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author | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-03 20:07:55 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-03 20:07:55 +0100 |
commit | dc46736eadac43527f875b281cc1f50032d36066 (patch) | |
tree | 5ee20f8423847161b624fd4f1e943d5a1608d171 /src/modules/systemlib | |
parent | 3e7faa6018dbff54860304a2e1a35d853160ef64 (diff) | |
parent | d441d38677eb78d1e599973dd1e993d3af1af218 (diff) | |
download | px4-firmware-dc46736eadac43527f875b281cc1f50032d36066.tar.gz px4-firmware-dc46736eadac43527f875b281cc1f50032d36066.tar.bz2 px4-firmware-dc46736eadac43527f875b281cc1f50032d36066.zip |
Merge ROS into master
Diffstat (limited to 'src/modules/systemlib')
-rw-r--r-- | src/modules/systemlib/circuit_breaker.cpp | 55 | ||||
-rw-r--r-- | src/modules/systemlib/circuit_breaker.h | 2 | ||||
-rw-r--r-- | src/modules/systemlib/circuit_breaker_params.c (renamed from src/modules/systemlib/circuit_breaker.c) | 39 | ||||
-rw-r--r-- | src/modules/systemlib/circuit_breaker_params.h | 7 | ||||
-rw-r--r-- | src/modules/systemlib/module.mk | 3 | ||||
-rw-r--r-- | src/modules/systemlib/perf_counter.h | 1 |
6 files changed, 74 insertions, 33 deletions
diff --git a/src/modules/systemlib/circuit_breaker.cpp b/src/modules/systemlib/circuit_breaker.cpp new file mode 100644 index 000000000..ea478a60f --- /dev/null +++ b/src/modules/systemlib/circuit_breaker.cpp @@ -0,0 +1,55 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file circuit_breaker.c + * + * Circuit breaker parameters. + * Analog to real aviation circuit breakers these parameters + * allow to disable subsystems. They are not supported as standard + * operation procedure and are only provided for development purposes. + * To ensure they are not activated accidentally, the associated + * parameter needs to set to the key (magic). + */ + +#include <px4.h> +#include <systemlib/circuit_breaker.h> + +bool circuit_breaker_enabled(const char* breaker, int32_t magic) +{ + int32_t val; + (void)PX4_PARAM_GET_BYNAME(breaker, &val); + + return (val == magic); +} + diff --git a/src/modules/systemlib/circuit_breaker.h b/src/modules/systemlib/circuit_breaker.h index b3431722f..c97dbc26f 100644 --- a/src/modules/systemlib/circuit_breaker.h +++ b/src/modules/systemlib/circuit_breaker.h @@ -61,7 +61,7 @@ __BEGIN_DECLS -__EXPORT bool circuit_breaker_enabled(const char* breaker, int32_t magic); +extern "C" __EXPORT bool circuit_breaker_enabled(const char* breaker, int32_t magic); __END_DECLS diff --git a/src/modules/systemlib/circuit_breaker.c b/src/modules/systemlib/circuit_breaker_params.c index 12187d70e..e499ae27a 100644 --- a/src/modules/systemlib/circuit_breaker.c +++ b/src/modules/systemlib/circuit_breaker_params.c @@ -42,8 +42,8 @@ * parameter needs to set to the key (magic). */ -#include <systemlib/param/param.h> -#include <systemlib/circuit_breaker.h> +#include <px4.h> +#include <systemlib/circuit_breaker_params.h> /** * Circuit breaker for power supply check @@ -56,7 +56,7 @@ * @max 894281 * @group