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px4iofirmware: convert atomic macro into methods

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Reduces flash size by 744 bytes.
CPU (loop time) is not affected.
This commit is contained in:
Beat Küng
2019-11-16 11:43:42 +01:00
committed by Lorenz Meier
parent 0f2a7ad2b7
commit d965b928f8
5 changed files with 59 additions and 40 deletions
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src/modules/px4iofirmware/mixer.cpp
+11 -11
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@@ -132,14 +132,14 @@ mixer_tick(void)
isr_debug(1, "AP RX timeout");
}
PX4_ATOMIC_MODIFY_CLEAR(r_status_flags, (PX4IO_P_STATUS_FLAGS_FMU_OK));
PX4_ATOMIC_MODIFY_OR(r_status_alarms, PX4IO_P_STATUS_ALARMS_FMU_LOST);
atomic_modify_clear(&r_status_flags, (PX4IO_P_STATUS_FLAGS_FMU_OK));
atomic_modify_or(&r_status_alarms, PX4IO_P_STATUS_ALARMS_FMU_LOST);
} else {
PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_FMU_OK);
atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_FMU_OK);
/* this flag is never cleared once OK */
PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED);
atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED);
if (fmu_data_received_time > last_fmu_update) {
new_fmu_data = true;
@@ -232,7 +232,7 @@ mixer_tick(void)
(source == MIX_DISARMED) && /* and if we ended up not changing the default mixer */
should_arm && /* and we should be armed, so we intended to provide outputs */
(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED)) { /* and FMU is initialized */
PX4_ATOMIC_MODIFY_OR(r_setup_arming, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE); /* then FMU is dead -> terminate flight */
atomic_modify_or(&r_setup_arming, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE); /* then FMU is dead -> terminate flight */
}
/*
@@ -246,10 +246,10 @@ mixer_tick(void)
* Set failsafe status flag depending on mixing source
*/
if (source == MIX_FAILSAFE) {
PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_FAILSAFE);
atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_FAILSAFE);
} else {
PX4_ATOMIC_MODIFY_CLEAR(r_status_flags, (PX4IO_P_STATUS_FLAGS_FAILSAFE));
atomic_modify_clear(&r_status_flags, (PX4IO_P_STATUS_FLAGS_FAILSAFE));
}
/*
@@ -352,14 +352,14 @@ mixer_tick(void)
/* need to arm, but not armed */
up_pwm_servo_arm(true);
mixer_servos_armed = true;
PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED);
atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED);
isr_debug(5, "> PWM enabled");
} else if (!needs_to_arm && mixer_servos_armed) {
/* armed but need to disarm */
up_pwm_servo_arm(false);
mixer_servos_armed = false;
PX4_ATOMIC_MODIFY_CLEAR(r_status_flags, (PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED));
atomic_modify_clear(&r_status_flags, (PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED));
isr_debug(5, "> PWM disabled");
}
@@ -572,7 +572,7 @@ mixer_handle_text(const void *buffer, size_t length)
}
/* disable mixing, will be enabled once load is complete */
PX4_ATOMIC_MODIFY_CLEAR(r_status_flags, PX4IO_P_STATUS_FLAGS_MIXER_OK);
atomic_modify_clear(&r_status_flags, PX4IO_P_STATUS_FLAGS_MIXER_OK);
/* set the update flags to dirty so we reload those values after a mixer change */
update_trims = true;
@@ -607,7 +607,7 @@ mixer_handle_text(const void *buffer, size_t length)
/* check for overflow - this would be really fatal */
if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
PX4_ATOMIC_MODIFY_CLEAR(r_status_flags, PX4IO_P_STATUS_FLAGS_MIXER_OK);
atomic_modify_clear(&r_status_flags, PX4IO_P_STATUS_FLAGS_MIXER_OK);
return 0;
}