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Code Issues Releases Activity

Merge branch 'safer_failsafe' into next

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This commit is contained in:
James Cotton 2011-09-06 16:23:11 -05:00
commit 8f7712435f
8 changed files with 138 additions and 29 deletions
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68
flight/Modules/ManualControl/manualcontrol.c
View File

@ -81,6 +81,7 @@ static void updateActuatorDesired(ManualControlCommandData * cmd);
static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings); static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
static void processFlightMode(ManualControlSettingsData * settings, float flightMode); static void processFlightMode(ManualControlSettingsData * settings, float flightMode);
static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings); static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
static void setArmedIfChanged(uint8_t val);
static void manualControlTask(void *parameters); static void manualControlTask(void *parameters);
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral); static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
@ -202,6 +203,8 @@ static void manualControlTask(void *parameters)
if (!ManualControlCommandReadOnly(&cmd)) { if (!ManualControlCommandReadOnly(&cmd)) {
bool valid_input_detected = true;
// Read channel values in us // Read channel values in us
for (uint8_t n = 0; for (uint8_t n = 0;
n < MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM && n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; n < MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM && n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM;
@ -209,13 +212,17 @@ static void manualControlTask(void *parameters)
extern uint32_t pios_rcvr_group_map[]; extern uint32_t pios_rcvr_group_map[];
if (settings.ChannelGroups[n] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { if (settings.ChannelGroups[n] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
cmd.Channel[n] = -1; cmd.Channel[n] = PIOS_RCVR_INVALID;
} else if (!pios_rcvr_group_map[settings.ChannelGroups[n]]) {
cmd.Channel[n] = -2;
} else { } else {
cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_group_map[settings.ChannelGroups[n]], cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_group_map[settings.ChannelGroups[n]],
settings.ChannelNumber[n]); settings.ChannelNumber[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
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]);
} }
@ -224,15 +231,33 @@ static void manualControlTask(void *parameters)
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
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
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t) PIOS_RCVR_INVALID ||
// Check the driver is exists
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == (uint16_t) 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;
ManualControlCommandSet(&cmd); ManualControlCommandSet(&cmd);
// Need to do this here since we don't process armed status. Since this shouldn't happen in flight (changed config)
// immediately disarm
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
continue; continue;
} }
// decide if we have valid manual input or not // 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_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_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]); validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH]);
@ -257,7 +282,30 @@ static void manualControlTask(void *parameters)
// Important: Throttle < 0 will reset Stabilization coefficients among other things. Either change this, // Important: Throttle < 0 will reset Stabilization coefficients among other things. Either change this,
// or leave throttle at IDLE speed or above when going into AUTO-failsafe. // or leave throttle at IDLE speed or above when going into AUTO-failsafe.
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
ManualControlCommandSet(&cmd);
AccessoryDesiredData accessory;
// Set Accessory 0
if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] !=
MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = 0;
if(AccessoryDesiredInstSet(0, &accessory) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
// Set Accessory 1
if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1] !=
MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = 0;
if(AccessoryDesiredInstSet(1, &accessory) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
// Set Accessory 2
if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2] !=
MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = 0;
if(AccessoryDesiredInstSet(2, &accessory) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
} else { } else {
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL); AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
@ -293,13 +341,15 @@ static void manualControlTask(void *parameters)
processFlightMode(&settings, flightMode); processFlightMode(&settings, flightMode);
}
// Process arming outside conditional so system will disarm when disconnected
processArm(&cmd, &settings); processArm(&cmd, &settings);
// Update cmd object // Update cmd object
ManualControlCommandSet(&cmd); ManualControlCommandSet(&cmd);
}
} else { } else {
ManualControlCommandGet(&cmd); /* Under GCS control */ ManualControlCommandGet(&cmd); /* Under GCS control */
} }
@ -624,7 +674,7 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData
} else { } else {
// Not really needed since this function not called when disconnected // Not really needed since this function not called when disconnected
if (cmd->Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE) if (cmd->Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE)
return; lowThrottle = true;
// The throttle is not low, in case we where arming or disarming, abort // The throttle is not low, in case we where arming or disarming, abort
if (!lowThrottle) { if (!lowThrottle) {

12
flight/PiOS/Common/pios_rcvr.c
View File

@ -76,8 +76,20 @@ out_fail:
return(-1); return(-1);
} }
/**
* @brief Reads an input channel from the appropriate driver
* @param[in] rcvr_id driver to read from
* @param[in] channel channel to read
* @returns Unitless input value
* @retval PIOS_RCVR_TIMEOUT indicates a failsafe or timeout from that channel
* @retval PIOS_RCVR_INVALID invalid channel for this driver (usually out of range supported)
* @retval PIOS_RCVR_NODRIVER driver was not initialized
*/
int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel) 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; struct pios_rcvr_dev * rcvr_dev = (struct pios_rcvr_dev *)rcvr_id;
if (!PIOS_RCVR_validate(rcvr_dev)) { if (!PIOS_RCVR_validate(rcvr_dev)) {

