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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-16 10:56:15 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-16 10:56:15 +0100 |
commit | 8ffb9e29c62e645b48573439d4ebc70acfa7db54 (patch) | |
tree | 9b4dfe17c7a91e62be529e17e4ca70e5b4497647 /src/modules/px4iofirmware | |
parent | c304ea25077e1fd4675ef1d053cfc81e7e877b4b (diff) | |
download | px4-firmware-8ffb9e29c62e645b48573439d4ebc70acfa7db54.tar.gz px4-firmware-8ffb9e29c62e645b48573439d4ebc70acfa7db54.tar.bz2 px4-firmware-8ffb9e29c62e645b48573439d4ebc70acfa7db54.zip |
Teach IO firmware that arming and lockdown are two different things, clean up arming check
Diffstat (limited to 'src/modules/px4iofirmware')
-rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 15 | ||||
-rw-r--r-- | src/modules/px4iofirmware/protocol.h | 1 | ||||
-rw-r--r-- | src/modules/px4iofirmware/registers.c | 8 |
3 files changed, 16 insertions, 8 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index e55ef784a..ea9e71c53 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -217,14 +217,25 @@ mixer_tick(void) } } - if ((should_arm || should_always_enable_pwm) && !mixer_servos_armed) { + /* set arming */ + bool needs_to_arm = (should_arm || should_always_enable_pwm); + + /* check any conditions that prevent arming */ + if (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) { + needs_to_arm = false; + } + if (!should_arm && !should_always_enable_pwm) { + needs_to_arm = false; + } + + if (needs_to_arm && !mixer_servos_armed) { /* 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, "> PWM enabled"); - } else if ((!should_arm && !should_always_enable_pwm) && mixer_servos_armed) { + } else if (!needs_to_arm && mixer_servos_armed) { /* armed but need to disarm */ up_pwm_servo_arm(false); mixer_servos_armed = false; diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index e5bef6eb3..ce8d26cc8 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -166,6 +166,7 @@ #define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */ #define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE (1 << 5) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */ #define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 6) /* Disable the IO-internal evaluation of the RC */ +#define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 7) /* If set, the system operates normally, but won't actuate any servos */ #define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ #define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index ad4473073..42938b446 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -169,7 +169,8 @@ volatile uint16_t r_page_setup[] = PX4IO_P_SETUP_ARMING_IO_ARM_OK | \ PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM | \ PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \ - PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) + PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED | \ + PX4IO_P_SETUP_ARMING_LOCKDOWN) #define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1) #define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) @@ -453,11 +454,6 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) * lockup of the IO arming state. */ - // 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; - // } - if (value & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) { r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK; } |