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reduce safety switch sampling to ~10Hz and clean up

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This commit is contained in:
Mark Whitehorn
2016-02-27 11:25:56 +01:00
committed by Lorenz Meier
parent ef2a7bda53
commit b6231c718b
1 changed files with 69 additions and 69 deletions
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src/drivers/px4fmu/fmu.cpp
+69 -69
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@@ -96,7 +96,7 @@
#define SCHEDULE_INTERVAL 2000 /**< The schedule interval in usec (500 Hz) */
#define NAN_VALUE (0.0f/0.0f) /**< NaN value for throttle lock mode */
#define BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY)
#define CYCLE_FREQUENCY 250 /* safety switch must be held for 1 second to activate */
#define CYCLE_COUNT 10 /* safety switch must be held for 1 second to activate */
/*
* Define the various LED flash sequences for each system state.
@@ -165,6 +165,9 @@ private:
bool _rc_scan_locked = false;
bool _report_lock = true;
hrt_abstime _cycle_timestamp = 0;
hrt_abstime _last_safety_check = 0;
static const unsigned _max_actuators = DIRECT_PWM_OUTPUT_CHANNELS;
Mode _mode;
@@ -457,29 +460,24 @@ PX4FMU:: safety_check_button(void)
* state machine, keep ARM_COUNTER_THRESHOLD the same
* length in all cases of the if/else struct below.
*/
// warnx("b: %u, c: %u", safety_button_pressed, counter);
if (safety_button_pressed && !_safety_off
// && (r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)
) {
if (safety_button_pressed && !_safety_off) {
if (counter < CYCLE_FREQUENCY) {
if (counter < CYCLE_COUNT) {
counter++;
} else if (counter == CYCLE_FREQUENCY) {
} else if (counter == CYCLE_COUNT) {
/* switch to armed state */
warnx("safety off");
_safety_off = true;
counter++;
}
} else if (safety_button_pressed && _safety_off) {
if (counter < CYCLE_FREQUENCY) {
if (counter < CYCLE_COUNT) {
counter++;
} else if (counter == CYCLE_FREQUENCY) {
} else if (counter == CYCLE_COUNT) {
/* change to disarmed state and notify the FMU */
warnx("safety on");
_safety_off = false;
counter++;
}
@@ -491,33 +489,29 @@ PX4FMU:: safety_check_button(void)
uint16_t pattern = LED_PATTERN_FMU_REFUSE_TO_ARM;
/* cycle the blink state machine at 10Hz */
static int divider = 0;
static int blink_counter = 0;
if (divider++ >= (CYCLE_FREQUENCY/10)) {
divider = 0;
if (_safety_off) {
if (_armed.armed) {
pattern = LED_PATTERN_IO_FMU_ARMED;
} else {
pattern = LED_PATTERN_IO_ARMED;
}
} else if (_armed.armed) {
pattern = LED_PATTERN_FMU_ARMED;
if (_safety_off) {
if (_armed.armed) {
pattern = LED_PATTERN_IO_FMU_ARMED;
} else {
pattern = LED_PATTERN_FMU_OK_TO_ARM;
pattern = LED_PATTERN_IO_ARMED;
}
/* Turn the LED on if we have a 1 at the current bit position */
stm32_gpiowrite(GPIO_LED_SAFETY, !(pattern & (1 << blink_counter++)));
} else if (_armed.armed) {
pattern = LED_PATTERN_FMU_ARMED;
if (blink_counter > 15) {
blink_counter = 0;
}
} else {
pattern = LED_PATTERN_FMU_OK_TO_ARM;
}
/* Turn the LED on if we have a 1 at the current bit position */
stm32_gpiowrite(GPIO_LED_SAFETY, !(pattern & (1 << blink_counter++)));
if (blink_counter > 15) {
blink_counter = 0;
}
}
@@ -1052,30 +1046,37 @@ PX4FMU::cycle()
}
}
/* check safety switch */
safety_check_button();
/* read safety switch input at 10Hz */
_cycle_timestamp = hrt_absolute_time();
/**
* Get and handle the safety status
*/
struct safety_s safety;
safety.timestamp = hrt_absolute_time();
if (_cycle_timestamp - _last_safety_check >= (unsigned int)1e5) {
_last_safety_check = _cycle_timestamp;
if (_safety_off) {
safety.safety_off = true;
safety.safety_switch_available = true;
/* check safety switch */
safety_check_button();
} else {
safety.safety_off = false;
safety.safety_switch_available = true;
}
/**
* Get and handle the safety status
*/
struct safety_s safety;
safety.timestamp = hrt_absolute_time();
/* lazily publish the safety status */
if (_to_safety != nullptr) {
orb_publish(ORB_ID(safety), _to_safety, &safety);
if (_safety_off) {
safety.safety_off = true;
safety.safety_switch_available = true;
} else {
_to_safety = orb_advertise(ORB_ID(safety), &safety);
} else {
safety.safety_off = false;
safety.safety_switch_available = true;
}
/* lazily publish the safety status */
if (_to_safety != nullptr) {
orb_publish(ORB_ID(safety), _to_safety, &safety);
} else {
