diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-16 09:52:46 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-16 09:52:46 +0200 |
| commit | 5ca96631fc02d3826d2ef6274f9da7e12e9fb4a1 (patch) | |
| tree | 7680e3050be1068546dd0f4db542afb03cfeecc0 | |
| parent | 4fe0027e7a23fdd425479c98f0167adf596d5743 (diff) | |
| download | px4-firmware-5ca96631fc02d3826d2ef6274f9da7e12e9fb4a1.tar.gz px4-firmware-5ca96631fc02d3826d2ef6274f9da7e12e9fb4a1.tar.bz2 px4-firmware-5ca96631fc02d3826d2ef6274f9da7e12e9fb4a1.zip | |
px4io firmware: Actually accept failsafe values, check their range. Add an error return code for commands that were rejected on reboot and force safety instead of failing silently with an OK value
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 17 |
1 files changed, 15 insertions, 2 deletions
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index fd7c6081f..a43bb65a4 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -160,6 +160,9 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_PWM_ALTRATE] = 200, #ifdef CONFIG_ARCH_BOARD_PX4IO_V1 [PX4IO_P_SETUP_RELAYS] = 0, +#else + /* this is unused, but we will pad it to be safe */ + [PX4IO_P_SETUP_RELAYS] = 0, #endif #ifdef ADC_VSERVO [PX4IO_P_SETUP_VSERVO_SCALE] = 10000, @@ -562,12 +565,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { // don't allow reboot while armed - break; + return -1; } // check the magic value if (value != PX4IO_REBOOT_BL_MAGIC) - break; + return -1; // we schedule a reboot rather than rebooting // immediately to allow the IO board to ACK @@ -582,6 +585,16 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_P_SETUP_FORCE_SAFETY_OFF: if (value == PX4IO_FORCE_SAFETY_MAGIC) { r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF; + } else { + return -1; + } + break; + + case PX4IO_P_SETUP_RC_THR_FAILSAFE_US: + if (value > 650 && value < 2350) { + r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = value; + } else { + return -1; } break; |