |
| 510 |
if (res != global.memory.OK)
|
| 511 |
chprintf(chp, "Get Board ID: FAIL\n");
|
| 512 |
else
|
| 513 |
chprintf(chp, "Get Board ID: %u\n", id);
|
| 514 |
} |
| 515 |
|
| 516 |
void shellRequestSetBoardId(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 517 |
chprintf(chp, "shellRequestSetBoardId\n");
|
| 518 |
|
| 519 |
if (argc == 0) { |
| 520 |
chprintf(chp, "Usage: %s\n","set_board_id <idx>"); |
| 521 |
} else {
|
| 522 |
msg_t res = global.memory.setBoardId(atoi(argv[0]));
|
| 523 |
if (res != global.memory.OK)
|
| 524 |
chprintf(chp, "Set Board ID: FAIL\n");
|
| 525 |
else
|
| 526 |
chprintf(chp, "Set Board ID: OK\n");
|
| 527 |
} |
| 528 |
|
| 529 |
} |
| 530 |
|
| 531 |
void shellRequestGetMemoryData(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 532 |
enum Type {HEX, U8, U16, U32, S8, S16, S32};
|
| 533 |
|
| 534 |
chprintf(chp, "shellRequestReadData\n");
|
| 535 |
|
| 536 |
if (argc < 2 || strcmp(argv[0],"help") == 0) |
| 537 |
{
|
| 538 |
chprintf(chp, "Usage: %s\n","get_memory_data <type> <start> [<count>]"); |
| 539 |
chprintf(chp, "\n");
|
| 540 |
chprintf(chp, "\ttype\n");
|
| 541 |
chprintf(chp, "The data type as which to interpret the data.\n");
|
| 542 |
chprintf(chp, "Choose one of the following types:\n");
|
| 543 |
chprintf(chp, " hex - one byte as hexadecimal value\n");
|
| 544 |
chprintf(chp, " u8 - unsigned integer (8 bit)\n");
|
| 545 |
chprintf(chp, " u16 - unsigned integer (16 bit)\n");
|
| 546 |
chprintf(chp, " u32 - unsigned integer (32 bit)\n");
|
| 547 |
chprintf(chp, " s8 - signed integer (8 bit)\n");
|
| 548 |
chprintf(chp, " s16 - signed integer (16 bit)\n");
|
| 549 |
chprintf(chp, " s32 - signed integer (32 bit)\n");
|
| 550 |
chprintf(chp, "\tstart\n");
|
| 551 |
chprintf(chp, "The first byte to read from the memory.\n");
|
| 552 |
chprintf(chp, "\tcount [default = 1]\n");
|
| 553 |
chprintf(chp, "The number of elements to read.\n");
|
| 554 |
chprintf(chp, "\n");
|
| 555 |
chprintf(chp, "\tNOTE\n");
|
| 556 |
chprintf(chp, "Type conversions of this function might fail.\n");
|
| 557 |
chprintf(chp, "If so, use type=hex and convert by hand.\n");
|
| 558 |
chprintf(chp, "\n");
|
| 559 |
return;
|
| 560 |
} |
| 561 |
|
| 562 |
uint8_t type_size = 0;
|
| 563 |
Type type = HEX; |
| 564 |
if (strcmp(argv[0],"hex") == 0) { |
| 565 |
type_size = sizeof(unsigned char); |
| 566 |
type = HEX; |
| 567 |
} else if(strcmp(argv[0],"u8") == 0) { |
| 568 |
type_size = sizeof(uint8_t);
|
| 569 |
type = U8; |
| 570 |
} else if(strcmp(argv[0],"u16") == 0) { |
| 571 |
type_size = sizeof(uint16_t);
|
| 572 |
type = U16; |
| 573 |
} else if(strcmp(argv[0],"u32") == 0) { |
| 574 |
type_size = sizeof(uint32_t);
|
| 575 |
type = U32; |
| 576 |
} else if(strcmp(argv[0],"s8") == 0) { |
| 577 |
type_size = sizeof(int8_t);
|
| 578 |
type = S8; |
| 579 |
} else if(strcmp(argv[0],"s16") == 0) { |
| 580 |
type_size = sizeof(int16_t);
|
| 581 |
type = S16; |
| 582 |
} else if(strcmp(argv[0],"s32") == 0) { |
| 583 |
type_size = sizeof(int32_t);
|
| 584 |
type = S32; |
| 585 |
} else {
|
| 586 |
chprintf(chp, "First argument invalid. Use 'get_memory_data help' for help.\n");
|
| 587 |
return;
|
| 588 |
} |
| 589 |
|
| 590 |
unsigned int start_byte = atoi(argv[1]); |
| 591 |
|
| 592 |
unsigned int num_elements = 1; |
| 593 |
if (argc >= 3) { |
| 594 |
num_elements = atoi(argv[2]);
|
| 595 |
} |
| 596 |
|
| 597 |
const size_t eeprom_size = EEPROM::getsize(&global.at24c01);
|
| 598 |
uint8_t buffer[eeprom_size]; |
| 599 |
if (start_byte + (type_size * num_elements) > eeprom_size) {
|
| 600 |
num_elements = (eeprom_size - start_byte) / type_size; |
| 601 |
chprintf(chp, "Warning: request exceeds eeprom size -> limiting to %u values.\n", num_elements);
|
| 602 |
} |
| 603 |
|
| 604 |
chFileStreamSeek((BaseFileStream*)&global.at24c01, start_byte); |
| 605 |
uint32_t bytes_read = chSequentialStreamRead((BaseFileStream*)&global.at24c01, buffer, type_size*num_elements); |
| 606 |
|
