From 4fe0027e7a23fdd425479c98f0167adf596d5743 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 16 May 2014 09:51:23 +0200 Subject: [PATCH 1/3] px4io driver: Only try to upload if we have a non-zero failsafe throttle value --- src/drivers/px4io/px4io.cpp | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index da454eb853..4099e55226 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -994,13 +994,17 @@ PX4IO::task_main() int32_t failsafe_param_val; param_t failsafe_param = param_find("RC_FAILS_THR"); - if (failsafe_param > 0) { + if (failsafe_param != PARAM_INVALID) { param_get(failsafe_param, &failsafe_param_val); - uint16_t failsafe_thr = failsafe_param_val; - pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1); - if (pret != OK) { - log("failsafe upload failed"); + + if (failsafe_param_val > 0) { + + uint16_t failsafe_thr = failsafe_param_val; + pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1); + if (pret != OK) { + log("failsafe upload failed, FS: %d us", (int)failsafe_thr); + } } } From 5ca96631fc02d3826d2ef6274f9da7e12e9fb4a1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 16 May 2014 09:52:46 +0200 Subject: [PATCH 2/3] 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 --- src/modules/px4iofirmware/registers.c | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index fd7c6081f6..a43bb65a41 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -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; From 1b491005d1192bfee7cf25068195b5f5e3a604eb Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 16 May 2014 10:43:50 +0200 Subject: [PATCH 3/3] Minor cleanups on handling, make wrong reg accesses non-fatal for the transfer --- src/modules/px4iofirmware/protocol.h | 2 ++ src/modules/px4iofirmware/registers.c | 27 ++++++++++++++------------- 2 files changed, 16 insertions(+), 13 deletions(-) diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 313084fe9d..7471faec7b 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -190,6 +190,8 @@ #define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* hardware rev [1] power relay 2 */ #define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* hardware rev [1] accessory power 1 */ #define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* hardware rev [1] accessory power 2 */ +#else +#define PX4IO_P_SETUP_RELAYS_PAD 5 #endif #define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */ diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index a43bb65a41..db1836f4a5 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -161,8 +161,8 @@ volatile uint16_t r_page_setup[] = #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, + /* this is unused, but we will pad it for readability (the compiler pads it automatically) */ + [PX4IO_P_SETUP_RELAYS_PAD] = 0, #endif #ifdef ADC_VSERVO [PX4IO_P_SETUP_VSERVO_SCALE] = 10000, @@ -526,18 +526,22 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) break; case PX4IO_P_SETUP_PWM_DEFAULTRATE: - if (value < 50) + if (value < 50) { value = 50; - if (value > 400) + } + if (value > 400) { value = 400; + } pwm_configure_rates(r_setup_pwm_rates, value, r_setup_pwm_altrate); break; case PX4IO_P_SETUP_PWM_ALTRATE: - if (value < 50) + if (value < 50) { value = 50; - if (value > 400) + } + if (value > 400) { value = 400; + } pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value); break; @@ -565,12 +569,13 @@ 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 - return -1; + break; } // check the magic value - if (value != PX4IO_REBOOT_BL_MAGIC) - return -1; + if (value != PX4IO_REBOOT_BL_MAGIC) { + break; + } // we schedule a reboot rather than rebooting // immediately to allow the IO board to ACK @@ -585,16 +590,12 @@ 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;