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fixed px4io firmware read-modify-write bug

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This commit is contained in:
Werner Stern
2017-05-04 07:46:57 +02:00
committed by Lorenz Meier
parent 65baf99832
commit dc6b688a6a
4 changed files with 35 additions and 33 deletions
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src/modules/px4iofirmware/mixer.cpp
+11 -11
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@@ -129,14 +129,14 @@ mixer_tick(void)
isr_debug(1, "AP RX timeout");
}
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK);
r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST;
PX4_CRITICAL_SECTION(r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK));
PX4_CRITICAL_SECTION(r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST);
} else {
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
PX4_CRITICAL_SECTION(r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK);
/* this flag is never cleared once OK */
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED;
PX4_CRITICAL_SECTION(r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED);
if (system_state.fmu_data_received_time > last_fmu_update) {
new_fmu_data = true;
@@ -231,7 +231,7 @@ mixer_tick(void)
should_arm &&
/* and FMU is initialized */
(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED)) {
r_setup_arming |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
PX4_CRITICAL_SECTION(r_setup_arming |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE);
}
/*
@@ -245,10 +245,10 @@ mixer_tick(void)
* Set failsafe status flag depending on mixing source
*/
if (source == MIX_FAILSAFE) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_FAILSAFE;
PX4_CRITICAL_SECTION(r_status_flags |= PX4IO_P_STATUS_FLAGS_FAILSAFE);
} else {
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FAILSAFE);
PX4_CRITICAL_SECTION(r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FAILSAFE));
}
/*
@@ -336,14 +336,14 @@ mixer_tick(void)
/* need to arm, but not armed */
up_pwm_servo_arm(true);
mixer_servos_armed = true;
r_status_flags |= PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED;
PX4_CRITICAL_SECTION(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;
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED);
PX4_CRITICAL_SECTION(r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED));
isr_debug(5, "> PWM disabled");
}
@@ -501,7 +501,7 @@ mixer_handle_text(const void *buffer, size_t length)
}
/* disable mixing, will be enabled once load is complete */
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_MIXER_OK);
PX4_CRITICAL_SECTION(r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_MIXER_OK));
/* abort if we're in the mixer - the caller is expected to retry */
if (in_mixer) {
@@ -532,7 +532,7 @@ 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)) {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
PX4_CRITICAL_SECTION(r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK);
return 0;
}