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Systemlib: Add USB circuit breaker

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This commit is contained in:
Lorenz Meier 2015-11-14 15:03:28 +01:00
parent 0fdc0e28c7
commit 835ab4f10f
3 changed files with 25 additions and 9 deletions
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1
src/modules/systemlib/circuit_breaker.h
View File

@ -56,6 +56,7 @@
#define CBRK_FLIGHTTERM_KEY 121212
#define CBRK_ENGINEFAIL_KEY 284953
#define CBRK_GPSFAIL_KEY 240024
#define CBRK_USB_CHK_KEY 197848
#include <stdbool.h>

13
src/modules/systemlib/circuit_breaker_params.c
View File

@ -147,3 +147,16 @@ PARAM_DEFINE_INT32(CBRK_GPSFAIL, 240024);
* @group Circuit Breaker
*/
PARAM_DEFINE_INT32(CBRK_BUZZER, 0);
/**
* Circuit breaker for USB link check
*
* Setting this parameter to 197848 will disable the USB connected
* checks in the commander.
* WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
*
* @min 0
* @max 197848
* @group Circuit Breaker
*/
PARAM_DEFINE_INT32(CBRK_USB_CHK, 0);

20
src/modules/systemlib/rc_check.c
View File

@ -74,7 +74,7 @@ int rc_calibration_check(int mavlink_fd, bool report_fail)
param_t map_parm = param_find(rc_map_mandatory[j]);
if (map_parm == PARAM_INVALID) {
if (report_fail) { mavlink_log_critical(mavlink_fd, "RC ERR: PARAM %s MISSING", rc_map_mandatory[j]); }
if (report_fail) { mavlink_and_console_log_critical(mavlink_fd, "RC ERR: PARAM %s MISSING", rc_map_mandatory[j]); }
/* give system time to flush error message in case there are more */
usleep(100000);
@ -87,7 +87,7 @@ int rc_calibration_check(int mavlink_fd, bool report_fail)
param_get(map_parm, &mapping);
if (mapping > RC_INPUT_MAX_CHANNELS) {
if (report_fail) { mavlink_log_critical(mavlink_fd, "RC ERR: %s >= # CHANS", rc_map_mandatory[j]); }
if (report_fail) { mavlink_and_console_log_critical(mavlink_fd, "RC ERR: %s >= # CHANS", rc_map_mandatory[j]); }
/* give system time to flush error message in case there are more */
usleep(100000);
@ -95,7 +95,7 @@ int rc_calibration_check(int mavlink_fd, bool report_fail)
}
if (mapping == 0) {
if (report_fail) { mavlink_log_critical(mavlink_fd, "RC ERR: Mandatory %s is unmapped", rc_map_mandatory[j]); }
if (report_fail) { mavlink_and_console_log_critical(mavlink_fd, "RC ERR: Mandatory %s is unmapped", rc_map_mandatory[j]); }
/* give system time to flush error message in case there are more */
usleep(100000);
@ -148,7 +148,7 @@ int rc_calibration_check(int mavlink_fd, bool report_fail)
if (param_min < RC_INPUT_LOWEST_MIN_US) {
count++;
if (report_fail) { mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_MIN < %u", i + 1, RC_INPUT_LOWEST_MIN_US); }
if (report_fail) { mavlink_and_console_log_critical(mavlink_fd, "RC ERR: RC_%d_MIN < %u", i + 1, RC_INPUT_LOWEST_MIN_US); }
/* give system time to flush error message in case there are more */
usleep(100000);
@ -157,7 +157,7 @@ int rc_calibration_check(int mavlink_fd, bool report_fail)
if (param_max > RC_INPUT_HIGHEST_MAX_US) {
count++;
if (report_fail) { mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_MAX > %u", i + 1, RC_INPUT_HIGHEST_MAX_US); }
if (report_fail) { mavlink_and_console_log_critical(mavlink_fd, "RC ERR: RC_%d_MAX > %u", i + 1, RC_INPUT_HIGHEST_MAX_US); }
/* give system time to flush error message in case there are more */
usleep(100000);
@ -166,7 +166,7 @@ int rc_calibration_check(int mavlink_fd, bool report_fail)
if (param_trim < param_min) {
count++;
if (report_fail) { mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_TRIM < MIN (%d/%d)", i + 1, (int)param_trim, (int)param_min); }
if (report_fail) { mavlink_and_console_log_critical(mavlink_fd, "RC ERR: RC_%d_TRIM < MIN (%d/%d)", i + 1, (int)param_trim, (int)param_min); }
/* give system time to flush error message in case there are more */
usleep(100000);
@ -175,7 +175,7 @@ int rc_calibration_check(int mavlink_fd, bool report_fail)
if (param_trim > param_max) {
count++;
if (report_fail) { mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_TRIM > MAX (%d/%d)", i + 1, (int)param_trim, (int)param_max); }
if (report_fail) { mavlink_and_console_log_critical(mavlink_fd, "RC ERR: RC_%d_TRIM > MAX (%d/%d)", i + 1, (int)param_trim, (int)param_max); }
/* give system time to flush error message in case there are more */
usleep(100000);
@ -183,7 +183,7 @@ int rc_calibration_check(int mavlink_fd, bool report_fail)
/* assert deadzone is sane */
if (param_dz > RC_INPUT_MAX_DEADZONE_US) {
if (report_fail) { mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_DZ > %u", i + 1, RC_INPUT_MAX_DEADZONE_US); }
if (report_fail) { mavlink_and_console_log_critical(mavlink_fd, "RC ERR: RC_%d_DZ > %u", i + 1, RC_INPUT_MAX_DEADZONE_US); }
/* give system time to flush error message in case there are more */
usleep(100000);
@ -200,9 +200,11 @@ int rc_calibration_check(int mavlink_fd, bool report_fail)
if (channels_failed) {
sleep(2);
if (report_fail) mavlink_and_console_log_critical(mavlink_fd, "%d config error%s for %d RC channel%s.",
if (report_fail) {
mavlink_and_console_log_critical(mavlink_fd, "%d config error%s for %d RC channel%s.",
total_fail_count,
(total_fail_count > 1) ? "s" : "", channels_failed, (channels_failed > 1) ? "s" : "");
}
usleep(100000);
}