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Merge branch 'px4io-i2c' of github.com:PX4/Firmware into px4io-i2c

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This commit is contained in:
Lorenz Meier
2013-03-09 11:03:38 +01:00
parent cc628fbc27 35790e673b
commit c9775d7455
19 changed files with 1298 additions and 172 deletions
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apps/px4io/mixer.cpp
+18 -6
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@@ -109,9 +109,11 @@ mixer_tick(void)
/*
* Decide which set of controls we're using.
*/
if (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) {
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ||
!(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
/* don't actually mix anything - we already have raw PWM values */
/* don't actually mix anything - we already have raw PWM values or
not a valid mixer. */
source = MIX_NONE;
} else {
@@ -172,9 +174,11 @@ mixer_tick(void)
* XXX correct behaviour for failsafe may require an additional case
* here.
*/
bool should_arm = (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
/* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)));
bool should_arm = (
/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
/* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) &&
/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK));
if (should_arm && !mixer_servos_armed) {
/* need to arm, but not armed */
@@ -239,6 +243,11 @@ static unsigned mixer_text_length = 0;
void
mixer_handle_text(const void *buffer, size_t length)
{
/* do not allow a mixer change while fully armed */
if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
return;
}
px4io_mixdata *msg = (px4io_mixdata *)buffer;
@@ -252,9 +261,12 @@ mixer_handle_text(const void *buffer, size_t length)
switch (msg->action) {
case F2I_MIXER_ACTION_RESET:
isr_debug(2, "reset");
/* FIRST mark the mixer as invalid */
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
/* THEN actually delete it */
mixer_group.reset();
mixer_text_length = 0;
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
/* FALLTHROUGH */
case F2I_MIXER_ACTION_APPEND: