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IO firmware: Do mixer load as block operation

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This commit is contained in:
Lorenz Meier 2015-11-03 22:53:38 +01:00
parent 85605f72f2
commit 083dbbb71b
3 changed files with 15 additions and 17 deletions
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17
src/modules/px4iofirmware/mixer.cpp
View File

@ -88,9 +88,6 @@ static int mixer_callback(uintptr_t handle,
static MixerGroup mixer_group(mixer_callback, 0);
/* Set the failsafe values of all mixed channels (based on zero throttle, controls centered) */
static void mixer_set_failsafe();
void
mixer_tick(void)
{
@ -479,15 +476,6 @@ mixer_handle_text(const void *buffer, size_t length)
/* if anything was parsed */
if (resid != mixer_text_length) {
/* only set mixer ok if no residual is left over */
if (resid == 0) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_MIXER_OK;
} else {
/* not yet reached the end of the mixer, set as not ok */
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
}
isr_debug(2, "used %u", mixer_text_length - resid);
/* copy any leftover text to the base of the buffer for re-use */
@ -496,9 +484,6 @@ mixer_handle_text(const void *buffer, size_t length)
}
mixer_text_length = resid;
/* update failsafe values */
mixer_set_failsafe();
}
break;
@ -507,7 +492,7 @@ mixer_handle_text(const void *buffer, size_t length)
return 0;
}
static void
void
mixer_set_failsafe()
{
/*

2
src/modules/px4iofirmware/px4io.h
View File

@ -190,6 +190,8 @@ extern pwm_limit_t pwm_limit;
*/
extern void mixer_tick(void);
extern int mixer_handle_text(const void *buffer, size_t length);
/* Set the failsafe values of all mixed channels (based on zero throttle, controls centered) */
extern void mixer_set_failsafe(void);
/**
* Safety switch/LED.

13
src/modules/px4iofirmware/registers.c
View File

@ -469,8 +469,19 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
* Allow FMU override of arming state (to allow in-air restores),
* but only if the arming state is not in sync on the IO side.
*/
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
if (PX4IO_P_STATUS_FLAGS_MIXER_OK & value) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_MIXER_OK;
} else if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
r_status_flags = value;
}
if (PX4IO_P_STATUS_FLAGS_MIXER_OK & r_status_flags) {
/* update failsafe values, now that the mixer is set to ok */
mixer_set_failsafe();
}
break;