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px4io firmware: Actually accept failsafe values, check their range. Add an error return code for commands that were rejected on reboot and force safety instead of failing silently with an OK value

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Lorenz Meier
2014-05-16 09:52:46 +02:00
parent 4fe0027e7a
commit 5ca96631fc
1 changed files with 15 additions and 2 deletions
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src/modules/px4iofirmware/registers.c
+15 -2
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@@ -160,6 +160,9 @@ volatile uint16_t r_page_setup[] =
[PX4IO_P_SETUP_PWM_ALTRATE] = 200,
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
[PX4IO_P_SETUP_RELAYS] = 0,
#else
/* this is unused, but we will pad it to be safe */
[PX4IO_P_SETUP_RELAYS] = 0,
#endif
#ifdef ADC_VSERVO
[PX4IO_P_SETUP_VSERVO_SCALE] = 10000,
@@ -562,12 +565,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
// don't allow reboot while armed
break;
return -1;
}
// check the magic value
if (value != PX4IO_REBOOT_BL_MAGIC)
break;
return -1;
// we schedule a reboot rather than rebooting
// immediately to allow the IO board to ACK
@@ -582,6 +585,16 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
case PX4IO_P_SETUP_FORCE_SAFETY_OFF:
if (value == PX4IO_FORCE_SAFETY_MAGIC) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
} else {
return -1;
}
break;
case PX4IO_P_SETUP_RC_THR_FAILSAFE_US:
if (value > 650 && value < 2350) {
r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = value;
} else {
return -1;
}
break;