static msg_t batterySurveyThd(void *arg)
{
(void)arg;
chRegSetThreadName ("battery survey");
chEvtRegister(&powerOutageSource, &powerOutageListener, 1);
chThdSleepMilliseconds (2000);
register_adc_watchdog((uint32_t) ADC1, 4,
V_ALERT, 0xfff, &powerOutageIsr);
chEvtWaitOne(EVENT_MASK(1));
chibios_logFinish ();
chThdExit(0);
return 0;
}
static msg_t thdUsbStorage(void *arg)
{
(void) arg; // unused
chRegSetThreadName("UsbStorage:polling");
uint antiBounce=5;
EventListener connected;
// Should use EXTI interrupt instead of active polling,
// but in the chibios_opencm3 implementation, since EXTI is
// used via libopencm3, ISR are routed on pprz/opencm3 and cannot
// be used concurrently by chibios api
// Should be fixed when using chibios-rt branch
while (!chThdShouldTerminate() && antiBounce) {
const bool_t usbConnected = palReadPad (GPIOA, GPIOA_OTG_FS_VBUS);
if (usbConnected)
antiBounce--;
else
antiBounce=5;
chThdSleepMilliseconds(20);
}
isRunning = true;
chRegSetThreadName("UsbStorage:connected");
/* Stop the logs*/
chibios_logFinish (true);
/* connect sdcard sdc interface sdio */
if (sdioConnect () == false)
chThdExit (RDY_TIMEOUT);
/* initialize the USB mass storage driver */
msdInit(&UMSD1);
/* start the USB mass storage service */
msdStart(&UMSD1, &msdConfig);
/* start the USB driver */
usbDisconnectBus(&USBD1);
chThdSleepMilliseconds(1000);
usbStart(&USBD1, &usbConfig);
usbConnectBus(&USBD1);
/* wait for a real usb storage connexion before shutting down autopilot */
chEvtRegisterMask(&UMSD1.evt_connected, &connected, EVENT_MASK(1));
chEvtWaitOne(EVENT_MASK(1));
/* stop autopilot */
if (pprzThdPtr != NULL) {
chThdTerminate (pprzThdPtr);
chThdWait (pprzThdPtr);
pprzThdPtr = NULL;
}
/* wait until usb-storage is unmount and usb cable is unplugged*/
while (!chThdShouldTerminate() && palReadPad (GPIOA, GPIOA_OTG_FS_VBUS)) {
chThdSleepMilliseconds(10);
}
/* then close open descriptors and reboot autopilot */
usbDisconnectBus(&USBD1);
chThdSleepMilliseconds(500);
msdStop(&UMSD1);
sdioDisconnect ();
MCU_RESTART();
return RDY_OK;
}