aboutsummaryrefslogtreecommitdiff
path: root/src/modules/systemlib
diff options
context:
space:
mode:
Diffstat (limited to 'src/modules/systemlib')
-rw-r--r--src/modules/systemlib/circuit_breaker.c93
-rw-r--r--src/modules/systemlib/circuit_breaker.h55
-rw-r--r--src/modules/systemlib/hx_stream.c2
-rw-r--r--src/modules/systemlib/mixer/mixer_multirotor.cpp4
-rw-r--r--src/modules/systemlib/module.mk5
-rw-r--r--src/modules/systemlib/otp.c2
-rw-r--r--src/modules/systemlib/param/param.c2
-rw-r--r--src/modules/systemlib/perf_counter.c4
-rw-r--r--src/modules/systemlib/perf_counter.h2
-rw-r--r--src/modules/systemlib/pwm_limit/pwm_limit.c1
-rw-r--r--src/modules/systemlib/rc_check.c1
-rw-r--r--src/modules/systemlib/state_table.h27
-rw-r--r--src/modules/systemlib/systemlib.c3
13 files changed, 178 insertions, 23 deletions
diff --git a/src/modules/systemlib/circuit_breaker.c b/src/modules/systemlib/circuit_breaker.c
new file mode 100644
index 000000000..b59531d69
--- /dev/null
+++ b/src/modules/systemlib/circuit_breaker.c
@@ -0,0 +1,93 @@
+/****************************************************************************
+ *
+ * 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 <systemlib/param/param.h>
+#include <systemlib/circuit_breaker.h>
+
+/**
+ * Circuit breaker for power supply check
+ *
+ * Setting this parameter to 894281 will disable the power valid
+ * checks in the commander.
+ * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
+ *
+ * @min 0
+ * @max 894281
+ * @group Circuit Breaker
+ */
+PARAM_DEFINE_INT32(CBRK_SUPPLY_CHK, 0);
+
+/**
+ * Circuit breaker for rate controller output
+ *
+ * Setting this parameter to 140253 will disable the rate
+ * controller uORB publication.
+ * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
+ *
+ * @min 0
+ * @max 140253
+ * @group Circuit Breaker
+ */
+PARAM_DEFINE_INT32(CBRK_RATE_CTRL, 0);
+
+/**
+ * Circuit breaker for IO safety
+ *
+ * Setting this parameter to 894281 will disable IO safety.
+ * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
+ *
+ * @min 0
+ * @max 22027
+ * @group Circuit Breaker
+ */
+PARAM_DEFINE_INT32(CBRK_IO_SAFETY, 0);
+
+bool circuit_breaker_enabled(const char* breaker, int32_t magic)
+{
+ int32_t val;
+ (void)param_get(param_find(breaker), val);
+
+ return (val == magic);
+}
+
diff --git a/src/modules/systemlib/circuit_breaker.h b/src/modules/systemlib/circuit_breaker.h
new file mode 100644
index 000000000..86439e2a5
--- /dev/null
+++ b/src/modules/systemlib/circuit_breaker.h
@@ -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.h
+ *
+ * Circuit breaker functionality.