Circuit Breaker */ -PARAM_DEFINE_INT32(CBRK_SUPPLY_CHK, 0); +PX4_PARAM_DEFINE_INT32(CBRK_SUPPLY_CHK); /** * Circuit breaker for rate controller output @@ -69,7 +69,7 @@ PARAM_DEFINE_INT32(CBRK_SUPPLY_CHK, 0); * @max 140253 * @group Circuit Breaker */ -PARAM_DEFINE_INT32(CBRK_RATE_CTRL, 0); +PX4_PARAM_DEFINE_INT32(CBRK_RATE_CTRL); /** * Circuit breaker for IO safety @@ -81,7 +81,7 @@ PARAM_DEFINE_INT32(CBRK_RATE_CTRL, 0); * @max 22027 * @group Circuit Breaker */ -PARAM_DEFINE_INT32(CBRK_IO_SAFETY, 0); +PX4_PARAM_DEFINE_INT32(CBRK_IO_SAFETY); /** * Circuit breaker for airspeed sensor @@ -93,7 +93,7 @@ PARAM_DEFINE_INT32(CBRK_IO_SAFETY, 0); * @max 162128 * @group Circuit Breaker */ -PARAM_DEFINE_INT32(CBRK_AIRSPD_CHK, 0); +PX4_PARAM_DEFINE_INT32(CBRK_AIRSPD_CHK); /** * Circuit breaker for flight termination @@ -106,7 +106,7 @@ PARAM_DEFINE_INT32(CBRK_AIRSPD_CHK, 0); * @max 121212 * @group Circuit Breaker */ -PARAM_DEFINE_INT32(CBRK_FLIGHTTERM, 121212); +PX4_PARAM_DEFINE_INT32(CBRK_FLIGHTTERM); /** * Circuit breaker for engine failure detection @@ -120,27 +120,4 @@ PARAM_DEFINE_INT32(CBRK_FLIGHTTERM, 121212); * @max 284953 * @group Circuit Breaker */ -PARAM_DEFINE_INT32(CBRK_ENGINEFAIL, 284953); - -/** - * Circuit breaker for gps failure detection - * - * Setting this parameter to 240024 will disable the gps failure detection. - * If the aircraft is in gps failure mode the gps failure flag will be - * set to healthy - * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - * - * @min 0 - * @max 240024 - * @group Circuit Breaker - */ -PARAM_DEFINE_INT32(CBRK_GPSFAIL, 240024); - -bool circuit_breaker_enabled(const char* breaker, int32_t magic) -{ - int32_t val; - (void)param_get(param_find(breaker), &val); - - return (val == magic); -} - +PX4_PARAM_DEFINE_INT32(CBRK_ENGINEFAIL); diff --git a/src/modules/systemlib/circuit_breaker_params.h b/src/modules/systemlib/circuit_breaker_params.h new file mode 100644 index 000000000..768bf7f53 --- /dev/null +++ b/src/modules/systemlib/circuit_breaker_params.h @@ -0,0 +1,7 @@ +#define PARAM_CBRK_SUPPLY_CHK_DEFAULT 0 +#define PARAM_CBRK_RATE_CTRL_DEFAULT 0 +#define PARAM_CBRK_IO_SAFETY_DEFAULT 0 +#define PARAM_CBRK_AIRSPD_CHK_DEFAULT 0 +#define PARAM_CBRK_FLIGHTTERM_DEFAULT 121212 +#define PARAM_CBRK_ENGINEFAIL_DEFAULT 284953 +#define PARAM_CBRK_GPSFAIL_DEFAULT 240024 diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk index f4dff2838..f2499bbb1 100644 --- a/src/modules/systemlib/module.mk +++ b/src/modules/systemlib/module.mk @@ -53,7 +53,8 @@ SRCS = err.c \ otp.c \ board_serial.c \ pwm_limit/pwm_limit.c \ - circuit_breaker.c \ + circuit_breaker.cpp \ + circuit_breaker_params.c \ mcu_version.c MAXOPTIMIZATION = -Os diff --git a/src/modules/systemlib/perf_counter.h b/src/modules/systemlib/perf_counter.h index 0c1243de3..8543ba7bb 100644 --- a/src/modules/systemlib/perf_counter.h +++ b/src/modules/systemlib/perf_counter.h @@ -40,6 +40,7 @@ #define _SYSTEMLIB_PERF_COUNTER_H value #include <stdint.h> +#include <platforms/px4_defines.h> /** * Counter types. |