diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-17 17:47:26 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-17 17:47:26 +0100 |
| commit | 56bf9855a8f8140a8a5edeeb08f4246249b27085 (patch) | |
| tree | 87936852503268586228b197126f77ca34ae57d5 /apps/drivers/px4io/px4io.cpp | |
| parent | f689f0abb0832c3d68e462e291a7a4d6dd43e216 (diff) | |
| download | px4-firmware-56bf9855a8f8140a8a5edeeb08f4246249b27085.tar.gz px4-firmware-56bf9855a8f8140a8a5edeeb08f4246249b27085.tar.bz2 px4-firmware-56bf9855a8f8140a8a5edeeb08f4246249b27085.zip | |
Finished and tested in-air restore of arming state, as long as both boards reset at the same time armings state is now retained
Diffstat (limited to 'apps/drivers/px4io/px4io.cpp')
| -rw-r--r-- | apps/drivers/px4io/px4io.cpp | 27 |
1 files changed, 19 insertions, 8 deletions
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 069028c14..b2e0c6ee4 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -279,6 +279,8 @@ PX4IO::PX4IO() : _max_relays(0), _max_transfer(16), /* sensible default */ _update_interval(0), + _status(0), + _alarms(0), _task(-1), _task_should_exit(false), _perf_update(perf_alloc(PC_ELAPSED, "px4io update")), @@ -360,8 +362,8 @@ PX4IO::init() uint16_t reg; - /* get STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT in that order */ - ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, ®, sizeof(reg)); + /* get IO's last seen FMU state */ + ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, ®, sizeof(reg)); if (ret != OK) return ret; @@ -392,8 +394,8 @@ PX4IO::init() /* wait 10 ms */ usleep(10000); - /* abort after 10s */ - if ((hrt_absolute_time() - try_start_time)/1000 > 10000) { + /* abort after 5s */ + if ((hrt_absolute_time() - try_start_time)/1000 > 50000) { log("failed to recover from in-air restart (1), aborting IO driver init."); return 1; } @@ -432,8 +434,8 @@ PX4IO::init() /* wait 10 ms */ usleep(10000); - /* abort after 10s */ - if ((hrt_absolute_time() - try_start_time)/1000 > 10000) { + /* abort after 5s */ + if ((hrt_absolute_time() - try_start_time)/1000 > 50000) { log("failed to recover from in-air restart (2), aborting IO driver init."); return 1; } @@ -770,19 +772,28 @@ PX4IO::io_handle_status(uint16_t status) */ /* check for IO reset - force it back to armed if necessary */ - if (_status & PX4IO_P_STATUS_FLAGS_ARMED && !(status & PX4IO_P_STATUS_FLAGS_ARMED)) { + if (_status & PX4IO_P_STATUS_FLAGS_ARMED && !(status & PX4IO_P_STATUS_FLAGS_ARMED) + && !(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) { /* set the arming flag */ - ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARMED); + ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARMED | PX4IO_P_STATUS_FLAGS_ARM_SYNC); /* set new status */ _status = status; _status &= PX4IO_P_STATUS_FLAGS_ARMED; + } else if (!(_status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) { + + /* set the sync flag */ + ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARM_SYNC); + /* set new status */ + _status = status; + } else { ret = 0; /* set new status */ _status = status; } + return ret; } |