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Merge branch 'master' into gpio_led

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This commit is contained in:
Anton Babushkin
2013-05-17 12:48:46 +04:00
parent 9a9e41f7a2 fa816d0fd6
commit 2f280bb4ca
31 changed files with 932 additions and 106 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.c
+24 -6
View File
@@ -1503,21 +1503,39 @@ int commander_thread_main(int argc, char *argv[])
if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY ||
current_status.state_machine == SYSTEM_STATE_AUTO ||
current_status.state_machine == SYSTEM_STATE_MANUAL)) {
/* armed */
led_toggle(LED_BLUE);
/* armed, solid */
led_on(LED_AMBER);
} else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
/* not armed */
led_toggle(LED_BLUE);
led_toggle(LED_AMBER);
}
/* toggle error led at 5 Hz in HIL mode */
if (hrt_absolute_time() - gps_position.timestamp_position < 2000000) {
/* toggle GPS (blue) led at 1 Hz if GPS present but no lock, make is solid once locked */
if ((hrt_absolute_time() - gps_position.timestamp_position < 2000000)
&& (gps_position.fix_type == GPS_FIX_TYPE_3D)) {
/* GPS lock */
led_on(LED_BLUE);
} else if ((counter + 4) % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
/* no GPS lock, but GPS module is aquiring lock */
led_toggle(LED_BLUE);
}
} else {
/* no GPS info, don't light the blue led */
led_off(LED_BLUE);
}
/* toggle GPS led at 5 Hz in HIL mode */
if (current_status.flag_hil_enabled) {
/* hil enabled */
led_toggle(LED_AMBER);
led_toggle(LED_BLUE);
} else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) {
/* toggle error (red) at 5 Hz on low battery or error */
/* toggle arming (red) at 5 Hz on low battery or error */
led_toggle(LED_AMBER);
} else {
src/modules/commander/state_machine_helper.c
+5
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@@ -249,6 +249,11 @@ void publish_armed_status(const struct vehicle_status_s *current_status)
{
struct actuator_armed_s armed;
armed.armed = current_status->flag_system_armed;
/* XXX allow arming by external components on multicopters only if not yet armed by RC */
/* XXX allow arming only if core sensors are ok */
armed.ready_to_arm = true;
/* lock down actuators if required, only in HIL */
armed.lockdown = (current_status->flag_hil_enabled) ? true : false;
orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
src/modules/mathlib/CMSIS/module.mk
+3 -2
View File
@@ -38,8 +38,9 @@
#
# Find sources
#
DSPLIB_SRCDIR := $(PX4_MODULE_SRC)/modules/mathlib/CMSIS
ABS_SRCS := $(wildcard $(DSPLIB_SRCDIR)/DSP_Lib/Source/*/*.c)
DSPLIB_SRCDIR := $(dir $(lastword $(MAKEFILE_LIST)))
SRCLIST := $(wildcard $(DSPLIB_SRCDIR)DSP_Lib/Source/*/*.c)
SRCS := $(patsubst $(DSPLIB_SRCDIR)%,%,$(SRCLIST))
INCLUDE_DIRS += $(DSPLIB_SRCDIR)/Include \
$(DSPLIB_SRCDIR)/Device/ARM/ARMCM4/Include \
src/modules/px4iofirmware/mixer.cpp
+2 -2
View File
@@ -174,7 +174,7 @@ mixer_tick(void)
* here.