+ */
+
+#ifndef CIRCUIT_BREAKER_H_
+#define CIRCUIT_BREAKER_H_
+
+#define CBRK_SUPPLY_CHK_KEY 894281
+#define CBRK_RATE_CTRL_KEY 140253
+#define CBRK_IO_SAFETY_KEY 22027
+
+#include <stdbool.h>
+
+__BEGIN_DECLS
+
+__EXPORT bool circuit_breaker_enabled(const char* breaker, int32_t magic);
+
+__END_DECLS
+
+#endif /* CIRCUIT_BREAKER_H_ */
diff --git a/src/modules/systemlib/hx_stream.c b/src/modules/systemlib/hx_stream.c
index 8e9c2bfcf..52ae77de5 100644
--- a/src/modules/systemlib/hx_stream.c
+++ b/src/modules/systemlib/hx_stream.c
@@ -63,7 +63,7 @@ struct hx_stream {
/* TX state */
int fd;
bool tx_error;
- uint8_t *tx_buf;
+ const uint8_t *tx_buf;
unsigned tx_resid;
uint32_t tx_crc;
enum {
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
index 092c0e2b0..4b22a46d0 100644
--- a/src/modules/systemlib/mixer/mixer_multirotor.cpp
+++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp
@@ -208,7 +208,6 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
char geomname[8];
int s[4];
int used;
- const char *end = buf + buflen;
/* enforce that the mixer ends with space or a new line */
for (int i = buflen - 1; i >= 0; i--) {
@@ -302,7 +301,6 @@ MultirotorMixer::mix(float *outputs, unsigned space)
//lowsyslog("thrust: %d, get_control3: %d\n", (int)(thrust), (int)(get_control(0, 3)));
float min_out = 0.0f;
float max_out = 0.0f;
- float scale_yaw = 1.0f;
/* perform initial mix pass yielding unbounded outputs, ignore yaw */
for (unsigned i = 0; i < _rotor_count; i++) {
@@ -327,7 +325,7 @@ MultirotorMixer::mix(float *outputs, unsigned space)
}
/* scale down roll/pitch controls if some outputs are negative, don't add yaw, keep total thrust */
- if (min_out < 0.0) {
+ if (min_out < 0.0f) {
float scale_in = thrust / (thrust - min_out);
/* mix again with adjusted controls */
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index 3953b757d..147903aa0 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -1,6 +1,6 @@
############################################################################
#
-# Copyright (C) 2012 PX4 Development Team. All rights reserved.
+# Copyright (c) 2012-2014 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
@@ -52,5 +52,6 @@ SRCS = err.c \
rc_check.c \
otp.c \
board_serial.c \
- pwm_limit/pwm_limit.c
+ pwm_limit/pwm_limit.c \
+ circuit_breaker.c
diff --git a/src/modules/systemlib/otp.c b/src/modules/systemlib/otp.c
index 695574fdc..0548a9f7d 100644
--- a/src/modules/systemlib/otp.c
+++ b/src/modules/systemlib/otp.c
@@ -133,7 +133,7 @@ int lock_otp(void)
// COMPLETE, BUSY, or other flash error?
-int F_GetStatus(void)
+static int F_GetStatus(void)
{
int fs = F_COMPLETE;
diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c
index 7a499ca72..e44e6cdb0 100644
--- a/src/modules/systemlib/param/param.c
+++ b/src/modules/systemlib/param/param.c
@@ -96,8 +96,6 @@ ORB_DEFINE(parameter_update, struct parameter_update_s);
/** parameter update topic handle */
static orb_advert_t param_topic = -1;
-static sem_t param_sem = { .semcount = 1 };
-
/** lock the parameter store */
static void
param_lock(void)
diff --git a/src/modules/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c
index 22182e39e..d6d8284d2 100644
--- a/src/modules/systemlib/perf_counter.c
+++ b/src/modules/systemlib/perf_counter.c
@@ -301,7 +301,7 @@ perf_print_counter_fd(int fd, perf_counter_t handle)
case PC_ELAPSED: {
struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
- dprintf(fd, "%s: %llu events, %lluus elapsed, %llu avg, min %lluus max %lluus\n",
+ dprintf(fd, "%s: %llu events, %lluus elapsed, %lluus avg, min %lluus max %lluus\n",
handle->name,
pce->event_count,
pce->time_total,
@@ -314,7 +314,7 @@ perf_print_counter_fd(int fd, perf_counter_t handle)
case PC_INTERVAL: {
struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
- dprintf(fd, "%s: %llu events, %llu avg, min %lluus max %lluus\n",
+ dprintf(fd, "%s: %llu events, %lluus avg, min %lluus max %lluus\n",
handle->name,
pci->event_count,
(pci->time_last - pci->time_first) / pci->event_count,
diff --git a/src/modules/systemlib/perf_counter.h b/src/modules/systemlib/perf_counter.h
index 6835ee4a2..668d9dfdf 100644
--- a/src/modules/systemlib/perf_counter.h
+++ b/src/modules/systemlib/perf_counter.h
@@ -75,7 +75,7 @@ __EXPORT extern void perf_free(perf_counter_t handle);
/**
* Count a performance event.
