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Merge branch 'forcefail' of github.com:PX4/Firmware into forcefail

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This commit is contained in:
Lorenz Meier
2014-07-19 15:10:36 +02:00
parent f3ec1cd580 0b743a9f5c
commit 0b3e300303
23 changed files with 98 additions and 302 deletions
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src/drivers/px4io/px4io.cpp
+13 -7
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@@ -1149,6 +1149,12 @@ PX4IO::io_set_arming_state()
clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
}
if (armed.force_failsafe) {
set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
} else {
clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
}
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
@@ -2437,7 +2443,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
break;
case PX4IO_CHECK_CRC: {
/* check IO firmware CRC against passed value */
/* check IO firmware CRC against passed value */
uint32_t io_crc = 0;
ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC, (uint16_t *)&io_crc, 2);
if (ret != OK)
@@ -2697,7 +2703,7 @@ checkcrc(int argc, char *argv[])
int fd = open(argv[1], O_RDONLY);
if (fd == -1) {
printf("open of %s failed - %d\n", argv[1], errno);
exit(1);
exit(1);
}
const uint32_t app_size_max = 0xf000;
uint32_t fw_crc = 0;
@@ -2712,7 +2718,7 @@ checkcrc(int argc, char *argv[])
close(fd);
while (nbytes < app_size_max) {
uint8_t b = 0xff;
fw_crc = crc32part(&b, 1, fw_crc);
fw_crc = crc32part(&b, 1, fw_crc);
nbytes++;
}
@@ -2725,7 +2731,7 @@ checkcrc(int argc, char *argv[])
if (ret != OK) {
printf("check CRC failed - %d\n", ret);
exit(1);
exit(1);
}
printf("CRCs match\n");
exit(0);
@@ -2755,12 +2761,12 @@ bind(int argc, char *argv[])
pulses = DSMX_BIND_PULSES;
else if (!strcmp(argv[2], "dsmx8"))
pulses = DSMX8_BIND_PULSES;
else
else
errx(1, "unknown parameter %s, use dsm2, dsmx or dsmx8", argv[2]);
// Test for custom pulse parameter
if (argc > 3)
pulses = atoi(argv[3]);
if (g_dev->system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
if (g_dev->system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
errx(1, "system must not be armed");
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
@@ -2962,7 +2968,7 @@ lockdown(int argc, char *argv[])
(void)g_dev->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 0);
warnx("ACTUATORS ARE NOW SAFE IN HIL.");
}
} else {
errx(1, "driver not loaded, exiting");
}