| 607 |
if (bytes_read != type_size*num_elements) {
|
| 608 |
chprintf(chp, "Warning: %u of %u requested bytes were read.\n", bytes_read, type_size*num_elements);
|
| 609 |
} |
| 610 |
|
| 611 |
for (unsigned int i = 0; i < num_elements; ++i) |
| 612 |
{
|
| 613 |
switch (type)
|
| 614 |
{
|
| 615 |
case HEX:
|
| 616 |
chprintf(chp, "%02X ", buffer[i]);
|
| 617 |
break;
|
| 618 |
case U8:
|
| 619 |
chprintf(chp, "%03u ", ((uint8_t*)buffer)[i]);
|
| 620 |
break;
|
| 621 |
case U16:
|
| 622 |
chprintf(chp, "%05u ", ((uint16_t*)buffer)[i]);
|
| 623 |
break;
|
| 624 |
case U32:
|
| 625 |
chprintf(chp, "%010u ", ((uint32_t*)buffer)[i]);
|
| 626 |
break;
|
| 627 |
case S8:
|
| 628 |
chprintf(chp, "%+03d ", ((int8_t*)buffer)[i]);
|
| 629 |
break;
|
| 630 |
case S16:
|
| 631 |
chprintf(chp, "%+05d ", ((int16_t*)buffer)[i]);
|
| 632 |
break;
|
| 633 |
case S32:
|
| 634 |
chprintf(chp, "%+010d ", ((int32_t*)buffer)[i]);
|
| 635 |
break;
|
| 636 |
default:
|
| 637 |
break;
|
| 638 |
} |
| 639 |
} |
| 640 |
chprintf(chp, "\n");
|
| 641 |
|
| 642 |
return;
|
| 643 |
} |
| 644 |
|
| 645 |
void shellRequestSetVcnlOffset(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 646 |
chprintf(chp, "shellRequestSetVcnlOffset\n");
|
| 647 |
if (argc != 2) { |
| 648 |
chprintf(chp, "Usage: %s\n","set_vcnl <idx> <offset>"); |
| 649 |
return;
|
| 650 |
} |
| 651 |
|
| 652 |
uint8_t vcnlIdx = static_cast<uint8_t>(atoi(argv[0])); |
| 653 |
uint16_t vcnlOffset = static_cast<uint16_t>(atoi(argv[1])); |
| 654 |
|
| 655 |
if (vcnlIdx >= global.vcnl4020.size()) {
|
| 656 |
chprintf((BaseSequentialStream *)&SD1, "Wrong VCNL index: Choose [0 .. %d]\n", global.vcnl4020.size()-1); |
| 657 |
return;
|
| 658 |
} |
| 659 |
|
| 660 |
msg_t res = global.memory.setVcnl4020Offset(vcnlOffset, vcnlIdx); |
| 661 |
if (res != global.memory.OK) {
|
| 662 |
chprintf(chp, "Set Offset: FAIL\n");
|
| 663 |
} else {
|
| 664 |
chprintf(chp, "Set Offset: OK\n");
|
| 665 |
global.vcnl4020[vcnlIdx].setProximityOffset(vcnlOffset); |
| 666 |
} |
| 667 |
} |
| 668 |
|
| 669 |
void shellRequestResetVcnlOffset(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 670 |
msg_t res = global.memory.OK; |
| 671 |
for (uint8_t idx = 0; idx < 8; ++idx) { |
| 672 |
msg_t r = global.memory.setVcnl4020Offset(0, idx);
|
| 673 |
if (r == global.memory.OK) {
|
| 674 |
global.vcnl4020[idx].setProximityOffset(0);
|
| 675 |
} else {
|
| 676 |
chprintf(chp, "Reset Offset %u: FAIL\n", idx);
|
| 677 |
res = r; |
| 678 |
} |
| 679 |
} |
| 680 |
|
| 681 |
if (res == global.memory.OK) {
|
| 682 |
chprintf(chp, "Reset Offset: DONE\n");
|
| 683 |
} |
| 684 |
|
| 685 |
return;
|
| 686 |
} |
| 687 |
|
| 688 |
void shellRequestGetVcnlOffset(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 689 |
chprintf(chp, "shellRequestGetVcnlOffset\n");
|
| 690 |
if (argc != 1) { |
| 691 |
chprintf(chp, "Usage: %s\n","get_vcnl_offset <idx>"); |
| 692 |
return;
|
| 693 |
} |
| 694 |
|
| 695 |
uint8_t vcnlIdx = static_cast<uint8_t>(atoi(argv[0])); |
| 696 |
|
| 697 |
if (vcnlIdx >= global.vcnl4020.size()) {
|
| 698 |
chprintf((BaseSequentialStream *)&SD1, "Wrong VCNL index: Choose [0 .. %d]\n", global.vcnl4020.size()-1); |
| 699 |
return;
|
| 700 |
} |
| 701 |
|
| 702 |
uint16_t vcnlOffset; |
| 703 |
msg_t res = global.memory.getVcnl4020Offset(&vcnlOffset, vcnlIdx); |
| 704 |
if (res != global.memory.OK) {
|
| 705 |
chprintf(chp, "Get Offset: FAIL\n");
|
| 706 |
} else {
|
| 707 |
chprintf(chp, "Get Offset: OK \t Offset=%d\n", vcnlOffset);
|
| 708 |
} |
| 709 |
} |
| 710 |
|
| 711 |
void shellRequestCheck(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
| 712 |
chprintf(chp, "shellRequestCheck\n");
|
| 713 |
boardPeripheryCheck(chp); |
| 714 |
|
| 715 |
} |
| 716 |
|
| 717 |
void shellRequestGetVcnl(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 718 |
chprintf(chp, "shellRequestGetVcnl\n");
|
| 719 |
// Print the sensor information
|
| 720 |
if (argc != 1) { |
| 721 |
