AP_Periph: support FSOPowerStack

lthall · Aug 8, 2024 · 35f8711 · 35f8711
1 parent 3c30de8
commit 35f8711
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Showing 6 changed files with 1,863 additions and 0 deletions.
diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
@@ -286,6 +286,10 @@ void AP_Periph_FW::init()
     relay.init();
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_FSO_POWER_STACK
+    FSO_power_stack.init();
+#endif
+
 #if AP_SCRIPTING_ENABLED
     scripting.init();
 #endif
@@ -471,6 +475,10 @@ void AP_Periph_FW::update()
 #ifdef HAL_PERIPH_ENABLE_BATTERY_BALANCE
     batt_balance_update();
 #endif
+
+#ifdef HAL_PERIPH_ENABLE_FSO_POWER_STACK
+    FSO_power_stack.update(battery.last_read_ms == now);
+#endif
 
     static uint32_t fiftyhz_last_update_ms;
     if (now - fiftyhz_last_update_ms >= 20) {

diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
@@ -45,6 +45,10 @@
 #endif
 #include <AP_AHRS/AP_AHRS.h>
 
+#ifdef HAL_PERIPH_ENABLE_FSO_POWER_STACK
+#include "FSOPowerStack.h"
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_RELAY
 #ifdef HAL_PERIPH_ENABLE_PWM_HARDPOINT
     #error "Relay and PWM_HARDPOINT both use hardpoint message"
@@ -356,6 +360,10 @@ class AP_Periph_FW {
     BattBalance battery_balance;
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_FSO_POWER_STACK
+    FSOPowerStack FSO_power_stack;
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_SERIAL_OPTIONS
     SerialOptions serial_options;
 #endif