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AP_IOMCU: fixed an issue with double reset of IOMCU 

if the IOMCU resets twice in quick succession then the code that
restores the safety state while flying can fail, leading to the
aircraft trying to continue flying with safety on

This results from two issues:

- a race in handling the last_safety_off variable
- the fact that plane sets the soft_armed state based on safety state
This commit is contained in:
Andrew Tridgell 2023-02-11 10:44:09 +11:00
parent a471d5a9b7
commit 65fadfa2fe
1 changed files with 14 additions and 7 deletions
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21
libraries/AP_IOMCU/AP_IOMCU.cpp
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@ -18,6 +18,7 @@
#include <AP_RCProtocol/AP_RCProtocol.h> #include <AP_RCProtocol/AP_RCProtocol.h>
#include <AP_InternalError/AP_InternalError.h> #include <AP_InternalError/AP_InternalError.h>
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include <AP_Arming/AP_Arming.h>
#include <ch.h> #include <ch.h>
extern const AP_HAL::HAL &hal; extern const AP_HAL::HAL &hal;
@ -785,7 +786,7 @@ void AP_IOMCU::update_safety_options(void)
if (!(options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON)) { if (!(options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON)) {
desired_options |= P_SETUP_ARMING_SAFETY_DISABLE_ON; desired_options |= P_SETUP_ARMING_SAFETY_DISABLE_ON;
} }
if (!(options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED) && hal.util->get_soft_armed()) { if (!(options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED) && AP::arming().is_armed()) {
desired_options |= (P_SETUP_ARMING_SAFETY_DISABLE_ON | P_SETUP_ARMING_SAFETY_DISABLE_OFF); desired_options |= (P_SETUP_ARMING_SAFETY_DISABLE_ON | P_SETUP_ARMING_SAFETY_DISABLE_OFF);
} }
if (last_safety_options != desired_options) { if (last_safety_options != desired_options) {
@ -915,7 +916,7 @@ void AP_IOMCU::shutdown(void)
*/ */
void AP_IOMCU::bind_dsm(uint8_t mode) void AP_IOMCU::bind_dsm(uint8_t mode)
{ {
if (!is_chibios_backend || hal.util->get_soft_armed()) { if (!is_chibios_backend || AP::arming().is_armed()) {
// only with ChibiOS IO firmware, and disarmed // only with ChibiOS IO firmware, and disarmed
return; return;
} }
@ -1021,7 +1022,9 @@ void AP_IOMCU::check_iomcu_reset(void)
return; return;
} }
uint32_t dt_ms = reg_status.timestamp_ms - last_iocmu_timestamp_ms; uint32_t dt_ms = reg_status.timestamp_ms - last_iocmu_timestamp_ms;
uint32_t ts1 = last_iocmu_timestamp_ms; #if IOMCU_DEBUG_ENABLE
const uint32_t ts1 = last_iocmu_timestamp_ms;
#endif
// when we are in an expected delay allow for a larger time // when we are in an expected delay allow for a larger time
// delta. This copes with flash erase, such as bootloader update // delta. This copes with flash erase, such as bootloader update
const uint32_t max_delay = hal.scheduler->in_expected_delay()?5000:500; const uint32_t max_delay = hal.scheduler->in_expected_delay()?5000:500;
@ -1034,19 +1037,23 @@ void AP_IOMCU::check_iomcu_reset(void)
} }
detected_io_reset = true; detected_io_reset = true;
INTERNAL_ERROR(AP_InternalError::error_t::iomcu_reset); INTERNAL_ERROR(AP_InternalError::error_t::iomcu_reset);
hal.console->printf("IOMCU reset t=%u %u %u dt=%u\n", debug("IOMCU reset t=%u %u %u dt=%u\n",
unsigned(AP_HAL::millis()), unsigned(ts1), unsigned(reg_status.timestamp_ms), unsigned(dt_ms)); unsigned(AP_HAL::millis()), unsigned(ts1), unsigned(reg_status.timestamp_ms), unsigned(dt_ms));
if (last_safety_off && !reg_status.flag_safety_off && hal.util->get_soft_armed()) { bool have_forced_off = false;
if (last_safety_off && !reg_status.flag_safety_off && AP::arming().is_armed()) {
AP_BoardConfig *boardconfig = AP_BoardConfig::get_singleton(); AP_BoardConfig *boardconfig = AP_BoardConfig::get_singleton();
uint16_t options = boardconfig?boardconfig->get_safety_button_options():0; uint16_t options = boardconfig?boardconfig->get_safety_button_options():0;
if (safety_forced_off || (options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED) == 0) { if (safety_forced_off || (options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED) == 0) {
// IOMCU has reset while armed with safety off - force it off // IOMCU has reset while armed with safety off - force it off
// again so we can keep flying // again so we can keep flying
have_forced_off = true;
force_safety_off(); force_safety_off();
} }
} }
last_safety_off = reg_status.flag_safety_off; if (!have_forced_off) {
last_safety_off = reg_status.flag_safety_off;
}
// we need to ensure the mixer data and the rates are sent over to // we need to ensure the mixer data and the rates are sent over to
// the IOMCU // the IOMCU