*/
bool should_arm = (
/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
/* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) &&
/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) &&
@@ -246,7 +246,7 @@ void
mixer_handle_text(const void *buffer, size_t length)
{
/* do not allow a mixer change while fully armed */
if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
return;
}
src/modules/px4iofirmware/protocol.h
+2 -2
View File
@@ -145,9 +145,9 @@
#define PX4IO_P_SETUP_FEATURES 0
#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_IO_ARM_OK (1 << 0) /* OK to arm the IO side */
#define PX4IO_P_SETUP_ARMING_FMU_ARMED (1 << 1) /* FMU is already armed */
#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) */
#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
src/modules/px4iofirmware/registers.c
+5 -4
View File
@@ -142,9 +142,10 @@ volatile uint16_t r_page_setup[] =
};
#define PX4IO_P_SETUP_FEATURES_VALID (0)
#define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_ARM_OK | \
#define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_FMU_ARMED | \
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \
PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK)
PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | \
PX4IO_P_SETUP_ARMING_IO_ARM_OK)
#define PX4IO_P_SETUP_RATES_VALID ((1 << IO_SERVO_COUNT) - 1)
#define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1)
@@ -311,7 +312,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
* 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)) {
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && !(value & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
}
@@ -362,7 +363,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
case PX4IO_PAGE_RC_CONFIG: {
/* do not allow a RC config change while fully armed */
if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
break;
}
src/modules/px4iofirmware/safety.c
+15 -15
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012, 2013 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
@@ -32,7 +32,8 @@
****************************************************************************/
/**
* @file Safety button logic.
* @file safety.c
* Safety button logic.
*/
#include <nuttx/config.h>
@@ -56,11 +57,11 @@ static unsigned counter = 0;
/*
* Define the various LED flash sequences for each system state.
*/
#define LED_PATTERN_SAFE 0xffff /**< always on */
#define LED_PATTERN_VECTOR_FLIGHT_MODE_OK 0xFFFE /**< always on with short break */
#define LED_PATTERN_FMU_ARMED 0x4444 /**< slow blinking */
#define LED_PATTERN_IO_ARMED 0x5555 /**< fast blinking */
#define LED_PATTERN_IO_FMU_ARMED 0x5050 /**< long off then double blink */
#define LED_PATTERN_FMU_OK_TO_ARM 0x0003 /**< slow blinking */
#define LED_PATTERN_FMU_REFUSE_TO_ARM 0x5555 /**< fast blinking */
#define LED_PATTERN_IO_ARMED 0x5050 /**< long off, then double blink */
#define LED_PATTERN_FMU_ARMED 0x5500 /**< long off, then quad blink */
#define LED_PATTERN_IO_FMU_ARMED 0xffff /**< constantly on */
static unsigned blink_counter = 0;
@@ -109,7 +110,8 @@ safety_check_button(void *arg)
* state machine, keep ARM_COUNTER_THRESHOLD the same
* length in all cases of the if/else struct below.
*/
if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
(r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)) {
if (counter < ARM_COUNTER_THRESHOLD) {
counter++;
@@ -120,8 +122,6 @@ safety_check_button(void *arg)
counter++;
}
/* Disarm quickly */
} else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
if (counter < ARM_COUNTER_THRESHOLD) {
@@ -138,21 +138,21 @@ safety_check_button(void *arg)
}
/* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */
uint16_t pattern = LED_PATTERN_SAFE;
uint16_t pattern = LED_PATTERN_FMU_REFUSE_TO_ARM;
if (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) {
if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) {
if (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) {
pattern = LED_PATTERN_IO_FMU_ARMED;
} else {
pattern = LED_PATTERN_IO_ARMED;
}
} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) {
} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) {
pattern = LED_PATTERN_FMU_ARMED;
} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) {
pattern = LED_PATTERN_FMU_OK_TO_ARM;
} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) {
pattern = LED_PATTERN_VECTOR_FLIGHT_MODE_OK;
}
/* Turn the LED on if we have a 1 at the current bit position */
src/modules/uORB/topics/actuator_controls.h
+1
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@@ -69,6 +69,7 @@ ORB_DECLARE(actuator_controls_3);
/** global 'actuator output is live' control. */
struct actuator_armed_s {
bool armed; /**< Set to true if system is armed */
bool ready_to_arm; /**< Set to true if system is ready to be armed */
bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
};