From 038037d67656b92947a976cf647dfd4f748ec3ad Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 17 Feb 2013 16:06:33 +0100 Subject: Allow to in-air restore the FMU and IO arming state if only one of the two fails --- apps/px4io/protocol.h | 42 +++++++++++++++++++++--------------------- apps/px4io/registers.c | 15 ++++++++++++--- 2 files changed, 33 insertions(+), 24 deletions(-) (limited to 'apps/px4io') diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h index f64b82ad1..4f1b067bd 100644 --- a/apps/px4io/protocol.h +++ b/apps/px4io/protocol.h @@ -64,9 +64,9 @@ * packed. */ -#define PX4IO_CONTROL_CHANNELS 8 -#define PX4IO_INPUT_CHANNELS 12 -#define PX4IO_RELAY_CHANNELS 4 +#define PX4IO_CONTROL_CHANNELS 8 +#define PX4IO_INPUT_CHANNELS 12 +#define PX4IO_RELAY_CHANNELS 4 /* Per C, this is safe for all 2's complement systems */ #define REG_TO_SIGNED(_reg) ((int16_t)(_reg)) @@ -76,7 +76,7 @@ #define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f)) /* static configuration page */ -#define PX4IO_PAGE_CONFIG 0 +#define PX4IO_PAGE_CONFIG 0 #define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers TBD */ #define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers TBD */ #define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */ @@ -88,11 +88,11 @@ #define PX4IO_P_CONFIG_RELAY_COUNT 8 /* harcoded # of relay outputs */ /* dynamic status page */ -#define PX4IO_PAGE_STATUS 1 +#define PX4IO_PAGE_STATUS 1 #define PX4IO_P_STATUS_FREEMEM 0 #define PX4IO_P_STATUS_CPULOAD 1 -#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */ +#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */ #define PX4IO_P_STATUS_FLAGS_ARMED (1 << 0) /* arm-ok and locally armed */ #define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */ #define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */ @@ -103,7 +103,7 @@ #define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */ #define PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */ -#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */ +#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */ #define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* VBatt is very close to regulator dropout */ #define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */ #define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* servo current limit was exceeded */ @@ -115,29 +115,29 @@ #define PX4IO_P_STATUS_IBATT 5 /* battery current in cA */ /* array of post-mix actuator outputs, -10000..10000 */ -#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ +#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ /* array of PWM servo output values, microseconds */ -#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */ +#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */ /* array of raw RC input values, microseconds */ -#define PX4IO_PAGE_RAW_RC_INPUT 4 +#define PX4IO_PAGE_RAW_RC_INPUT 4 #define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */ #define PX4IO_P_RAW_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT channels from here */ /* array of scaled RC input values, -10000..10000 */ -#define PX4IO_PAGE_RC_INPUT 5 +#define PX4IO_PAGE_RC_INPUT 5 #define PX4IO_P_RC_VALID 0 /* bitmask of valid controls */ #define PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */ /* array of raw ADC values */ -#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */ +#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */ /* setup page */ -#define PX4IO_PAGE_SETUP 100 +#define PX4IO_PAGE_SETUP 100 #define PX4IO_P_SETUP_FEATURES 0 -#define PX4IO_P_SETUP_ARMING 1 /* arming controls */ +#define PX4IO_P_SETUP_ARMING 1 /* arming controls */ #define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */ #define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */ #define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK (1 << 3) /* OK to perform position / vector control (= position lock) */ @@ -152,13 +152,13 @@ #define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ /* autopilot control values, -10000..10000 */ -#define PX4IO_PAGE_CONTROLS 101 /* 0..CONFIG_CONTROL_COUNT */ +#define PX4IO_PAGE_CONTROLS 101 /* 0..CONFIG_CONTROL_COUNT */ /* raw text load to the mixer parser - ignores offset */ -#define PX4IO_PAGE_MIXERLOAD 102 +#define PX4IO_PAGE_MIXERLOAD 102 /* R/C channel config */ -#define PX4IO_PAGE_RC_CONFIG 103 /* R/C input configuration */ +#define PX4IO_PAGE_RC_CONFIG 103 /* R/C input configuration */ #define PX4IO_P_RC_CONFIG_MIN 0 /* lowest input value */ #define PX4IO_P_RC_CONFIG_CENTER 1 /* center input value */ #define PX4IO_P_RC_CONFIG_MAX 2 /* highest input value */ @@ -170,10 +170,10 @@ #define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */ /* PWM output - overrides mixer */ -#define PX4IO_PAGE_DIRECT_PWM 104 /* 0..CONFIG_ACTUATOR_COUNT-1 */ +#define PX4IO_PAGE_DIRECT_PWM 104 /* 0..CONFIG_ACTUATOR_COUNT-1 */ /* PWM failsafe values - zero disables the output */ -#define PX4IO_PAGE_FAILSAFE_PWM 105 /* 0..CONFIG_ACTUATOR_COUNT-1 */ +#define PX4IO_PAGE_FAILSAFE_PWM 105 /* 0..CONFIG_ACTUATOR_COUNT-1 */ /** * As-needed mixer data upload. @@ -187,8 +187,8 @@ struct px4io_mixdata { #define F2I_MIXER_MAGIC 0x6d74 uint8_t action; -#define F2I_MIXER_ACTION_RESET 0 -#define F2I_MIXER_ACTION_APPEND 1 +#define F2I_MIXER_ACTION_RESET 0 +#define F2I_MIXER_ACTION_APPEND 1 char text[0]; /* actual text size may vary */ }; diff --git a/apps/px4io/registers.c b/apps/px4io/registers.c index 014608416..be3bebada 100644 --- a/apps/px4io/registers.c +++ b/apps/px4io/registers.c @@ -290,11 +290,20 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_P_SETUP_ARMING: value &= PX4IO_P_SETUP_ARMING_VALID; - r_setup_arming = value; - /* update arming state - disarm if no longer OK */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && !(value & PX4IO_P_SETUP_ARMING_ARM_OK)) + /* + * Update arming state - disarm if no longer OK. + * This builds on the requirement that the FMU driver + * asks about the FMU arming state on initialization, + * so that an in-air reset of FMU can not lead to a + * lockup of the IO arming state. + */ + if ((r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && !(value & PX4IO_P_SETUP_ARMING_ARM_OK)) { r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; + } + + r_setup_arming = value; + break; case PX4IO_P_SETUP_PWM_RATES: -- cgit v1.2.3