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Code Issues Releases Activity

Make sure all receiver drivers return correct constants for invalid channels.

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This commit is contained in:
James Cotton 2011-09-04 01:23:59 -05:00
parent 51967ae63f
commit 89e640ae7f
7 changed files with 22 additions and 22 deletions
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22
flight/Modules/ManualControl/manualcontrol.c
View File

@ -222,8 +222,6 @@ static void manualControlTask(void *parameters)
// until we decide to go to failsafe // until we decide to go to failsafe
if(cmd.Channel[n] == PIOS_RCVR_TIMEOUT) if(cmd.Channel[n] == PIOS_RCVR_TIMEOUT)
valid_input_detected = false; valid_input_detected = false;
else if (cmd.Channel[n] == PIOS_RCVR_INVALID)
scaledChannel[n] = 0;
else else
scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]); scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]);
} }
@ -235,17 +233,17 @@ static void manualControlTask(void *parameters)
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] >= 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 // Check all channel mappings are valid
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == PIOS_RCVR_INVALID || cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == PIOS_RCVR_INVALID || cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == PIOS_RCVR_INVALID || cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == PIOS_RCVR_INVALID || cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == PIOS_RCVR_INVALID || cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t) PIOS_RCVR_INVALID ||
// Check the driver is exists // Check the driver is exists
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == PIOS_RCVR_NODRIVER || cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == PIOS_RCVR_NODRIVER || cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == PIOS_RCVR_NODRIVER || cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == PIOS_RCVR_NODRIVER || cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == PIOS_RCVR_NODRIVER) { cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t) PIOS_RCVR_NODRIVER) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE; cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;

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

@ -211,12 +211,12 @@ static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel)
if (!PIOS_PPM_validate(ppm_dev)) { if (!PIOS_PPM_validate(ppm_dev)) {
/* Invalid device specified */ /* Invalid device specified */
return -1; return PIOS_RCVR_INVALID;
} }
if (channel >= PIOS_PPM_IN_MAX_NUM_CHANNELS) { if (channel >= PIOS_PPM_IN_MAX_NUM_CHANNELS) {
/* Channel out of range */ /* Channel out of range */
return -1; return PIOS_RCVR_INVALID;
} }
return ppm_dev->CaptureValue[channel]; return ppm_dev->CaptureValue[channel];
} }

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

@ -181,12 +181,12 @@ static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel)
if (!PIOS_PWM_validate(pwm_dev)) { if (!PIOS_PWM_validate(pwm_dev)) {
/* Invalid device specified */ /* Invalid device specified */
return -1; return PIOS_RCVR_INVALID;
} }
if (channel >= PIOS_PWM_NUM_INPUTS) { if (channel >= PIOS_PWM_NUM_INPUTS) {
/* Channel out of range */ /* Channel out of range */
return -1; return PIOS_RCVR_INVALID;
} }
return pwm_dev->CaptureValue[channel]; return pwm_dev->CaptureValue[channel];
} }

2
flight/PiOS/STM32F10x/pios_sbus.c
View File

@ -183,7 +183,7 @@ static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel)
{ {
/* return error if channel is not available */ /* return error if channel is not available */
if (channel >= SBUS_NUMBER_OF_CHANNELS) { if (channel >= SBUS_NUMBER_OF_CHANNELS) {
return -1; return PIOS_RCVR_INVALID;
} }
return channel_data[channel]; return channel_data[channel];
} }

6
flight/PiOS/STM32F10x/pios_spektrum.c
View File

@ -264,12 +264,12 @@ static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel)
{ {
struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)rcvr_id; struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)rcvr_id;
bool valid = PIOS_SPEKTRUM_validate(spektrum_dev); if(!PIOS_SPEKTRUM_validate(spektrum_dev))
PIOS_Assert(valid); return PIOS_RCVR_INVALID;
/* Return error if channel not available */ /* Return error if channel not available */
if (channel >= PIOS_SPEKTRUM_NUM_INPUTS) { if (channel >= PIOS_SPEKTRUM_NUM_INPUTS) {
return -1; return PIOS_RCVR_INVALID;
} }
return spektrum_dev->fsm.CaptureValue[channel]; return spektrum_dev->fsm.CaptureValue[channel];
} }

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

@ -40,8 +40,8 @@ struct pios_rcvr_driver {
extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel); extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
#define PIOS_RCVR_TIMEOUT 0 #define PIOS_RCVR_TIMEOUT 0
#define PIOS_RCVR_NODRIVER 65534 #define PIOS_RCVR_NODRIVER -2
#define PIOS_RCVR_INVALID 65535 #define PIOS_RCVR_INVALID -1
#endif /* PIOS_RCVR_H */ #endif /* PIOS_RCVR_H */

2
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -98,6 +98,7 @@
65643CAF1413322000A32F59 /* pios_sbus.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_sbus.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>"; }; 65643CB01413322000A32F59 /* pios_spektrum_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_spektrum_priv.h; sourceTree = "<group>"; };
65643CB91413456D00A32F59 /* pios_tim.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_tim.c; sourceTree = "<group>"; }; 65643CB91413456D00A32F59 /* pios_tim.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_tim.c; sourceTree = "<group>"; };
65643CBA141350C200A32F59 /* pios_sbus.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_sbus.c; 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; }; 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; }; 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>"; }; 657CEEAD121DB6C8007A1FBE /* homelocation.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = homelocation.xml; sourceTree = "<group>"; };
@ -7779,6 +7780,7 @@
65E8F0E411EFF25C00BBF654 /* pios_ppm.c */, 65E8F0E411EFF25C00BBF654 /* pios_ppm.c */,
65E8F0E511EFF25C00BBF654 /* pios_pwm.c */, 65E8F0E511EFF25C00BBF654 /* pios_pwm.c */,
6589A9DB131DEE76006BD67C /* pios_rtc.c */, 6589A9DB131DEE76006BD67C /* pios_rtc.c */,
65643CBA141350C200A32F59 /* pios_sbus.c */,
65E8F0E611EFF25C00BBF654 /* pios_servo.c */, 65E8F0E611EFF25C00BBF654 /* pios_servo.c */,
65E8F0E711EFF25C00BBF654 /* pios_spektrum.c */, 65E8F0E711EFF25C00BBF654 /* pios_spektrum.c */,
65E8F0E811EFF25C00BBF654 /* pios_spi.c */, 65E8F0E811EFF25C00BBF654 /* pios_spi.c */,