chprintf(chp, "Usage: %s\n","get_vcnl <rep>"); |
| 722 |
return;
|
| 723 |
} |
| 724 |
for (int32_t rep = 0x00; rep < atoi(argv[0]); ++rep) { |
| 725 |
for (uint8_t idx = 0x00; idx < global.vcnl4020.size(); idx++) { |
| 726 |
chprintf(chp, "%d: Ambi %d\tProx raw %d\tProx scaled %d\n", idx, global.vcnl4020[idx].getAmbientLight(), global.vcnl4020[idx].getProximity(), global.vcnl4020[idx].getProximityScaledWoOffset());
|
| 727 |
} |
| 728 |
chprintf(chp, "\n\n");
|
| 729 |
BaseThread::sleep(MS2ST(250));
|
| 730 |
} |
| 731 |
} |
| 732 |
|
| 733 |
void shellRequestCalib(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
| 734 |
chprintf(chp, "shellRequestCalib\n");
|
| 735 |
global.robot.calibrate(); |
| 736 |
|
| 737 |
} |
| 738 |
|
| 739 |
void shellRequestGetRobotId(BaseSequentialStream *chp, int __unused argc, char __unused *argv[]) { |
| 740 |
chprintf(chp, "shellRequestGetRobotId\n");
|
| 741 |
chprintf(chp, "Robot ID: %u\n", global.robot.getRobotID());
|
| 742 |
if (global.robot.getRobotID() == 0) { |
| 743 |
chprintf(chp, "Warning: The ID seems to be uninitialized. Is CAN communication working correctly?\n");
|
| 744 |
} |
| 745 |
} |
| 746 |
|
| 747 |
void shellRequestGetSystemLoad(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 748 |
chprintf(chp, "shellRequestGetSystemLoad\n");
|
| 749 |
uint8_t seconds = 1;
|
| 750 |
if (argc >= 1) { |
| 751 |
seconds = atoi(argv[0]);
|
| 752 |
} |
| 753 |
chprintf(chp, "measuring CPU load for %u %s...\n", seconds, (seconds>1)? "seconds" : "second"); |
| 754 |
|
| 755 |
const systime_t before = chThdGetTicks(chSysGetIdleThread());
|
| 756 |
BaseThread::sleep(S2ST(seconds)); |
| 757 |
const systime_t after = chThdGetTicks(chSysGetIdleThread());
|
| 758 |
const float usage = 1.0f - (float(after - before) / float(seconds * CH_FREQUENCY)); |
| 759 |
|
| 760 |
chprintf(chp, "CPU load: %3.2f%%\n", usage * 100); |
| 761 |
const uint32_t memory_total = 0x1C000; |
| 762 |
const uint32_t memory_load = memory_total - chCoreStatus();
|
| 763 |
chprintf(chp, "RAM load: %3.2f%% (%u / %u Byte)\n", float(memory_load)/float(memory_total) * 100, memory_load, memory_total); |
| 764 |
} |
| 765 |
|
| 766 |
void shellRequestSetCharging(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 767 |
chprintf(chp, "shellRequestSetCharging\n");
|
| 768 |
if (argc < 1) { |
| 769 |
chprintf(chp, "Usage: %s\n","set_charging <enable>"); |
| 770 |
chprintf(chp, "\n");
|
| 771 |
chprintf(chp, "\tenable\n");
|
| 772 |
chprintf(chp, "Whether to enable (1) or to disable (0) the power path controller of the DiWheelDrive board.\n");
|
| 773 |
chprintf(chp, "\n");
|
| 774 |
return;
|
| 775 |
} |
| 776 |
|
| 777 |
const bool enable = atoi(argv[0]); |
| 778 |
chprintf(chp, "%s power path controller\n", enable ? "enabling" : "disabling"); |
| 779 |
global.robot.getPowerStatus().charging_flags.content.diwheeldrive_enable_power_path = enable; |
| 780 |
|
| 781 |
return;
|
| 782 |
} |
| 783 |
|
| 784 |
void shellRequestPrintVCNL(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 785 |
chprintf(chp, "shellRequestPrintVCNL\n");
|
| 786 |
if (argc < 1) { |
| 787 |
chprintf(chp, "Warning: no arguments specified.\n");
|
| 788 |
chprintf(chp, "Using default values (prints one measurement).\n");
|
| 789 |
chprintf(chp, "Type 'print_vcnl help' for help.\n");
|
| 790 |
chprintf(chp, "----------------------------------------\n");
|
| 791 |
} |
| 792 |
|
| 793 |
if (strcmp(argv[0],"help") == 0) { |
| 794 |
chprintf(chp, "Usage: %s\n","print_vcnl [<seconds>] [<frequency>]"); |
| 795 |
chprintf(chp, "\n");
|
| 796 |
chprintf(chp, "\tseconds\n");
|
| 797 |
chprintf(chp, "Number of seconds to print the VCNL values. (default: 1)\n");
|
| 798 |
chprintf(chp, "\n");
|
| 799 |
chprintf(chp, "\tfrequency\n");
|
| 800 |
chprintf(chp, "Number prints per second. (default: 1)\n");
|
| 801 |
return;
|
| 802 |
} |
| 803 |
|
| 804 |
const uint32_t seconds = (argc >= 1) ? atoi(argv[0]) : 1; |
| 805 |
const uint32_t freq = (argc >= 2) ? atoi(argv[1]) : 1; |
