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px4io: replace safety_off state with safety button event (#19558)

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internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
This commit is contained in:
Igor Misic
2022-05-23 06:54:37 +02:00
committed by Beat Küng
parent 08dcc72e1f
commit 12a81979a8
26 changed files with 69 additions and 190 deletions
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src/modules/px4iofirmware/protocol.h
+5 -8
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2022 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
@@ -114,6 +114,7 @@
#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 11) /* FMU was initialized and OK once */
#define PX4IO_P_STATUS_FLAGS_RC_ST24 (1 << 12) /* ST24 input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_SUMD (1 << 13) /* SUMD input is valid */
#define PX4IO_P_STATUS_FLAGS_SAFETY_BUTTON_EVENT (1 << 14) /* px4io safety button was pressed for longer than 1 second */
#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */
#define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 0) /* timed out waiting for RC input */
@@ -184,12 +185,8 @@ enum { /* DSM bind states */
#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */
/* storage space of 12 occupied by CRC */
#define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into
'armed' (PWM enabled) state - this is a non-data write and
hence index 12 can safely be used. */
#define PX4IO_P_SETUP_FORCE_SAFETY_ON 14 /* force safety switch into 'disarmed' (PWM disabled state) */
#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */
#define PX4IO_P_SETUP_SAFETY_BUTTON_ACK 14 /**< ACK from FMU when it gets safety button pressed status */
#define PX4IO_P_SETUP_SAFETY_OFF 15 /**< FMU inform PX4IO about safety_off for LED indication*/
#define PX4IO_P_SETUP_SBUS_RATE 16 /**< frame rate of SBUS1 output in Hz */
#define PX4IO_P_SETUP_THERMAL 17 /**< thermal management */
#define PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION 18 /**< flight termination; false if the circuit breaker (CBRK_FLIGHTTERM) is set */
@@ -212,7 +209,7 @@ enum { /* DSM bind states */
#define PX4IO_PAGE_TEST 127
#define PX4IO_P_TEST_LED 0 /**< set the amber LED on/off */
/* PWM disarmed values that are active, even when SAFETY_SAFE */
/* PWM disarmed values that are active */
#define PX4IO_PAGE_DISARMED_PWM 109 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/**