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Code Issues Releases Activity

OP-568 PIOS_RCVR: Standardize the values that are returned from the PIOS_RCVR and make

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them symbolic constants.
- A timeout is 0
- A missing driver is 65534
- An invalid channel is 65535

ManualControl: Make it deal with the values explicitly.  A timed out value
should not be treated like a minimum duration signal.  Instead it does not
updated the scaled value but marks the data window as invalid to trigger the
failsafe.
This commit is contained in:
James Cotton 2011-09-03 23:47:56 -05:00
parent d28f0c4c78
commit 697dbf4f5f
6 changed files with 52 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

33
flight/Modules/ManualControl/manualcontrol.c
View File

@ -202,6 +202,8 @@ static void manualControlTask(void *parameters)
if (!ManualControlCommandReadOnly(&cmd)) {
bool valid_input_detected = true;
// Read channel values in us
for (uint8_t n = 0;
n < MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM && n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM;
@ -209,14 +211,20 @@ static void manualControlTask(void *parameters)
extern uint32_t pios_rcvr_group_map[];
if (settings.ChannelGroups[n] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
cmd.Channel[n] = -1;
} else if (!pios_rcvr_group_map[settings.ChannelGroups[n]]) {
cmd.Channel[n] = -2;
cmd.Channel[n] = PIOS_RCVR_INVALID;
} else {
cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_group_map[settings.ChannelGroups[n]],
settings.ChannelNumber[n]);
}
scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]);
// If a channel has timed out this is not valid data and we shouldn't update anything
// until we decide to go to failsafe
if(cmd.Channel[n] == PIOS_RCVR_TIMEOUT)
valid_input_detected = false;
else if (cmd.Channel[n] == PIOS_RCVR_INVALID)
scaledChannel[n] = 0;
else
scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]);
}
// Check settings, if error raise alarm
@ -224,7 +232,20 @@ static void manualControlTask(void *parameters)
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
// Check all channel mappings are valid
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == PIOS_RCVR_INVALID ||
// Check the driver is exists
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == PIOS_RCVR_NODRIVER) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
ManualControlCommandSet(&cmd);
@ -232,7 +253,7 @@ static void manualControlTask(void *parameters)
}
// decide if we have valid manual input or not
bool valid_input_detected = validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE]) &&
valid_input_detected &= validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE]) &&
validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL]) &&
validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW]) &&
validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH]);

3
flight/PiOS/Common/pios_rcvr.c
View File

@ -78,6 +78,9 @@ out_fail:
int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
{
if (rcvr_id == 0)
return PIOS_RCVR_NODRIVER;
struct pios_rcvr_dev * rcvr_dev = (struct pios_rcvr_dev *)rcvr_id;
if (!PIOS_RCVR_validate(rcvr_dev)) {

9
flight/PiOS/STM32F10x/pios_ppm.c
View File

@ -47,7 +47,6 @@ const struct pios_rcvr_driver pios_ppm_rcvr_driver = {
#define PIOS_PPM_IN_MIN_SYNC_PULSE_US 3800 // microseconds
#define PIOS_PPM_IN_MIN_CHANNEL_PULSE_US 750 // microseconds
#define PIOS_PPM_IN_MAX_CHANNEL_PULSE_US 2250 // microseconds
#define PIOS_PPM_INPUT_INVALID 0
/* Local Variables */
static TIM_ICInitTypeDef TIM_ICInitStructure;
@ -290,7 +289,7 @@ static void PIOS_PPM_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t cha
}
for (uint32_t i = ppm_dev->NumChannels;
i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) {
ppm_dev->CaptureValue[i] = PIOS_PPM_INPUT_INVALID;
ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
}
}
@ -314,7 +313,7 @@ static void PIOS_PPM_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t cha
/* Not a valid pulse duration */
ppm_dev->Tracking = FALSE;
for (uint32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) {
ppm_dev->CaptureValueNewFrame[i] = PIOS_PPM_INPUT_INVALID;
ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT;
}
}
}
@ -342,8 +341,8 @@ static void PIOS_PPM_Supervisor(uint32_t ppm_id) {
ppm_dev->Tracking = FALSE;
for (int32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) {
ppm_dev->CaptureValue[i] = PIOS_PPM_INPUT_INVALID;
ppm_dev->CaptureValueNewFrame[i] = PIOS_PPM_INPUT_INVALID;
ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT;
}
}