| 806 |
|
| 807 |
uint16_t ambient = 0;
|
| 808 |
uint16_t proximity = 0;
|
| 809 |
|
| 810 |
for (uint32_t loop = 0; loop < seconds*freq; ++loop) { |
| 811 |
// Print proximity and ambilight values
|
| 812 |
for (uint8_t i = 0x00; i < global.vcnl4020.size(); ++i) { |
| 813 |
ambient = global.vcnl4020[i].getAmbientLight(); |
| 814 |
proximity = global.vcnl4020[i].getProximity(); |
| 815 |
chprintf(chp, "#%d: ambient=0x%04X\tproximity=0x%04X\n", i, ambient, proximity);
|
| 816 |
} |
| 817 |
chprintf(chp, "----------------------------------------\n");
|
| 818 |
|
| 819 |
BaseThread::sleep(US2ST(1000000 / freq));
|
| 820 |
} |
| 821 |
|
| 822 |
return;
|
| 823 |
} |
| 824 |
|
| 825 |
void shellSwitchBoardCmd(BaseSequentialStream *chp, int argc, char *argv[]) { |
| 826 |
if (argc != 1) { |
| 827 |
chprintf(chp, "Call with decimal numbers: shell_board <idx>\n");
|
| 828 |
return;
|
| 829 |
} |
| 830 |
uint8_t boardIdx = static_cast<uint8_t>(atoi(argv[0])); |
| 831 |
|
| 832 |
chprintf(chp, "shellSwitchBoardCmd\n");
|
| 833 |
global.sercanmux1.sendSwitchCmd(boardIdx); |
| 834 |
} |
| 835 |
|
| 836 |
void shellRequestGetBootloaderInfo(BaseSequentialStream* chp, int argc, char *argv[]) { |
| 837 |
// check the magic number
|
| 838 |
switch (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR))) {
|
| 839 |
case (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0)): |
| 840 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
| 841 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major, |
| 842 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor, |
| 843 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->patch); |
| 844 |
break;
|
| 845 |
|
| 846 |
case BL_MAGIC_NUMBER:
|
| 847 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
| 848 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
| 849 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
| 850 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))); |
| 851 |
break;
|
| 852 |
|
| 853 |
default:
|
| 854 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader incompatible\n");
|
| 855 |
break;
|
| 856 |
} |
| 857 |
|
| 858 |
return;
|
| 859 |
} |
| 860 |
|
| 861 |
void shellRequestWiiSteering(BaseSequentialStream* chp, int argc, char *argv[]) { |
| 862 |
// if Wii steering is currently active, stop it
|
| 863 |
if (global.userThread.getCurrenState() == UserThread::WII_STEERING) {
|
| 864 |
global.userThread.setNextState(UserThread::IDLE); |
| 865 |
} |
| 866 |
// check arguments and (try to) enable Wii steering
|
| 867 |
else {
|
| 868 |
// if arguments invalid
|
| 869 |
if (argc < 1 || argc > 2 || global.userThread.setWiiAddress(argv[0]) != RDY_OK) { |
| 870 |
chprintf(chp, "Warning: invalid arguments\n");
|
| 871 |
chprintf(chp, "Usage: %s\n", "wii_steering <address> [<deadzone>]"); |
| 872 |
chprintf(chp, "\n");
|
| 873 |
chprintf(chp, "\taddress\n");
|
| 874 |
chprintf(chp, "bluetooth address of the Wiimote controller to pair with.\n");
|
| 875 |
chprintf(chp, "\tdeadzone\n");
|
| 876 |
chprintf(chp, "deadzone to set for the Wiimote controller [default = 10%%].\n");
|
| 877 |
return;
|
| 878 |
} |
| 879 |
else {
|
| 880 |
// set deadzone
|
| 881 |
const float deadzone = global.userThread.setWiiDeadzone((argc == 2) ? std::atof(argv[1]) : 0.1f); |
| 882 |
chprintf(chp, "deadzone set to %u%%\n", (unsigned int)(deadzone * 100.0f)); |
| 883 |
|
| 884 |
// start Wii steering behaviour
|
| 885 |
global.userThread.setNextState(UserThread::WII_STEERING); |
| 886 |
} |
| 887 |
} |
| 888 |
return;
|
| 889 |
} |
| 890 |
|
| 891 |
|
| 892 |
void setGlobalStrategy(BaseSequentialStream *chp, int argc, char *argv[]){ |
| 893 |
uint8_t strategy = 0;
|
| 894 |
if(argc == 1){ |
| 895 |
strategy = atoi(argv[0]);
|
| 896 |
} |
| 897 |
// send over can
|
| 898 |
// global.strategyTest = strategy;
|
| 899 |
// global.triggerCan = true;
|
| 900 |
global.robot.setStrategy(strategy); |
| 901 |
} |
| 902 |
|
| 903 |
|
