diff options
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/systemlib/circuit_breaker.cpp | 56 | ||||
-rw-r--r-- | src/modules/systemlib/circuit_breaker.h | 10 | ||||
-rw-r--r-- | src/modules/systemlib/circuit_breaker_params.c (renamed from src/modules/systemlib/circuit_breaker.c) | 24 | ||||
-rw-r--r-- | src/modules/systemlib/module.mk | 3 |
4 files changed, 60 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..2df13ebff --- /dev/null +++ b/src/modules/systemlib/circuit_breaker.cpp @@ -0,0 +1,56 @@ +/**************************************************************************** + * + * 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)param_get(param_find(breaker), &val); */ + (void)PX4_PARAM_GET_NAME(breaker, &val); + + return (val == magic); +} + diff --git a/src/modules/systemlib/circuit_breaker.h b/src/modules/systemlib/circuit_breaker.h index 012d8cb61..c97dbc26f 100644 --- a/src/modules/systemlib/circuit_breaker.h +++ b/src/modules/systemlib/circuit_breaker.h @@ -61,14 +61,8 @@ __BEGIN_DECLS -#ifdef __cplusplus -extern "C" { -#endif -__EXPORT bool circuit_breaker_enabled(const char* breaker, int32_t magic); -#ifdef __cplusplus -} -#endif -__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 #endif /* CIRCUIT_BREAKER_H_ */ diff --git a/src/modules/systemlib/circuit_breaker.c b/src/modules/systemlib/circuit_breaker_params.c index 1b3ffd59f..e499ae27a 100644 --- a/src/modules/systemlib/circuit_breaker.c +++ b/src/modules/systemlib/circuit_breaker_params.c @@ -44,7 +44,6 @@ #include <px4.h> #include <systemlib/circuit_breaker_params.h> -#include <systemlib/circuit_breaker.h> /** * Circuit breaker for power supply check @@ -122,26 +121,3 @@ PX4_PARAM_DEFINE_INT32(CBRK_FLIGHTTERM); * @group Circuit Breaker */ PX4_PARAM_DEFINE_INT32(CBRK_ENGINEFAIL); - -/** - * 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 - */ -PX4_PARAM_DEFINE_INT32(CBRK_GPSFAIL); - -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/module.mk b/src/modules/systemlib/module.mk index fe8b7e75a..1e0a9c007 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 |