4
flight/PiOS/STM32F10x/pios_spektrum.c
View File

@ -338,8 +338,8 @@ static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id)
/* signal lost */
fsm->sync_of = 0;
for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {
fsm->CaptureValue[i] = 0;
fsm->CaptureValueTemp[i] = 0;
fsm->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
fsm->CaptureValueTemp[i] = PIOS_RCVR_TIMEOUT;
}
}
spektrum_dev->supv_timer = 0;

4
flight/PiOS/inc/pios_rcvr.h
View File

@ -39,6 +39,10 @@ struct pios_rcvr_driver {
/* Public Functions */
extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
#define PIOS_RCVR_TIMEOUT 0
#define PIOS_RCVR_NODRIVER 65534
#define PIOS_RCVR_INVALID 65535
#endif /* PIOS_RCVR_H */
/**

12
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -91,6 +91,12 @@
65632DF51251650300469B77 /* pios_board.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board.h; sourceTree = "<group>"; };
65632DF61251650300469B77 /* STM32103CB_AHRS.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32103CB_AHRS.h; sourceTree = "<group>"; };
65632DF71251650300469B77 /* STM3210E_OP.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM3210E_OP.h; sourceTree = "<group>"; };
65643CAB1413322000A32F59 /* pios_rcvr_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rcvr_priv.h; sourceTree = "<group>"; };
65643CAC1413322000A32F59 /* pios_rcvr.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rcvr.h; sourceTree = "<group>"; };
65643CAD1413322000A32F59 /* pios_rtc_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rtc_priv.h; sourceTree = "<group>"; };
65643CAE1413322000A32F59 /* pios_sbus_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_sbus_priv.h; sourceTree = "<group>"; };
65643CAF1413322000A32F59 /* pios_sbus.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_sbus.h; sourceTree = "<group>"; };
65643CB01413322000A32F59 /* pios_spektrum_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_spektrum_priv.h; sourceTree = "<group>"; };
6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_STM32103CB_CC_Rev1_memory.ld; path = ../../PiOS/STM32F10x/link_STM32103CB_CC_Rev1_memory.ld; sourceTree = SOURCE_ROOT; };
6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_STM32103CB_CC_Rev1_sections.ld; path = ../../PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld; sourceTree = SOURCE_ROOT; };
657CEEAD121DB6C8007A1FBE /* homelocation.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = homelocation.xml; sourceTree = "<group>"; };
@ -7724,11 +7730,17 @@
65E8F04811EFF25C00BBF654 /* pios_ppm.h */,
65E8F04911EFF25C00BBF654 /* pios_pwm.h */,
657FF86A12EA8BFB00801617 /* pios_pwm_priv.h */,
65643CAC1413322000A32F59 /* pios_rcvr.h */,
65643CAB1413322000A32F59 /* pios_rcvr_priv.h */,
6589A9E2131DF1C7006BD67C /* pios_rtc.h */,
65643CAD1413322000A32F59 /* pios_rtc_priv.h */,
65643CAE1413322000A32F59 /* pios_sbus_priv.h */,
65643CAF1413322000A32F59 /* pios_sbus.h */,
65E8F04A11EFF25C00BBF654 /* pios_sdcard.h */,
65E8F04B11EFF25C00BBF654 /* pios_servo.h */,
65FBE14412E7C98100176B5A /* pios_servo_priv.h */,
65E8F04C11EFF25C00BBF654 /* pios_spektrum.h */,
65643CB01413322000A32F59 /* pios_spektrum_priv.h */,
65E8F04D11EFF25C00BBF654 /* pios_spi.h */,
65E8F04E11EFF25C00BBF654 /* pios_spi_priv.h */,
65E8F04F11EFF25C00BBF654 /* pios_stm32.h */,