| 904 |
static const ShellCommand commands[] = { |
| 905 |
{"shutdown", shellRequestShutdown},
|
| 906 |
{"check", shellRequestCheck},
|
| 907 |
{"reset_memory", shellRequestResetMemory},
|
| 908 |
{"get_board_id", shellRequestGetBoardId},
|
| 909 |
{"set_board_id", shellRequestSetBoardId},
|
| 910 |
{"get_memory_data", shellRequestGetMemoryData},
|
| 911 |
{"get_vcnl", shellRequestGetVcnl},
|
| 912 |
{"calib_vcnl_offset", shellRequestCalib},
|
| 913 |
{"set_vcnl_offset", shellRequestSetVcnlOffset},
|
| 914 |
{"reset_vcnl_offset", shellRequestResetVcnlOffset},
|
| 915 |
{"get_vcnl_offset", shellRequestGetVcnlOffset},
|
| 916 |
{"get_robot_id", shellRequestGetRobotId},
|
| 917 |
{"get_system_load", shellRequestGetSystemLoad},
|
| 918 |
{"set_charging", shellRequestSetCharging},
|
| 919 |
{"print_vcnl", shellRequestPrintVCNL},
|
| 920 |
{"shell_board", shellSwitchBoardCmd},
|
| 921 |
{"get_bootloader_info", shellRequestGetBootloaderInfo},
|
| 922 |
{"wii_steering", shellRequestWiiSteering},
|
| 923 |
{"setStrategy", setGlobalStrategy},
|
| 924 |
{NULL, NULL}
|
| 925 |
}; |
| 926 |
|
| 927 |
static const ShellConfig shell_cfg1 = { |
| 928 |
(BaseSequentialStream *) &global.sercanmux1, |
| 929 |
commands |
| 930 |
}; |
| 931 |
|
| 932 |
void charger_logic() {
|
| 933 |
/*
|
| 934 |
* if supply connected, activate charger, else
|
| 935 |
* deactivate charger
|
| 936 |
*/
|
| 937 |
if (global.ltc4412.isPluggedIn()) {
|
| 938 |
boardChargerSetState(0x03u, 1), chprintf((BaseSequentialStream*) &SD1, "Charging.\n"); |
| 939 |
} else {
|
| 940 |
boardChargerSetState(0x03u, 0), chprintf((BaseSequentialStream*) &SD1, "Not charging.\n"); |
| 941 |
} |
| 942 |
} |
| 943 |
|
| 944 |
void init_powermonitor(INA219::Driver &ina219, const float shunt_resistance_O, const float max_expected_current_A, const uint16_t current_lsb_uA) |
| 945 |
{
|
| 946 |
INA219::CalibData calib_data; |
| 947 |
INA219::InitData init_data; |
| 948 |
|
| 949 |
calib_data.input.configuration.content.brng = INA219::Configuration::BRNG_16V; |
| 950 |
calib_data.input.configuration.content.pg = INA219::Configuration::PGA_40mV; |
| 951 |
calib_data.input.configuration.content.badc = INA219::Configuration::ADC_68100us; |
| 952 |
calib_data.input.configuration.content.sadc = INA219::Configuration::ADC_68100us; |
| 953 |
calib_data.input.configuration.content.mode = INA219::Configuration::MODE_ShuntBus_Continuous; |
| 954 |
calib_data.input.shunt_resistance_O = shunt_resistance_O; |
| 955 |
calib_data.input.max_expected_current_A = max_expected_current_A; |
| 956 |
calib_data.input.current_lsb_uA = current_lsb_uA; |
| 957 |
if (ina219.calibration(&calib_data) != BaseSensor<>::SUCCESS)
|
| 958 |
chprintf((BaseSequentialStream*)&SD1, "WARNING: calibration of INA219 failed.\n");
|
| 959 |
|
| 960 |
init_data.configuration.value = calib_data.input.configuration.value; |
| 961 |
init_data.calibration = calib_data.output.calibration_value; |
| 962 |
init_data.current_lsb_uA = calib_data.output.current_lsb_uA; |
| 963 |
if (ina219.init(&init_data) != BaseSensor<>::SUCCESS)
|
| 964 |
chprintf((BaseSequentialStream*)&SD1, "WARNING: initialization of INA219 failed.\n");
|
| 965 |
|
| 966 |
if (calib_data.input.current_lsb_uA != init_data.current_lsb_uA)
|
| 967 |
{
|
| 968 |
chprintf((BaseSequentialStream*)&SD1, "NOTE: LSB for current measurement was limited when initializing INA219 (%u -> %u)", calib_data.input.current_lsb_uA, init_data.current_lsb_uA);
|
| 969 |
} |
| 970 |
|
| 971 |
return;
|
| 972 |
} |
| 973 |
|
| 974 |
/*
|
| 975 |
* Application entry point.
|
| 976 |
*/
|
| 977 |
int main(void) { |
| 978 |
|
| 979 |
Thread *shelltp = NULL;
|
| 980 |
|
| 981 |
/*
|
| 982 |
* System initializations.
|
| 983 |
* - HAL initialization, this also initializes the configured device drivers
|
| 984 |
* and performs the board-specific initializations.
|
| 985 |
* - Kernel initialization, the main() function becomes a thread and the
|
| 986 |
* RTOS is active.