13
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_SYNC_PULSE_US 3800 // microseconds
#define PIOS_PPM_IN_MIN_CHANNEL_PULSE_US 750 // microseconds #define PIOS_PPM_IN_MIN_CHANNEL_PULSE_US 750 // microseconds
#define PIOS_PPM_IN_MAX_CHANNEL_PULSE_US 2250 // microseconds #define PIOS_PPM_IN_MAX_CHANNEL_PULSE_US 2250 // microseconds
#define PIOS_PPM_INPUT_INVALID 0
/* Local Variables */ /* Local Variables */
static TIM_ICInitTypeDef TIM_ICInitStructure; static TIM_ICInitTypeDef TIM_ICInitStructure;
@ -212,12 +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];
} }
@ -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; for (uint32_t i = ppm_dev->NumChannels;
i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) { 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 */ /* Not a valid pulse duration */
ppm_dev->Tracking = FALSE; ppm_dev->Tracking = FALSE;
for (uint32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) { 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; ppm_dev->Tracking = FALSE;
for (int32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) { for (int32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) {
ppm_dev->CaptureValue[i] = PIOS_PPM_INPUT_INVALID; ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
ppm_dev->CaptureValueNewFrame[i] = PIOS_PPM_INPUT_INVALID; ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT;
} }
} }

28
flight/PiOS/STM32F10x/pios_pwm.c
View File

@ -42,6 +42,8 @@ const struct pios_rcvr_driver pios_pwm_rcvr_driver = {
}; };
/* Local Variables */ /* Local Variables */
/* 100 ms timeout without updates on channels */
const static uint32_t PWM_SUPERVISOR_TIMEOUT = 100000;
enum pios_pwm_dev_magic { enum pios_pwm_dev_magic {
PIOS_PWM_DEV_MAGIC = 0xab30293c, PIOS_PWM_DEV_MAGIC = 0xab30293c,
@ -56,6 +58,7 @@ struct pios_pwm_dev {
uint16_t FallValue[PIOS_PWM_NUM_INPUTS]; uint16_t FallValue[PIOS_PWM_NUM_INPUTS];
uint32_t CaptureValue[PIOS_PWM_NUM_INPUTS]; uint32_t CaptureValue[PIOS_PWM_NUM_INPUTS];
uint32_t CapCounter[PIOS_PWM_NUM_INPUTS]; uint32_t CapCounter[PIOS_PWM_NUM_INPUTS];
uint32_t us_since_update[PIOS_PWM_NUM_INPUTS];
}; };
static bool PIOS_PWM_validate(struct pios_pwm_dev * pwm_dev) static bool PIOS_PWM_validate(struct pios_pwm_dev * pwm_dev)
@ -120,7 +123,7 @@ int32_t PIOS_PWM_Init(uint32_t * pwm_id, const struct pios_pwm_cfg * cfg)
pwm_dev->CaptureState[i] = 0; pwm_dev->CaptureState[i] = 0;
pwm_dev->RiseValue[i] = 0; pwm_dev->RiseValue[i] = 0;
pwm_dev->FallValue[i] = 0; pwm_dev->FallValue[i] = 0;
pwm_dev->CaptureValue[i] = 0; pwm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
} }
uint32_t tim_id; uint32_t tim_id;
@ -152,6 +155,10 @@ int32_t PIOS_PWM_Init(uint32_t * pwm_id, const struct pios_pwm_cfg * cfg)
TIM_ITConfig(chan->timer, TIM_IT_CC4, ENABLE); TIM_ITConfig(chan->timer, TIM_IT_CC4, ENABLE);
break; break;
} }
// Need the update event for that timer to detect timeouts
TIM_ITConfig(chan->timer, TIM_IT_Update, ENABLE);
} }
*pwm_id = (uint32_t) pwm_dev; *pwm_id = (uint32_t) pwm_dev;
@ -174,12 +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];
} }
@ -193,6 +200,20 @@ static void PIOS_PWM_tim_overflow_cb (uint32_t tim_id, uint32_t context, uint8_t
return; return;
} }
if (channel >= pwm_dev->cfg->num_channels) {
/* Channel out of range */
return;
}
pwm_dev->us_since_update[channel] += count;
if(pwm_dev->us_since_update[channel] >= PWM_SUPERVISOR_TIMEOUT) {
pwm_dev->CaptureState[channel] = 0;
pwm_dev->RiseValue[channel] = 0;
pwm_dev->FallValue[channel] = 0;
pwm_dev->CaptureValue[channel] = PIOS_RCVR_TIMEOUT;
pwm_dev->us_since_update[channel] = 0;
}
return; return;
} }
@ -215,6 +236,7 @@ static void PIOS_PWM_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t cha
if (pwm_dev->CaptureState[chan_idx] == 0) { if (pwm_dev->CaptureState[chan_idx] == 0) {
pwm_dev->RiseValue[chan_idx] = count; pwm_dev->RiseValue[chan_idx] = count;
pwm_dev->us_since_update[chan_idx] = 0;
} else { } else {
pwm_dev->FallValue[chan_idx] = count; pwm_dev->FallValue[chan_idx] = count;
} }