_to_safety = orb_advertise(ORB_ID(safety), &safety);
}
}
/* check arming state */
@@ -1139,29 +1140,28 @@ PX4FMU::cycle()
}
// read all available data from the serial RC input UART
hrt_abstime now = hrt_absolute_time();
int newBytes = ::read(_rcs_fd, &_rcs_buf[0], SBUS_FRAME_SIZE);
switch (_rc_scan_state) {
case RC_SCAN_SBUS:
if (_rc_scan_begin == 0) {
_rc_scan_begin = now;
_rc_scan_begin = _cycle_timestamp;
// Configure serial port for SBUS
sbus_config(_rcs_fd, false);
rc_io_invert(true);
} else if (_rc_scan_locked
|| now - _rc_scan_begin < rc_scan_max) {
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
// parse new data
if (newBytes > 0) {
rc_updated = sbus_parse(now, &_rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count, &sbus_failsafe,
rc_updated = sbus_parse(_cycle_timestamp, &_rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count, &sbus_failsafe,
&sbus_frame_drop, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
if (rc_updated) {
// we have a new SBUS frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SBUS;
fill_rc_in(raw_rc_count, raw_rc_values, now,
fill_rc_in(raw_rc_count, raw_rc_values, _cycle_timestamp,
sbus_frame_drop, sbus_failsafe, frame_drops);
_rc_scan_locked = true;
}
@@ -1176,23 +1176,23 @@ PX4FMU::cycle()
case RC_SCAN_DSM:
if (_rc_scan_begin == 0) {
_rc_scan_begin = now;
// Configure serial port for DSM
_rc_scan_begin = _cycle_timestamp;
// // Configure serial port for DSM
dsm_config(_rcs_fd);
rc_io_invert(false);
} else if (_rc_scan_locked
|| now - _rc_scan_begin < rc_scan_max) {
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
if (newBytes > 0) {
// parse new data
rc_updated = dsm_parse(now, &_rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count,
rc_updated = dsm_parse(_cycle_timestamp, &_rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count,
&dsm_11_bit, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
if (rc_updated) {
// we have a new DSM frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_DSM;
fill_rc_in(raw_rc_count, raw_rc_values, now,
fill_rc_in(raw_rc_count, raw_rc_values, _cycle_timestamp,
false, false, frame_drops);
_rc_scan_locked = true;
}
@@ -1207,13 +1207,13 @@ PX4FMU::cycle()
case RC_SCAN_ST24:
if (_rc_scan_begin == 0) {
_rc_scan_begin = now;
_rc_scan_begin = _cycle_timestamp;
// Configure serial port for DSM
dsm_config(_rcs_fd);
rc_io_invert(false);
} else if (_rc_scan_locked
|| now - _rc_scan_begin < rc_scan_max) {
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
if (newBytes > 0) {
// parse new data
@@ -1231,7 +1231,7 @@ PX4FMU::cycle()
if (rc_updated) {
// we have a new ST24 frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_ST24;
fill_rc_in(raw_rc_count, raw_rc_values, now,
fill_rc_in(raw_rc_count, raw_rc_values, _cycle_timestamp,
false, false, frame_drops, st24_rssi);
_rc_scan_locked = true;
}
@@ -1246,13 +1246,13 @@ PX4FMU::cycle()
case RC_SCAN_SUMD:
if (_rc_scan_begin == 0) {
_rc_scan_begin = now;
_rc_scan_begin = _cycle_timestamp;
// Configure serial port for DSM
dsm_config(_rcs_fd);
rc_io_invert(false);
} else if (_rc_scan_locked
|| now - _rc_scan_begin < rc_scan_max) {
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
if (newBytes > 0) {
// parse new data
@@ -1270,7 +1270,7 @@ PX4FMU::cycle()
if (rc_updated) {
// we have a new SUMD frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SUMD;
fill_rc_in(raw_rc_count, raw_rc_values, now,
fill_rc_in(raw_rc_count, raw_rc_values, _cycle_timestamp,
false, false, frame_drops, sumd_rssi);
_rc_scan_locked = true;
}
@@ -1288,13 +1288,13 @@ PX4FMU::cycle()
// skip PPM if it's not supported
#ifdef HRT_PPM_CHANNEL
if (_rc_scan_begin == 0) {
_rc_scan_begin = now;
_rc_scan_begin = _cycle_timestamp;
// Configure timer input pin for CPPM
stm32_configgpio(GPIO_PPM_IN);
rc_io_invert(false);
} else if (_rc_scan_locked
|| now - _rc_scan_begin < rc_scan_max) {
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
// see if we have new PPM input data
if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal)
@@ -1302,7 +1302,7 @@ PX4FMU::cycle()
// we have a new PPM frame. Publish it.
rc_updated = true;
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
fill_rc_in(ppm_decoded_channels, ppm_buffer, now,
fill_rc_in(ppm_decoded_channels, ppm_buffer, _cycle_timestamp,
false, false, 0);
_rc_scan_locked = true;
}