|
| 987 |
*/
|
| 988 |
halInit(); |
| 989 |
System::init(); |
| 990 |
|
| 991 |
/*
|
| 992 |
* TODO: detect the reason why the system was started by reading the 1st backup register of the RTC.
|
| 993 |
* To do that, it is probably required to extend the RTC LLD by the required methods.
|
| 994 |
* For further details, how to interprete the data in the backu register, please have a look at the bootloader project.
|
| 995 |
*/
|
| 996 |
|
| 997 |
/*
|
| 998 |
* Activates the serial driver 1 using the driver default configuration.
|
| 999 |
*/
|
| 1000 |
sdStart(&SD1, &global.sd1_config); |
| 1001 |
|
| 1002 |
chprintf((BaseSequentialStream*) &SD1, "\n");
|
| 1003 |
chprintf((BaseSequentialStream*) &SD1, BOARD_NAME " " BOARD_VERSION "\n"); |
| 1004 |
switch (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR))) {
|
| 1005 |
case (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0)): |
| 1006 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
| 1007 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major, |
| 1008 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor, |
| 1009 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->patch); |
| 1010 |
break;
|
| 1011 |
|
| 1012 |
case BL_MAGIC_NUMBER:
|
| 1013 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader %u.%u.%u\n",
|
| 1014 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
| 1015 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))), |
| 1016 |
*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))); |
| 1017 |
break;
|
| 1018 |
|
| 1019 |
default:
|
| 1020 |
chprintf((BaseSequentialStream*) &SD1, "Bootloader incompatible\n");
|
| 1021 |
break;
|
| 1022 |
} |
| 1023 |
chprintf((BaseSequentialStream*) &SD1, "ChibiOS " CH_KERNEL_VERSION "\n"); |
| 1024 |
// make sure that the info text is completetly printed
|
| 1025 |
BaseThread::sleep(10);
|
| 1026 |
|
| 1027 |
// boardWriteSystemPower(1);
|
| 1028 |
// boardWriteIoPower(1);
|
| 1029 |
// boardWriteWarmRestart(0);
|
| 1030 |
|
| 1031 |
global.robot.start(HIGHPRIO - 1);
|
| 1032 |
|
| 1033 |
pwmStart(&PWMD3, &global.pwm3_config); |
| 1034 |
pwmDisableChannel(&PWMD3, 1);
|
| 1035 |
|
| 1036 |
adcStart(&ADCD1, NULL);
|
| 1037 |
|
| 1038 |
extStart(&EXTD1, &extcfg); |
| 1039 |
|
| 1040 |
boardClearI2CBus(GPIOB_GAUGE_SCL1, GPIOB_GAUGE_SDA1); |
| 1041 |
boardClearI2CBus(GPIOB_GAUGE_SCL2, GPIOB_GAUGE_SDA2); |
| 1042 |
|
| 1043 |
global.HW_I2C1.start(&global.i2c1_config); |
| 1044 |
global.HW_I2C2.start(&global.i2c2_config); |
| 1045 |
|
| 1046 |
uint16_t i2c_test = 0;
|
| 1047 |
while (global.ina219[INA_VIO18].readRegister(INA219::Driver::REG_BUS_VOLTAGE, i2c_test) != RDY_OK) {
|
| 1048 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "I2C #1 stalled! trying to clear the bus... (this will take 20 seconds)\n");
|
| 1049 |
boardWriteLed(1);
|
| 1050 |
boardResetBQ27500I2C(GPIOB_GAUGE_SCL2, GPIOB_GAUGE_SDA2); |
| 1051 |
boardWriteLed(0);
|
| 1052 |
} |
| 1053 |
while (global.ina219[INA_VDD].readRegister(INA219::Driver::REG_BUS_VOLTAGE, i2c_test) != RDY_OK) {
|
| 1054 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "I2C #2 stalled! trying to clear the bus... (this will take 20 seconds)\n");
|
| 1055 |
boardWriteLed(1);
|
| 1056 |
boardResetBQ27500I2C(GPIOB_GAUGE_SCL1, GPIOB_GAUGE_SDA1); |
| 1057 |
boardWriteLed(0);
|
| 1058 |
} |
| 1059 |
|
| 1060 |
global.memory.init(); |
| 1061 |
uint8_t i = 0;
|
| 1062 |
if (global.memory.getBoardId(&i) == fileSystemIo::FileSystemIoBase::OK) {
|
| 1063 |
chprintf((BaseSequentialStream*) &SD1, "Board ID: %u\n", i);
|
| 1064 |
} else {
|
| 1065 |
chprintf((BaseSequentialStream*) &SD1, "Error reading board ID\n");
|
| 1066 |
} |
| 1067 |
chprintf((BaseSequentialStream*) &SD1, "\n");
|
| 1068 |
|
| 1069 |
shelltp = shellCreate(&shell_cfg1, THD_WA_SIZE(1024), NORMALPRIO);
|
| 1070 |
|
