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; }