Minor state machine improvements and fixes for IO safety / in-air restart handling

4 files changed, 22 insertions, 17 deletions

diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 123eb6778..b654bdec4 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -194,7 +194,7 @@ mixer_tick(void)
 	 */
 	bool should_arm = (
 	    /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
-	 	/* IO is armed */  (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
+	 	/* IO is armed */  (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
 		/* there is valid input via direct PWM or mixer */ ((r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) ||
 		/* or failsafe was set manually */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)) && 
 		/* IO initialised without error */  (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
@@ -204,11 +204,15 @@ mixer_tick(void)
 		/* need to arm, but not armed */
 		up_pwm_servo_arm(true);
 		mixer_servos_armed = true;
+		r_status_flags |= PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED;
+		isr_debug(5, "> armed");
 
 	} else if (!should_arm && mixer_servos_armed) {
 		/* armed but need to disarm */
 		up_pwm_servo_arm(false);
 		mixer_servos_armed = false;
+		r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED);
+		isr_debug(5, "> disarmed");
 	}
 
 	if (mixer_servos_armed) {
@@ -263,9 +267,8 @@ static unsigned mixer_text_length = 0;
 void
 mixer_handle_text(const void *buffer, size_t length)
 {
-	/* do not allow a mixer change while fully armed */
-	if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
-	    /* IO is armed */  (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
+	/* do not allow a mixer change while outputs armed */
+	if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
 		return;
 	}
 
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 674f9dddd..497e6af8e 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -77,7 +77,7 @@
 
 /* static configuration page */
 #define PX4IO_PAGE_CONFIG		0
-#define PX4IO_P_CONFIG_PROTOCOL_VERSION		0	/* magic numbers TBD */
+#define PX4IO_P_CONFIG_PROTOCOL_VERSION		2	/* magic numbers TBD */
 #define PX4IO_P_CONFIG_SOFTWARE_VERSION		1	/* magic numbers TBD */
 #define PX4IO_P_CONFIG_BOOTLOADER_VERSION	2	/* get this how? */
 #define PX4IO_P_CONFIG_MAX_TRANSFER		3	/* maximum I2C transfer size */
@@ -93,7 +93,7 @@
 #define PX4IO_P_STATUS_CPULOAD			1
 
 #define PX4IO_P_STATUS_FLAGS			2	 /* monitoring flags */
-#define PX4IO_P_STATUS_FLAGS_ARMED		(1 << 0) /* arm-ok and locally armed */
+#define PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED	(1 << 0) /* arm-ok and locally armed */
 #define PX4IO_P_STATUS_FLAGS_OVERRIDE		(1 << 1) /* in manual override */
 #define PX4IO_P_STATUS_FLAGS_RC_OK		(1 << 2) /* RC input is valid */
 #define PX4IO_P_STATUS_FLAGS_RC_PPM		(1 << 3) /* PPM input is valid */
@@ -105,6 +105,7 @@
 #define PX4IO_P_STATUS_FLAGS_ARM_SYNC		(1 << 9) /* the arming state between IO and FMU is in sync */
 #define PX4IO_P_STATUS_FLAGS_INIT_OK		(1 << 10) /* initialisation of the IO completed without error */
 #define PX4IO_P_STATUS_FLAGS_FAILSAFE		(1 << 11) /* failsafe is active */
+#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF		(1 << 12) /* safety is off */
 
 #define PX4IO_P_STATUS_ALARMS			3	 /* alarm flags - alarms latch, write 1 to a bit to clear it */
 #define PX4IO_P_STATUS_ALARMS_VBATT_LOW		(1 << 0) /* VBatt is very close to regulator dropout */
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index df7d6dcd3..a092fc93b 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -317,9 +317,11 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			 * so that an in-air reset of FMU can not lead to a
 			 * lockup of the IO arming state.
 			 */
-			if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && !(value & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
-				r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
-			}
+
+			// XXX do not reset IO's safety state by FMU for now
+			// if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && !(value & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
+			// 	r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
+			// }
 
 			r_setup_arming = value;
 
@@ -367,9 +369,8 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 
 	case PX4IO_PAGE_RC_CONFIG: {
 
-		/* do not allow a RC config change while fully armed */
-		if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
-		    /* IO is armed */  (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
+		/* do not allow a RC config change while outputs armed */
+		if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
 			break;
 		}
 
diff --git a/src/modules/px4iofirmware/safety.c b/src/modules/px4iofirmware/safety.c
index 4dbecc274..95335f038 100644
--- a/src/modules/px4iofirmware/safety.c
+++ b/src/modules/px4iofirmware/safety.c
@@ -110,7 +110,7 @@ safety_check_button(void *arg)
 	 * state machine, keep ARM_COUNTER_THRESHOLD the same
 	 * length in all cases of the if/else struct below.
 	 */
-	if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
+	if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
 		(r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)) {
 
 		if (counter < ARM_COUNTER_THRESHOLD) {
@@ -118,18 +118,18 @@ safety_check_button(void *arg)
 
 		} else if (counter == ARM_COUNTER_THRESHOLD) {
 			/* switch to armed state */
-			r_status_flags |= PX4IO_P_STATUS_FLAGS_ARMED;
+			r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
 			counter++;
 		}
 
-	} else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
+	} else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) {
 
 		if (counter < ARM_COUNTER_THRESHOLD) {
 			counter++;
 
 		} else if (counter == ARM_COUNTER_THRESHOLD) {
 			/* change to disarmed state and notify the FMU */
-			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
+			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
 			counter++;
 		}
 
@@ -140,7 +140,7 @@ safety_check_button(void *arg)
 	/* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */
 	uint16_t pattern = LED_PATTERN_FMU_REFUSE_TO_ARM;
 
-	if (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) {
+	if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
 		if (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) {
 			pattern = LED_PATTERN_IO_FMU_ARMED;