*
- * This call only affects counters that take single events; PC_COUNT etc.
+ * This call only affects counters that take single events; PC_COUNT, PC_INTERVAL etc.
*
* @param handle The handle returned from perf_alloc.
*/
diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.c b/src/modules/systemlib/pwm_limit/pwm_limit.c
index ea5ba9e52..c733a53d7 100644
--- a/src/modules/systemlib/pwm_limit/pwm_limit.c
+++ b/src/modules/systemlib/pwm_limit/pwm_limit.c
@@ -97,7 +97,6 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
}
unsigned progress;
- uint16_t temp_pwm;
/* then set effective_pwm based on state */
switch (limit->state) {
diff --git a/src/modules/systemlib/rc_check.c b/src/modules/systemlib/rc_check.c
index c0c1a5cb4..b2b2c1290 100644
--- a/src/modules/systemlib/rc_check.c
+++ b/src/modules/systemlib/rc_check.c
@@ -42,6 +42,7 @@
#include <stdio.h>
#include <fcntl.h>
+#include <systemlib/err.h>
#include <systemlib/rc_check.h>
#include <systemlib/param/param.h>
#include <mavlink/mavlink_log.h>
diff --git a/src/modules/systemlib/state_table.h b/src/modules/systemlib/state_table.h
index f2709d29f..e6011fdef 100644
--- a/src/modules/systemlib/state_table.h
+++ b/src/modules/systemlib/state_table.h
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ * Copyright (C) 2013-2014 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
@@ -33,8 +33,9 @@
/**
* @file state_table.h
- *
+ *
* Finite-State-Machine helper class for state table
+ * @author: Julian Oes <julian@oes.ch>
*/
#ifndef __SYSTEMLIB_STATE_TABLE_H
@@ -48,22 +49,28 @@ public:
Action action;
unsigned nextState;
};
-
+
StateTable(Tran const *table, unsigned nStates, unsigned nSignals)
: myTable(table), myNsignals(nSignals), myNstates(nStates) {}
-
+
#define NO_ACTION &StateTable::doNothing
- #define ACTION(_target) static_cast<StateTable::Action>(_target)
+ #define ACTION(_target) StateTable::Action(_target)
virtual ~StateTable() {}
-
+
void dispatch(unsigned const sig) {
- register Tran const *t = myTable + myState*myNsignals + sig;
- (this->*(t->action))();
+ /* get transition using state table */
+ Tran const *t = myTable + myState*myNsignals + sig;
+ /* accept new state */
myState = t->nextState;
+
+ /* */
+ (this->*(t->action))();
+ }
+ void doNothing() {
+ return;
}
- void doNothing() {}
protected:
unsigned myState;
private:
@@ -72,4 +79,4 @@ private:
unsigned myNstates;
};
-#endif \ No newline at end of file
+#endif
diff --git a/src/modules/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c
index 57a751e1c..9fff3eb88 100644
--- a/src/modules/systemlib/systemlib.c
+++ b/src/modules/systemlib/systemlib.c
@@ -64,6 +64,9 @@ systemreset(bool to_bootloader)
*(uint32_t *)0x40002850 = 0xb007b007;
}
up_systemreset();
+
+ /* lock up here */
+ while(true);
}
static void kill_task(FAR struct tcb_s *tcb, FAR void *arg);
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-16 06:37:22 +0000