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Fixed led patterns to be up to the latest specs

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This commit is contained in:
Lorenz Meier
2013-05-12 20:05:20 +02:00
parent 0c43da3b64
commit 79f9b61aff
5 changed files with 41 additions and 26 deletions
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src/drivers/px4io/px4io.cpp
+20 -12
View File
@@ -416,7 +416,7 @@ PX4IO::init()
* already armed, and has been configured for in-air restart
*/
if ((reg & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) &&
(reg & PX4IO_P_SETUP_ARMING_ARM_OK)) {
(reg & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
mavlink_log_emergency(_mavlink_fd, "[IO] RECOVERING FROM FMU IN-AIR RESTART");
@@ -500,7 +500,7 @@ PX4IO::init()
/* dis-arm IO before touching anything */
io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING,
PX4IO_P_SETUP_ARMING_ARM_OK |
PX4IO_P_SETUP_ARMING_FMU_ARMED |
PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK |
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0);
@@ -701,11 +701,18 @@ PX4IO::io_set_arming_state()
uint16_t set = 0;
uint16_t clear = 0;
if (armed.armed) {
set |= PX4IO_P_SETUP_ARMING_ARM_OK;
if (armed.armed && !armed.lockdown) {
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
} else {
clear |= PX4IO_P_SETUP_ARMING_ARM_OK;
clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
}
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
}
if (vstatus.flag_external_manual_override_ok) {
set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
} else {
@@ -1271,9 +1278,9 @@ PX4IO::print_status()
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE));
printf("amp_per_volt %.3f amp_offset %.3f mAhDischarged %.3f\n",
_battery_amp_per_volt,
_battery_amp_bias,
_battery_mamphour_total);
(double)_battery_amp_per_volt,
(double)_battery_amp_bias,
(double)_battery_mamphour_total);
printf("actuators");
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_ACTUATORS, i));
@@ -1303,9 +1310,10 @@ PX4IO::print_status()
/* setup and state */
printf("features 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES));
uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
printf("arming 0x%04x%s%s%s\n",
printf("arming 0x%04x%s%s%s%s\n",
arming,
((arming & PX4IO_P_SETUP_ARMING_ARM_OK) ? " ARM_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : ""),
((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""));
printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
@@ -1347,12 +1355,12 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
switch (cmd) {
case PWM_SERVO_ARM:
/* set the 'armed' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_ARM_OK);
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FMU_ARMED);
break;
case PWM_SERVO_DISARM:
/* clear the 'armed' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_ARM_OK, 0);
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED, 0);
break;
case PWM_SERVO_SET_UPDATE_RATE:
src/modules/commander/state_machine_helper.c
+5
View File
@@ -249,6 +249,11 @@ void publish_armed_status(const struct vehicle_status_s *current_status)
{
struct actuator_armed_s armed;
armed.armed = current_status->flag_system_armed;
/* XXX allow arming by external components on multicopters only if not yet armed by RC */
/* XXX allow arming only if core sensors are ok */
armed.ready_to_arm = true;
/* lock down actuators if required, only in HIL */
armed.lockdown = (current_status->flag_hil_enabled) ? true : false;
orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
src/modules/px4iofirmware/protocol.h
+2 -1
View File
@@ -145,7 +145,8 @@
#define PX4IO_P_SETUP_FEATURES 0
#define PX4IO_P_SETUP_ARMING 1 /* arming controls */
#define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */
#define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */
#define PX4IO_P_SETUP_ARMING_FMU_ARMED (1 << 1) /* FMU is already armed */
#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */
#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */
src/modules/px4iofirmware/safety.c
+13 -13
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -32,7 +32,8 @@
****************************************************************************/
/**
* @file Safety button logic.
* @file safety.c
* Safety button logic.
*/
#include <nuttx/config.h>
@@ -56,10 +57,10 @@ static unsigned counter = 0;
/*
* Define the various LED flash sequences for each system state.
*/
#define LED_PATTERN_SAFE 0x000f /**< always on */
#define LED_PATTERN_FMU_ARMED 0x5555 /**< slow blinking */
#define LED_PATTERN_IO_ARMED 0x5555 /**< fast blinking */
#define LED_PATTERN_IO_FMU_ARMED 0xffff /**< long off then double blink */
#define LED_PATTERN_FMU_OK_TO_ARM 0x0003 /**< slow blinking */
#define LED_PATTERN_FMU_REFUSE_TO_ARM 0x5555 /**< fast blinking */
#define LED_PATTERN_IO_ARMED 0x5050 /**< long off, then double blink */
#define LED_PATTERN_IO_FMU_ARMED 0xffff /**< constantly on */
static unsigned blink_counter = 0;
@@ -108,7 +109,8 @@ safety_check_button(void *arg)
* state machine, keep ARM_COUNTER_THRESHOLD the same
* length in all cases of the if/else struct below.
*/
if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
(r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)) {
if (counter < ARM_COUNTER_THRESHOLD) {
counter++;
@@ -119,8 +121,6 @@ safety_check_button(void *arg)
counter++;
}
/* Disarm quickly */
} else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
if (counter < ARM_COUNTER_THRESHOLD) {
@@ -137,18 +137,18 @@ safety_check_button(void *arg)
}
/* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */
uint16_t pattern = LED_PATTERN_SAFE;
uint16_t pattern = LED_PATTERN_FMU_REFUSE_TO_ARM;
if (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) {
if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) {
if (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) {
pattern = LED_PATTERN_IO_FMU_ARMED;
} else {
pattern = LED_PATTERN_IO_ARMED;
}
} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) {
pattern = LED_PATTERN_FMU_ARMED;
} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) {
pattern = LED_PATTERN_FMU_OK_TO_ARM;
}
src/modules/uORB/topics/actuator_controls.h
+1
View File
@@ -69,6 +69,7 @@ ORB_DECLARE(actuator_controls_3);
/** global 'actuator output is live' control. */
struct actuator_armed_s {
bool armed; /**< Set to true if system is armed */
bool ready_to_arm; /**< Set to true if system is ready to be armed */
bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
};