| 1071 |
// initialize the power monitors
|
| 1072 |
init_powermonitor(global.ina219[INA_VDD], 0.1f, 0.075f, 10); |
| 1073 |
init_powermonitor(global.ina219[INA_VIO18], 0.01f, 1.5f, 100); |
| 1074 |
init_powermonitor(global.ina219[INA_VIO33], 0.01f, 1.5f, 100); |
| 1075 |
init_powermonitor(global.ina219[INA_VIO42], 0.01f, 1.5f, 100); |
| 1076 |
init_powermonitor(global.ina219[INA_VIO50], 0.01f, 1.5f, 100); |
| 1077 |
|
| 1078 |
// start the ADC watchdog
|
| 1079 |
global.adc1_vsys.start(NORMALPRIO); |
| 1080 |
|
| 1081 |
// start the ina threads
|
| 1082 |
for (i = 0; i < global.ina219.size(); ++i) |
| 1083 |
global.ina219[i].start(NORMALPRIO); |
| 1084 |
|
| 1085 |
// // calibrate the fuel gauges (TODO)
|
| 1086 |
// BQ27500::CalibData bq27500_calib_data;
|
| 1087 |
// bq27500_p7.calibration(&bq27500_calib_data);
|
| 1088 |
|
| 1089 |
// start the fuel gauge threads
|
| 1090 |
for (i = 0; i < global.bq27500.size(); ++i) |
| 1091 |
global.bq27500[i].start(NORMALPRIO); |
| 1092 |
|
| 1093 |
// start the proximity sensor threads
|
| 1094 |
for (i = 0; i < global.vcnl4020.size(); ++i) { |
| 1095 |
uint16_t buffer; |
| 1096 |
global.memory.getVcnl4020Offset(&buffer,i); |
| 1097 |
global.vcnl4020[i].setProximityOffset(buffer); |
| 1098 |
global.vcnl4020[i].start(NORMALPRIO); |
| 1099 |
} |
| 1100 |
|
| 1101 |
/* Start uart port connecting bluetooth chip */
|
| 1102 |
global.wt12.bluetoothStart(); |
| 1103 |
|
| 1104 |
global.mpr121.configure(&global.mpr121_run_config); |
| 1105 |
global.mpr121.start(NORMALPRIO); |
| 1106 |
|
| 1107 |
global.userThread.start(NORMALPRIO); |
| 1108 |
|
| 1109 |
/* let the SYS_SYNC_N pin go, to signal that the initialization of the module is done */
|
| 1110 |
palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_HIGH); |
| 1111 |
|
| 1112 |
/* wait until all modules are done */
|
| 1113 |
while (palReadPad(GPIOC, GPIOC_SYS_INT_N) == PAL_LOW) {
|
| 1114 |
continue;
|
| 1115 |
} |
| 1116 |
|
| 1117 |
while (true) { |
| 1118 |
|
| 1119 |
if (!shelltp)
|
| 1120 |
shelltp = shellCreate(&shell_cfg1, THD_WA_SIZE(1024), NORMALPRIO);
|
| 1121 |
else if (chThdTerminated(shelltp)) { |
| 1122 |
chThdRelease(shelltp); /* Recovers memory of the previous shell. */
|
| 1123 |
shelltp = NULL; /* Triggers spawning of a new shell. */ |
| 1124 |
} |
| 1125 |
|
| 1126 |
// Let the LED just blink as an alive signal
|
| 1127 |
boardWriteLed(1);
|
| 1128 |
BaseThread::sleep(MS2ST(250));
|
| 1129 |
boardWriteLed(0);
|
| 1130 |
BaseThread::sleep(MS2ST(250));
|
| 1131 |
|
| 1132 |
/*
|
| 1133 |
* Charger logic before shutdown logic,
|
| 1134 |
* so we don't need to call it twice.
|
| 1135 |
*/
|
| 1136 |
if (pathdc_change) {
|
| 1137 |
pathdc_change = 0x00u;
|
| 1138 |
// charger_logic();
|
| 1139 |
} |
| 1140 |
|
| 1141 |
/*
|
| 1142 |
* Shutdown logic before user logic,
|
| 1143 |
* so user does not get hopes up and
|
| 1144 |
* prepares wheels to drive into the
|
| 1145 |
* next wall or something like that.
|
| 1146 |
*/
|
| 1147 |
if (shutdown_now != SHUTDOWN_NONE) {
|
| 1148 |
if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) != (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0))) && (*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) != BL_MAGIC_NUMBER)) { |
| 1149 |
chprintf((BaseSequentialStream*) &SD1, "ERROR: unable to shut down (bootloader deprecated).\n");
|
| 1150 |
shutdown_now = SHUTDOWN_NONE; |
| 1151 |
} else {
|
| 1152 |
uint32_t blCallbackPtrAddr = BL_CALLBACK_TABLE_ADDR; |
| 1153 |
// handle bootloader version 0.2.x
|
| 1154 |
if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) &&
|
| 1155 |
(*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 2)) { |
| 1156 |
switch (shutdown_now) {
|
| 1157 |
case SHUTDOWN_TRANSPORTATION:
|
| 1158 |
blCallbackPtrAddr += 6 * 4; |
| 1159 |
break;
|
| 1160 |
case SHUTDOWN_DEEPSLEEP:
