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px4iofirmware: fixed a bug with override handling

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this fixes a race condition between the DMA completion handler
updating registers in px4io and the mixer used for handling the
override state. The register set code could set r_page_servos[]
between the time when pwm_limit_calc() is called and the servos are
actually output.
This commit is contained in:
Andrew Tridgell 2016-01-22 17:25:05 +11:00 committed by Lorenz Meier
parent 72d8a4f932
commit d150b4b084
3 changed files with 20 additions and 3 deletions
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11
src/modules/px4iofirmware/mixer.cpp
View File

@ -143,7 +143,16 @@ mixer_tick(void)
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
source = MIX_NONE;
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) > 0) {
/* a channel based override has been
* triggered, with FMU active */
source = MIX_OVERRIDE_FMU_OK;
} else {
/* don't actually mix anything - copy values from r_page_direct_pwm */
source = MIX_NONE;
memcpy(r_page_servos, r_page_direct_pwm, sizeof(uint16_t)*PX4IO_SERVO_COUNT);
}
} else {

1
src/modules/px4iofirmware/px4io.h
View File

@ -80,6 +80,7 @@
extern volatile uint16_t r_page_status[]; /* PX4IO_PAGE_STATUS */
extern uint16_t r_page_actuators[]; /* PX4IO_PAGE_ACTUATORS */
extern uint16_t r_page_servos[]; /* PX4IO_PAGE_SERVOS */
extern uint16_t r_page_direct_pwm[]; /* PX4IO_PAGE_DIRECT_PWM */
extern uint16_t r_page_raw_rc_input[]; /* PX4IO_PAGE_RAW_RC_INPUT */
extern uint16_t r_page_rc_input[]; /* PX4IO_PAGE_RC_INPUT */
extern uint16_t r_page_adc[]; /* PX4IO_PAGE_RAW_ADC_INPUT */

11
src/modules/px4iofirmware/registers.c
View File

@ -143,6 +143,13 @@ uint16_t r_page_rc_input[] = {
*/
uint16_t r_page_scratch[32];
/**
* PAGE 8
*
* RAW PWM values
*/
uint16_t r_page_direct_pwm[PX4IO_SERVO_COUNT];
/**
* PAGE 100
*
@ -307,7 +314,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* XXX range-check value? */
if (*values != PWM_IGNORE_THIS_CHANNEL) {
r_page_servos[offset] = *values;
r_page_direct_pwm[offset] = *values;
}
offset++;
@ -1011,7 +1018,7 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
break;
case PX4IO_PAGE_DIRECT_PWM:
SELECT_PAGE(r_page_servos);
SELECT_PAGE(r_page_direct_pwm);
break;
case PX4IO_PAGE_FAILSAFE_PWM: