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Merge remote-tracking branch 'upstream/termination_failsafe' into obcfailsafe

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This commit is contained in:
Thomas Gubler 2014-08-27 21:34:07 +02:00
commit 92c3e52fec
6 changed files with 77 additions and 8 deletions
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7
src/drivers/drv_pwm_output.h
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@ -205,10 +205,13 @@ ORB_DECLARE(output_pwm);
#define PWM_SERVO_GET_DISABLE_LOCKDOWN _IOC(_PWM_SERVO_BASE, 22)
/** force safety switch off (to disable use of safety switch) */
#define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23)
#define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23)
/** force failsafe mode (failsafe values are set immediately even if failsafe condition not met) */
#define PWM_SERVO_SET_FORCE_FAILSAFE _IOC(_PWM_SERVO_BASE, 24)
#define PWM_SERVO_SET_FORCE_FAILSAFE _IOC(_PWM_SERVO_BASE, 24)
/** make failsafe non-recoverable (termination) if it occurs */
#define PWM_SERVO_SET_TERMINATION_FAILSAFE _IOC(_PWM_SERVO_BASE, 25)
/*
*

22
src/drivers/px4io/px4io.cpp
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@ -1176,6 +1176,14 @@ PX4IO::io_set_arming_state()
clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
}
// XXX this is for future support in the commander
// but can be removed if unneeded
// if (armed.termination_failsafe) {
// set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// } else {
// clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// }
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
@ -2039,7 +2047,8 @@ PX4IO::print_status(bool extended_status)
((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""),
((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) ? " LOCKDOWN" : ""),
((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : "")
((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : ""),
((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : "")
);
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
@ -2263,6 +2272,17 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
}
break;
case PWM_SERVO_SET_TERMINATION_FAILSAFE:
/* if failsafe occurs, do not allow the system to recover */
if (arg == 0) {
/* clear termination failsafe flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE, 0);
} else {
/* set termination failsafe flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE);
}
break;
case DSM_BIND_START:
/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */

14
src/modules/px4iofirmware/mixer.cpp
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@ -139,7 +139,9 @@ mixer_tick(void)
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) &&
!(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) &&
!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) &&
/* do not enter manual override if we asked for termination failsafe and FMU is lost */
!(r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE)) {
/* if allowed, mix from RC inputs directly */
source = MIX_OVERRIDE;
@ -154,6 +156,16 @@ mixer_tick(void)
}
}
/*
* Check if failsafe termination is set - if yes,
* set the force failsafe flag once entering the first
* failsafe condition.
*/
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) &&
(source == MIX_FAILSAFE)) {
r_setup_arming |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
}
/*
* Check if we should force failsafe - and do it if we have to
*/

3
src/modules/px4iofirmware/protocol.h
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 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
@ -180,6 +180,7 @@
#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_ARMING_FORCE_FAILSAFE (1 << 8) /* If set, the system will always output the failsafe values */
#define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 9) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */
#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 */

18
src/modules/px4iofirmware/registers.c
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 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
@ -190,7 +190,8 @@ volatile uint16_t r_page_setup[] =
PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \
PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED | \
PX4IO_P_SETUP_ARMING_LOCKDOWN | \
PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE)
PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE | \
PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE)
#define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1)
#define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1)
@ -518,6 +519,19 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK;
}
/*
* If the failsafe termination flag is set, do not allow the autopilot to unset it
*/
value |= (r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE);
/*
* If failsafe termination is enabled and force failsafe bit is set, do not allow
* the autopilot to clear it.
*/
if (r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) {
value |= (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE);
}
r_setup_arming = value;
break;

21
src/systemcmds/pwm/pwm.c
View File

@ -654,9 +654,28 @@ pwm_main(int argc, char *argv[])
}
}
exit(0);
} else if (!strcmp(argv[1], "terminatefail")) {
if (argc < 3) {
errx(1, "arg missing [on|off]");
} else {
if (!strcmp(argv[2], "on")) {
/* force failsafe */
ret = ioctl(fd, PWM_SERVO_SET_TERMINATION_FAILSAFE, 1);
} else {
/* force failsafe */
ret = ioctl(fd, PWM_SERVO_SET_TERMINATION_FAILSAFE, 0);
}
if (ret != OK) {
warnx("FAILED setting termination failsafe %s", argv[2]);
}
}
exit(0);
}
usage("specify arm|disarm|rate|failsafe|disarmed|min|max|test|info|forcefail");
usage("specify arm|disarm|rate|failsafe\n\t\tdisarmed|min|max|test|info|forcefail|terminatefail");
return 0;
}