|
| 1161 |
blCallbackPtrAddr += 5 * 4; |
| 1162 |
break;
|
| 1163 |
case SHUTDOWN_HIBERNATE:
|
| 1164 |
blCallbackPtrAddr += 4 * 4; |
| 1165 |
break;
|
| 1166 |
case SHUTDOWN_HANDLE_REQUEST:
|
| 1167 |
case SHUTDOWN_RESTART:
|
| 1168 |
blCallbackPtrAddr += 10 * 4; |
| 1169 |
break;
|
| 1170 |
default:
|
| 1171 |
blCallbackPtrAddr = 0;
|
| 1172 |
break;
|
| 1173 |
} |
| 1174 |
} |
| 1175 |
// handle bootloader version 0.3.x
|
| 1176 |
else if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == BL_MAGIC_NUMBER) && |
| 1177 |
(*((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (1*4))) == 0 && *((uint32_t*)(BL_CALLBACK_TABLE_ADDR + (2*4))) == 3)) { |
| 1178 |
switch (shutdown_now) {
|
| 1179 |
case SHUTDOWN_TRANSPORTATION:
|
| 1180 |
blCallbackPtrAddr += 6 * 4; |
| 1181 |
break;
|
| 1182 |
case SHUTDOWN_DEEPSLEEP:
|
| 1183 |
blCallbackPtrAddr += 5 * 4; |
| 1184 |
break;
|
| 1185 |
case SHUTDOWN_HIBERNATE:
|
| 1186 |
blCallbackPtrAddr += 4 * 4; |
| 1187 |
break;
|
| 1188 |
case SHUTDOWN_RESTART:
|
| 1189 |
blCallbackPtrAddr += 7 * 4; |
| 1190 |
break;
|
| 1191 |
case SHUTDOWN_HANDLE_REQUEST:
|
| 1192 |
blCallbackPtrAddr += 8 * 4; |
| 1193 |
break;
|
| 1194 |
default:
|
| 1195 |
blCallbackPtrAddr = 0;
|
| 1196 |
break;
|
| 1197 |
} |
| 1198 |
} |
| 1199 |
// handle bootloader version 1.0.x and 1.1.x
|
| 1200 |
else if ((*((uint32_t*)(BL_CALLBACK_TABLE_ADDR)) == (('A'<<24) | ('-'<<16) | ('B'<<8) | ('L'<<0))) && |
| 1201 |
((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->major == 1 && (((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor == 0 || ((blVersion_t*)(BL_CALLBACK_TABLE_ADDR + (1*4)))->minor == 1)) { |
| 1202 |
switch (shutdown_now) {
|
| 1203 |
case SHUTDOWN_TRANSPORTATION:
|
| 1204 |
blCallbackPtrAddr += 6 * 4; |
| 1205 |
break;
|
| 1206 |
case SHUTDOWN_DEEPSLEEP:
|
| 1207 |
blCallbackPtrAddr += 5 * 4; |
| 1208 |
break;
|
| 1209 |
case SHUTDOWN_HIBERNATE:
|
| 1210 |
blCallbackPtrAddr += 4 * 4; |
| 1211 |
break;
|
| 1212 |
case SHUTDOWN_RESTART:
|
| 1213 |
blCallbackPtrAddr += 7 * 4; |
| 1214 |
break;
|
| 1215 |
case SHUTDOWN_HANDLE_REQUEST:
|
| 1216 |
blCallbackPtrAddr += 8 * 4; |
| 1217 |
break;
|
| 1218 |
default:
|
| 1219 |
blCallbackPtrAddr = 0;
|
| 1220 |
break;
|
| 1221 |
} |
| 1222 |
} |
| 1223 |
|
| 1224 |
void (*blCallback)(void) = NULL; |
| 1225 |
if (blCallbackPtrAddr > BL_CALLBACK_TABLE_ADDR) {
|
| 1226 |
blCallback = (void (*)(void))(*((uint32_t*)blCallbackPtrAddr)); |
| 1227 |
|
| 1228 |
if (!blCallback) {
|
| 1229 |
chprintf((BaseSequentialStream*) &SD1, "ERROR: Requested shutdown not supported.\n");
|
| 1230 |
shutdown_now = SHUTDOWN_NONE; |
| 1231 |
} else {
|
| 1232 |
chprintf((BaseSequentialStream*) &SD1, "initiating shutdown sequence...\n");
|
| 1233 |
palWritePad(GPIOC, GPIOC_SYS_INT_N, PAL_LOW); |
| 1234 |
palWritePad(GPIOC, GPIOC_SYS_PD_N, PAL_LOW); |
| 1235 |
|
| 1236 |
chprintf((BaseSequentialStream*) &SD1, "stopping all threads and periphery...");
|
| 1237 |
systemStop(); |
| 1238 |
chprintf((BaseSequentialStream*) &SD1, "\tdone\n");
|
| 1239 |
BaseThread::sleep(MS2ST(10)); // sleep to print everything |
| 1240 |
|
| 1241 |
blCallback(); |
| 1242 |
} |
| 1243 |
|
| 1244 |
} else {
|
| 1245 |
chprintf((BaseSequentialStream*) &SD1, "ERROR: invalid shutdown requested (%u).\n", shutdown_now);
|
| 1246 |
shutdown_now = SHUTDOWN_NONE; |
| 1247 |
} |
| 1248 |
} |
| 1249 |
|
| 1250 |
// shutdown_now = 0x00u;
|
| 1251 |
// if (palReadPad(GPIOC, GPIOC_PATH_DC))
|
| 1252 |
// systemStop();
|
| 1253 |
// else
|
| 1254 |
// systemShutdown();
|
| 1255 |
// //boardStop(0x00u, 0x00u);
|
| 1256 |
// //chprintf((BaseSequentialStream*) &SD1, "Stop exit\n");
|
| 1257 |
} |
| 1258 |
|
| 1259 |
} |
| 1260 |
|
| 1261 |
global.HW_I2C2.stop(); |
| 1262 |
global.HW_I2C1.stop(); |
| 1263 |
|
| 1264 |
return 0; |
| 1265 |
} |