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Teach IO firmware that arming and lockdown are two different things, clean up arming check

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Lorenz Meier
2014-01-16 10:56:15 +01:00
parent c304ea2507
commit 8ffb9e29c6
3 changed files with 16 additions and 8 deletions
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src/modules/px4iofirmware/mixer.cpp
+13 -2
View File
@@ -217,14 +217,25 @@ mixer_tick(void)
}
}
if ((should_arm || should_always_enable_pwm) && !mixer_servos_armed) {
/* set arming */
bool needs_to_arm = (should_arm || should_always_enable_pwm);
/* check any conditions that prevent arming */
if (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) {
needs_to_arm = false;
}
if (!should_arm && !should_always_enable_pwm) {
needs_to_arm = false;
}
if (needs_to_arm && !mixer_servos_armed) {
/* need to arm, but not armed */
up_pwm_servo_arm(true);
mixer_servos_armed = true;
r_status_flags |= PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED;
isr_debug(5, "> PWM enabled");
} else if ((!should_arm && !should_always_enable_pwm) && mixer_servos_armed) {
} else if (!needs_to_arm && mixer_servos_armed) {
/* armed but need to disarm */
up_pwm_servo_arm(false);
mixer_servos_armed = false;
src/modules/px4iofirmware/protocol.h
+1
View File
@@ -166,6 +166,7 @@
#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */
#define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE (1 << 5) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */
#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 6) /* Disable the IO-internal evaluation of the RC */
#define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 7) /* If set, the system operates normally, but won't actuate any servos */
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */
src/modules/px4iofirmware/registers.c
+2 -6
View File
@@ -169,7 +169,8 @@ volatile uint16_t r_page_setup[] =
PX4IO_P_SETUP_ARMING_IO_ARM_OK | \
PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM | \
PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \
PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED)
PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED | \
PX4IO_P_SETUP_ARMING_LOCKDOWN)
#define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1)
#define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1)
@@ -453,11 +454,6 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
* lockup of the IO arming state.
*/
// XXX do not reset IO's safety state by FMU for now
// 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;
// }
if (value & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK;
}