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Diffstat (limited to 'src/modules/px4iofirmware/registers.c')
-rw-r--r--src/modules/px4iofirmware/registers.c55
1 files changed, 44 insertions, 11 deletions
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 86a40bc22..0358725db 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2012, 2013 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
@@ -45,6 +45,8 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h>
+#include <systemlib/systemlib.h>
+#include <stm32_pwr.h>
#include "px4io.h"
#include "protocol.h"
@@ -68,7 +70,7 @@ static const uint16_t r_page_config[] = {
[PX4IO_P_CONFIG_MAX_TRANSFER] = 64, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_CONTROL_COUNT] = PX4IO_CONTROL_CHANNELS,
[PX4IO_P_CONFIG_ACTUATOR_COUNT] = PX4IO_SERVO_COUNT,
- [PX4IO_P_CONFIG_RC_INPUT_COUNT] = PX4IO_CONTROL_CHANNELS,
+ [PX4IO_P_CONFIG_RC_INPUT_COUNT] = PX4IO_RC_INPUT_CHANNELS,
[PX4IO_P_CONFIG_ADC_INPUT_COUNT] = PX4IO_ADC_CHANNEL_COUNT,
[PX4IO_P_CONFIG_RELAY_COUNT] = PX4IO_RELAY_CHANNELS,
};
@@ -87,7 +89,9 @@ uint16_t r_page_status[] = {
[PX4IO_P_STATUS_IBATT] = 0,
[PX4IO_P_STATUS_VSERVO] = 0,
[PX4IO_P_STATUS_VRSSI] = 0,
- [PX4IO_P_STATUS_PRSSI] = 0
+ [PX4IO_P_STATUS_PRSSI] = 0,
+ [PX4IO_P_STATUS_NRSSI] = 0,
+ [PX4IO_P_STATUS_RC_DATA] = 0
};
/**
@@ -112,7 +116,7 @@ uint16_t r_page_servos[PX4IO_SERVO_COUNT];
uint16_t r_page_raw_rc_input[] =
{
[PX4IO_P_RAW_RC_COUNT] = 0,
- [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0
+ [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_RC_INPUT_CHANNELS)] = 0
};
/**
@@ -122,7 +126,7 @@ uint16_t r_page_raw_rc_input[] =
*/
uint16_t r_page_rc_input[] = {
[PX4IO_P_RC_VALID] = 0,
- [PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0
+ [PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + PX4IO_RC_MAPPED_CONTROL_CHANNELS)] = 0
};
/**
@@ -154,6 +158,8 @@ volatile uint16_t r_page_setup[] =
[PX4IO_P_SETUP_VBATT_SCALE] = 10000,
#endif
[PX4IO_P_SETUP_SET_DEBUG] = 0,
+ [PX4IO_P_SETUP_REBOOT_BL] = 0,
+ [PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0,
};
#define PX4IO_P_SETUP_FEATURES_VALID (0)
@@ -172,7 +178,7 @@ volatile uint16_t r_page_setup[] =
*
* Control values from the FMU.
*/
-volatile uint16_t r_page_controls[PX4IO_CONTROL_CHANNELS];
+volatile uint16_t r_page_controls[PX4IO_CONTROL_GROUPS * PX4IO_CONTROL_CHANNELS];
/*
* PAGE 102 does not have a buffer.
@@ -183,7 +189,7 @@ volatile uint16_t r_page_controls[PX4IO_CONTROL_CHANNELS];
*
* R/C channel input configuration.
*/
-uint16_t r_page_rc_input_config[PX4IO_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE];
+uint16_t r_page_rc_input_config[PX4IO_RC_INPUT_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE];
/* valid options */
#define PX4IO_P_RC_CONFIG_OPTIONS_VALID (PX4IO_P_RC_CONFIG_OPTIONS_REVERSE | PX4IO_P_RC_CONFIG_OPTIONS_ENABLED)
@@ -235,7 +241,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
case PX4IO_PAGE_CONTROLS:
/* copy channel data */
- while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
+ while ((offset < PX4IO_CONTROL_GROUPS * PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
/* XXX range-check value? */
r_page_controls[offset] = *values;
@@ -501,6 +507,29 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
isr_debug(0, "set debug %u\n", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG]);
break;
+ case PX4IO_P_SETUP_REBOOT_BL:
+ if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
+ (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ||
+ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
+ // don't allow reboot while armed
+ break;
+ }
+
+ // check the magic value
+ if (value != PX4IO_REBOOT_BL_MAGIC)
+ break;
+
+ // note that we don't set BL_WAIT_MAGIC in
+ // BKP_DR1 as that is not necessary given the
+ // timing of the forceupdate command. The
+ // bootloader on px4io waits for enough time
+ // anyway, and this method works with older
+ // bootloader versions (tested with both
+ // revision 3 and revision 4).
+
+ up_systemreset();
+ break;
+
case PX4IO_P_SETUP_DSM:
dsm_bind(value & 0x0f, (value >> 4) & 7);
break;
@@ -525,7 +554,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
unsigned index = offset - channel * PX4IO_P_RC_CONFIG_STRIDE;
uint16_t *conf = &r_page_rc_input_config[channel * PX4IO_P_RC_CONFIG_STRIDE];
- if (channel >= PX4IO_CONTROL_CHANNELS)
+ if (channel >= PX4IO_RC_INPUT_CHANNELS)
return -1;
/* disable the channel until we have a chance to sanity-check it */
@@ -555,6 +584,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
/* this option is normally set last */
if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
uint8_t count = 0;
+ bool disabled = false;
/* assert min..center..max ordering */
if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) {
@@ -573,7 +603,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) {
count++;
}
- if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_CONTROL_CHANNELS) {
+
+ if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) {
+ disabled = true;
+ } else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
count++;
}
@@ -581,7 +614,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
if (count) {
isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1));
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK;
- } else {
+ } else if (!disabled) {
conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
}
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-19 00:36:19 +0000