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PX4IO: Robustify firmware for mixer load operation

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This change makes the mixer load and reset operation closer to thread-safe. It was guarded one-way before and in only one location. This change ensures that its being locked out from both directions. The accesses to the locking variables still need work because they are non-atomic.
This commit is contained in:
Lorenz Meier
2016-12-26 13:41:36 +01:00
parent 5b70522541
commit 074e666b95
3 changed files with 30 additions and 14 deletions
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src/modules/px4iofirmware/px4io.h
+2 -2
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@@ -77,7 +77,7 @@
/*
* Registers.
*/
extern uint16_t r_page_status[]; /* PX4IO_PAGE_STATUS */
extern volatile uint16_t r_page_status[]; /* PX4IO_PAGE_STATUS */
extern uint16_t r_page_actuators[]; /* PX4IO_PAGE_ACTUATORS */
extern uint16_t r_page_servos[]; /* PX4IO_PAGE_SERVOS */
extern uint16_t r_page_raw_rc_input[]; /* PX4IO_PAGE_RAW_RC_INPUT */
@@ -85,7 +85,7 @@ extern uint16_t r_page_rc_input[]; /* PX4IO_PAGE_RC_INPUT */
extern uint16_t r_page_adc[]; /* PX4IO_PAGE_RAW_ADC_INPUT */
extern volatile uint16_t r_page_setup[]; /* PX4IO_PAGE_SETUP */
extern volatile uint16_t r_page_controls[]; /* PX4IO_PAGE_CONTROLS */
extern uint16_t r_page_controls[]; /* PX4IO_PAGE_CONTROLS */
extern uint16_t r_page_rc_input_config[]; /* PX4IO_PAGE_RC_INPUT_CONFIG */
extern uint16_t r_page_servo_failsafe[]; /* PX4IO_PAGE_FAILSAFE_PWM */
extern uint16_t r_page_servo_control_min[]; /* PX4IO_PAGE_CONTROL_MIN_PWM */