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Code Issues Releases Activity

OP-1685 - calls sanitychecks after updates to actuatorsettings, update board sanitycheck rules

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This commit is contained in:
Alessio Morale 2015-02-11 23:59:23 +01:00
parent f3fe45750d
commit 096a321181
2 changed files with 23 additions and 14 deletions
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28
flight/targets/boards/coptercontrol/firmware/pios_board.c
View File

@ -55,6 +55,7 @@
uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
static SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook();
static void ActuatorSettingsUpdatedCb(UAVObjEvent *ev);
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 32
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 12
@ -848,6 +849,9 @@ void PIOS_Board_Init(void)
// Attach the board config check hook
SANITYCHECK_AttachHook(&CopterControlConfigHook);
// trigger a config check if actuatorsettings are updated
ActuatorSettingsInitialize();
ActuatorSettingsConnectCallback(ActuatorSettingsUpdatedCb);
}
SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook()
@ -856,32 +860,44 @@ SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook()
uint8_t recmode;
HwSettingsCC_RcvrPortGet(&recmode);
uint8_t modes[ACTUATORSETTINGS_BANKMODE_NUMELEM];
ActuatorSettingsBankModeGet(modes);
switch ((HwSettingsCC_RcvrPortOptions)recmode) {
// Those modes allows oneshot usage
case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPM_PIN6ONESHOT:
return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
case HWSETTINGS_CC_RCVRPORT_PPM_PIN6ONESHOT:
if (modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT ||
modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT125) {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;
} else {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
}
// inhibit oneshot for the following modes
case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
{
uint8_t modes[ACTUATORSETTINGS_BANKMODE_NUMELEM];
ActuatorSettingsBankModeGet(modes);
for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
if (modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT ||
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125) {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
}
return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
}
return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
}
}
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
}
// trigger a configuration check if ActuatorSettings are changed.
void ActuatorSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
configuration_check();
}
/**
* @}
*/

9
shared/uavobjectdefinition/actuatorsettings.xml
View File

@ -2,14 +2,7 @@
<object name="ActuatorSettings" singleinstance="true" settings="true" category="Control">
<description>Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType</description>
<field name="BankUpdateFreq" units="Hz" type="uint16" elements="6" defaultvalue="50"/>
<field name="BankMode" type="enum" units="" elements="6" options="PWM,OneShot,OneShot125" defaultvalue="PWM"
limits="; \
; \
; \
; \
; \
%0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125;"
/>
<field name="BankMode" type="enum" units="" elements="6" options="PWM,OneShot,OneShot125" defaultvalue="PWM"/>
<field name="ChannelMax" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelNeutral" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelMin" units="us" type="int16" elements="12" defaultvalue="1000"/>