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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-03-09 13:20:05 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-03-09 13:20:05 +0100 |
| commit | 74bcf29c698ee9b6f8a7859d59c28f4a69a54e02 (patch) | |
| tree | 6cdb1b2e071807089c5b11bb5dc5860d632c17ad /apps/px4io | |
| parent | 5335de4cc71aa283366b683d169e8f90af78569d (diff) | |
| download | px4-firmware-74bcf29c698ee9b6f8a7859d59c28f4a69a54e02.tar.gz px4-firmware-74bcf29c698ee9b6f8a7859d59c28f4a69a54e02.tar.bz2 px4-firmware-74bcf29c698ee9b6f8a7859d59c28f4a69a54e02.zip | |
Refactored debug level into proper register, px4io status now correctly reads it. Added more of the missing alarms clear logic, alarms reporting now consistent. Adding missing sign change on mode switch, fixes override issue when attempting to switch to auto mode. Pending outdoor tests
Diffstat (limited to 'apps/px4io')
| -rw-r--r-- | apps/px4io/controls.c | 4 | ||||
| -rw-r--r-- | apps/px4io/px4io.c | 7 | ||||
| -rw-r--r-- | apps/px4io/registers.c | 8 |
3 files changed, 11 insertions, 8 deletions
diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c index 2d99116f8..b507078a1 100644 --- a/apps/px4io/controls.c +++ b/apps/px4io/controls.c @@ -213,7 +213,9 @@ controls_tick() { if (assigned_channels == 0) { rc_input_lost = true; } else { + /* set RC OK flag and clear RC lost alarm */ r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK; + r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_RC_LOST; } /* @@ -274,7 +276,7 @@ controls_tick() { * requested override. * */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (r_rc_values[4] > RC_CHANNEL_HIGH_THRESH)) + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(r_rc_values[4]) > RC_CHANNEL_HIGH_THRESH)) override = true; if (override) { diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c index 0c4838523..9de37e118 100644 --- a/apps/px4io/px4io.c +++ b/apps/px4io/px4io.c @@ -64,8 +64,7 @@ struct sys_state_s system_state; static struct hrt_call serial_dma_call; -/* global debug level for isr_debug() */ -volatile uint8_t debug_level = 0; +/* store i2c reset count XXX this should be a register, together with other error counters */ volatile uint32_t i2c_loop_resets = 0; /* @@ -90,7 +89,7 @@ static char msg[NUM_MSG][40]; void isr_debug(uint8_t level, const char *fmt, ...) { - if (level > debug_level) { + if (level > r_page_setup[PX4IO_P_SETUP_SET_DEBUG]) { return; } va_list ap; @@ -219,7 +218,7 @@ user_start(int argc, char *argv[]) struct mallinfo minfo = mallinfo(); isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x r=%u m=%u", - (unsigned)debug_level, + (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG], (unsigned)r_status_flags, (unsigned)r_setup_arming, (unsigned)r_setup_features, diff --git a/apps/px4io/registers.c b/apps/px4io/registers.c index 511a47f8d..645c1565d 100644 --- a/apps/px4io/registers.c +++ b/apps/px4io/registers.c @@ -137,7 +137,8 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_RELAYS] = 0, [PX4IO_P_SETUP_VBATT_SCALE] = 10000, [PX4IO_P_SETUP_IBATT_SCALE] = 0, - [PX4IO_P_SETUP_IBATT_BIAS] = 0 + [PX4IO_P_SETUP_IBATT_BIAS] = 0, + [PX4IO_P_SETUP_SET_DEBUG] = 0, }; #define PX4IO_P_SETUP_FEATURES_VALID (0) @@ -201,6 +202,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num system_state.fmu_data_received_time = hrt_absolute_time(); r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK; + r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST; r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RAW_PWM; break; @@ -351,8 +353,8 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) break; case PX4IO_P_SETUP_SET_DEBUG: - debug_level = value; - isr_debug(0, "set debug %u\n", (unsigned)debug_level); + r_page_setup[PX4IO_P_SETUP_SET_DEBUG] = value; + isr_debug(0, "set debug %u\n", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG]); break; default: |