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

@ -59,7 +59,7 @@ static void PIOS_SBUS_Supervisor(uint32_t sbus_id);
static void reset_channels(void) static void reset_channels(void)
{ {
for (int i = 0; i < SBUS_NUMBER_OF_CHANNELS; i++) { for (int i = 0; i < SBUS_NUMBER_OF_CHANNELS; i++) {
channel_data[i] = 0; channel_data[i] = PIOS_RCVR_TIMEOUT;
} }
} }
@ -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];
} }

10
flight/PiOS/STM32F10x/pios_spektrum.c
View File

@ -260,12 +260,12 @@ 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];
} }
@ -334,8 +334,8 @@ static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id)
/* signal lost */ /* signal lost */
fsm->sync_of = 0; fsm->sync_of = 0;
for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) { for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {
fsm->CaptureValue[i] = 0; fsm->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
fsm->CaptureValueTemp[i] = 0; fsm->CaptureValueTemp[i] = PIOS_RCVR_TIMEOUT;
} }
} }
spektrum_dev->supv_timer = 0; spektrum_dev->supv_timer = 0;

10
flight/PiOS/inc/pios_rcvr.h
View File

@ -39,6 +39,16 @@ struct pios_rcvr_driver {
/* Public Functions */ /* Public Functions */
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 error codes for PIOS_RCVR_Get */
enum PIOS_RCVR_errors {
/*! Indicates that a failsafe condition or missing receiver detected for that channel */
PIOS_RCVR_TIMEOUT = 0,
/*! Channel is invalid for this driver (usually out of range supported) */
PIOS_RCVR_INVALID = -1,
/*! Indicates that the driver for this channel has not been initialized */
PIOS_RCVR_NODRIVER = -2
};
#endif /* PIOS_RCVR_H */ #endif /* PIOS_RCVR_H */
/** /**

16
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -91,6 +91,14 @@
65632DF51251650300469B77 /* pios_board.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board.h; sourceTree = "<group>"; }; 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>"; }; 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>"; }; 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>"; };
65643CB91413456D00A32F59 /* pios_tim.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_tim.c; sourceTree = "<group>"; };
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@ -7724,11 +7732,17 @@
65E8F04811EFF25C00BBF654 /* pios_ppm.h */, 65E8F04811EFF25C00BBF654 /* pios_ppm.h */,
65E8F04911EFF25C00BBF654 /* pios_pwm.h */, 65E8F04911EFF25C00BBF654 /* pios_pwm.h */,
657FF86A12EA8BFB00801617 /* pios_pwm_priv.h */, 657FF86A12EA8BFB00801617 /* pios_pwm_priv.h */,
65643CAC1413322000A32F59 /* pios_rcvr.h */,
65643CAB1413322000A32F59 /* pios_rcvr_priv.h */,
6589A9E2131DF1C7006BD67C /* pios_rtc.h */, 6589A9E2131DF1C7006BD67C /* pios_rtc.h */,
65643CAD1413322000A32F59 /* pios_rtc_priv.h */,
65643CAE1413322000A32F59 /* pios_sbus_priv.h */,
65643CAF1413322000A32F59 /* pios_sbus.h */,
65E8F04A11EFF25C00BBF654 /* pios_sdcard.h */, 65E8F04A11EFF25C00BBF654 /* pios_sdcard.h */,
65E8F04B11EFF25C00BBF654 /* pios_servo.h */, 65E8F04B11EFF25C00BBF654 /* pios_servo.h */,
65FBE14412E7C98100176B5A /* pios_servo_priv.h */, 65FBE14412E7C98100176B5A /* pios_servo_priv.h */,
65E8F04C11EFF25C00BBF654 /* pios_spektrum.h */, 65E8F04C11EFF25C00BBF654 /* pios_spektrum.h */,
65643CB01413322000A32F59 /* pios_spektrum_priv.h */,
65E8F04D11EFF25C00BBF654 /* pios_spi.h */, 65E8F04D11EFF25C00BBF654 /* pios_spi.h */,
65E8F04E11EFF25C00BBF654 /* pios_spi_priv.h */, 65E8F04E11EFF25C00BBF654 /* pios_spi_priv.h */,
65E8F04F11EFF25C00BBF654 /* pios_stm32.h */, 65E8F04F11EFF25C00BBF654 /* pios_stm32.h */,
@ -7766,10 +7780,12 @@
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 */,
65E8F0E911EFF25C00BBF654 /* pios_sys.c */, 65E8F0E911EFF25C00BBF654 /* pios_sys.c */,
65643CB91413456D00A32F59 /* pios_tim.c */,
65E8F0EA11EFF25C00BBF654 /* pios_usart.c */, 65E8F0EA11EFF25C00BBF654 /* pios_usart.c */,
65E8F0ED11EFF25C00BBF654 /* pios_usb_hid.c */, 65E8F0ED11EFF25C00BBF654 /* pios_usb_hid.c */,
651CF9E5120B5D8300EEFD70 /* pios_usb_hid_desc.c */, 651CF9E5120B5D8300EEFD70 /* pios_usb_hid_desc.c */,