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Fixed compile and logic errors, behaving now

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Lorenz Meier
2013-05-13 10:02:15 +02:00
parent 79f9b61aff
commit 69571c48c4
2 changed files with 7 additions and 6 deletions
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src/modules/px4iofirmware/mixer.cpp
+2 -2
View File
@@ -174,7 +174,7 @@ mixer_tick(void)
* here. * here.
*/ */
bool should_arm = ( 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) && /* 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)) && /* 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) && /* 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) mixer_handle_text(const void *buffer, size_t length)
{ {
/* do not allow a mixer change while fully armed */ /* 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)) { /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
return; return;
} }
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_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_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_RATES_VALID ((1 << IO_SERVO_COUNT) - 1)
#define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 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 * so that an in-air reset of FMU can not lead to a
* lockup of the IO arming state. * 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; 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: { case PX4IO_PAGE_RC_CONFIG: {
/* do not allow a RC config change while fully armed */ /* 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)) { /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
break; break;
} }