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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-16 10:43:50 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-16 10:43:50 +0200 |
| commit | 1b491005d1192bfee7cf25068195b5f5e3a604eb (patch) | |
| tree | 2494dbb0341694e2edda3e8776fa7de37868cd28 /src/modules | |
| parent | 5ca96631fc02d3826d2ef6274f9da7e12e9fb4a1 (diff) | |
| download | px4-firmware-1b491005d1192bfee7cf25068195b5f5e3a604eb.tar.gz px4-firmware-1b491005d1192bfee7cf25068195b5f5e3a604eb.tar.bz2 px4-firmware-1b491005d1192bfee7cf25068195b5f5e3a604eb.zip | |
Minor cleanups on handling, make wrong reg accesses non-fatal for the transfer
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/px4iofirmware/protocol.h | 2 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 27 |
2 files changed, 16 insertions, 13 deletions
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 313084fe9..7471faec7 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -190,6 +190,8 @@ #define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* hardware rev [1] power relay 2 */ #define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* hardware rev [1] accessory power 1 */ #define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* hardware rev [1] accessory power 2 */ +#else +#define PX4IO_P_SETUP_RELAYS_PAD 5 #endif #define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */ diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index a43bb65a4..db1836f4a 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -161,8 +161,8 @@ volatile uint16_t r_page_setup[] = #ifdef CONFIG_ARCH_BOARD_PX4IO_V1 [PX4IO_P_SETUP_RELAYS] = 0, #else - /* this is unused, but we will pad it to be safe */ - [PX4IO_P_SETUP_RELAYS] = 0, + /* this is unused, but we will pad it for readability (the compiler pads it automatically) */ + [PX4IO_P_SETUP_RELAYS_PAD] = 0, #endif #ifdef ADC_VSERVO [PX4IO_P_SETUP_VSERVO_SCALE] = 10000, @@ -526,18 +526,22 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) break; case PX4IO_P_SETUP_PWM_DEFAULTRATE: - if (value < 50) + if (value < 50) { value = 50; - if (value > 400) + } + if (value > 400) { value = 400; + } pwm_configure_rates(r_setup_pwm_rates, value, r_setup_pwm_altrate); break; case PX4IO_P_SETUP_PWM_ALTRATE: - if (value < 50) + if (value < 50) { value = 50; - if (value > 400) + } + if (value > 400) { value = 400; + } pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value); break; @@ -565,12 +569,13 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { // don't allow reboot while armed - return -1; + break; } // check the magic value - if (value != PX4IO_REBOOT_BL_MAGIC) - return -1; + if (value != PX4IO_REBOOT_BL_MAGIC) { + break; + } // we schedule a reboot rather than rebooting // immediately to allow the IO board to ACK @@ -585,16 +590,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_P_SETUP_FORCE_SAFETY_OFF: if (value == PX4IO_FORCE_SAFETY_MAGIC) { r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF; - } else { - return -1; } break; case PX4IO_P_SETUP_RC_THR_FAILSAFE_US: if (value > 650 && value < 2350) { r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = value; - } else { - return -1; } break; |