AP_IOMCU: add iomcu support for reversible mask

propagate armed state

libraries/AP_IOMCU/AP_IOMCU.cpp

@@ -156,10 +156,9 @@ void AP_IOMCU::thread_main(void)
 
             DEV_PRINTF("IOMCU: 0x%lx\n", config.mcuid);
 
-            // set IO_ARM_OK and FMU_ARMED
+            // set IO_ARM_OK and clear FMU_ARMED
-            if (!modify_register(PAGE_SETUP, PAGE_REG_SETUP_ARMING, 0,
+            if (!modify_register(PAGE_SETUP, PAGE_REG_SETUP_ARMING, P_SETUP_ARMING_FMU_ARMED,
                                  P_SETUP_ARMING_IO_ARM_OK |
-                                 P_SETUP_ARMING_FMU_ARMED |
                                  P_SETUP_ARMING_RC_HANDLING_DISABLED)) {
                 event_failed(mask);
                 continue;
@@ -338,7 +337,8 @@ void AP_IOMCU::thread_main(void)
             last_telem_read_ms = AP_HAL::millis();
         }
 #endif
-        if (now - last_safety_option_check_ms > 1000) {
+        // update options at the same rate that the iomcu updates the state
+        if (now - last_safety_option_check_ms > 100) {
             update_safety_options();
             last_safety_option_check_ms = now;
         }
@@ -990,6 +990,13 @@ void AP_IOMCU::set_bidir_dshot_mask(uint16_t mask)
     trigger_event(IOEVENT_SET_OUTPUT_MODE);
 }
 
+// set reversible mask
+void AP_IOMCU::set_reversible_mask(uint16_t mask)
+{
+    mode_out.reversible_mask = mask;
+    trigger_event(IOEVENT_SET_OUTPUT_MODE);
+}
+
 AP_HAL::RCOutput::output_mode AP_IOMCU::get_output_mode(uint8_t& mask) const
 {
     mask = reg_status.rcout_mask;
@@ -1022,17 +1029,23 @@ void AP_IOMCU::update_safety_options(void)
     }
     uint16_t desired_options = 0;
     uint16_t options = boardconfig->get_safety_button_options();
+    bool armed = hal.util->get_soft_armed();
     if (!(options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF)) {
         desired_options |= P_SETUP_ARMING_SAFETY_DISABLE_OFF;
     }
     if (!(options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON)) {
         desired_options |= P_SETUP_ARMING_SAFETY_DISABLE_ON;
     }
-    if (!(options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED) && AP::arming().is_armed()) {
+    if (!(options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED) && armed) {
         desired_options |= (P_SETUP_ARMING_SAFETY_DISABLE_ON | P_SETUP_ARMING_SAFETY_DISABLE_OFF);
     }
+    // update armed state
+    if (armed) {
+        desired_options |= P_SETUP_ARMING_FMU_ARMED;
+    }
+
     if (last_safety_options != desired_options) {
-        uint16_t mask = (P_SETUP_ARMING_SAFETY_DISABLE_ON | P_SETUP_ARMING_SAFETY_DISABLE_OFF);
+        uint16_t mask = (P_SETUP_ARMING_SAFETY_DISABLE_ON | P_SETUP_ARMING_SAFETY_DISABLE_OFF | P_SETUP_ARMING_FMU_ARMED);
         uint32_t bits_to_set = desired_options & mask;
         uint32_t bits_to_clear = (~desired_options) & mask;
         if (modify_register(PAGE_SETUP, PAGE_REG_SETUP_ARMING, bits_to_clear, bits_to_set)) {

libraries/AP_IOMCU/AP_IOMCU.h

@@ -110,6 +110,9 @@ public:
     // set bi-directional mask
     void set_bidir_dshot_mask(uint16_t mask);
 
+    // set reversible mask
+    void set_reversible_mask(uint16_t mask);
+
     // get output mode
     AP_HAL::RCOutput::output_mode get_output_mode(uint8_t& mask) const;
 

libraries/AP_IOMCU/iofirmware/iofirmware.cpp

@@ -920,6 +920,7 @@ bool AP_IOMCU_FW::handle_code_write()
             mode_out.mode = rx_io_packet.regs[1];
             mode_out.bdmask = rx_io_packet.regs[2];
             mode_out.esc_type = rx_io_packet.regs[3];
+            mode_out.reversible_mask = rx_io_packet.regs[4];
             break;
 
         case PAGE_REG_SETUP_HEATER_DUTY_CYCLE:
@@ -1097,6 +1098,8 @@ void AP_IOMCU_FW::safety_update(void)
             hal.rcout->force_safety_on();
         }
     }
+    // update the armed state
+    hal.util->set_soft_armed((reg_setup.arming & P_SETUP_ARMING_FMU_ARMED) != 0);
 
 #if IOMCU_ENABLE_RESET_TEST
     {
@@ -1175,6 +1178,7 @@ void AP_IOMCU_FW::rcout_config_update(void)
     // see if there is anything to do, we only support setting the mode for a particular channel once
     if ((last_output_mode_mask & mode_out.mask) == mode_out.mask
         && (last_output_bdmask & mode_out.bdmask) == mode_out.bdmask
+        && (last_output_reversible_mask & mode_out.reversible_mask) == mode_out.reversible_mask
         && last_output_esc_type == mode_out.esc_type) {
         return;
     }
@@ -1187,13 +1191,15 @@ void AP_IOMCU_FW::rcout_config_update(void)
 #endif
 #ifdef HAL_WITH_BIDIR_DSHOT
         hal.rcout->set_bidir_dshot_mask(mode_out.bdmask);
-        hal.rcout->set_dshot_esc_type(AP_HAL::RCOutput::DshotEscType(mode_out.esc_type));
 #endif
+        hal.rcout->set_reversible_mask(mode_out.reversible_mask);
+        hal.rcout->set_dshot_esc_type(AP_HAL::RCOutput::DshotEscType(mode_out.esc_type));
         hal.rcout->set_output_mode(mode_out.mask, (AP_HAL::RCOutput::output_mode)mode_out.mode);
         // enabling dshot changes the memory allocation
         reg_status.freemem = hal.util->available_memory();
         last_output_mode_mask |= mode_out.mask;
         last_output_bdmask |= mode_out.bdmask;
+        last_output_reversible_mask |= mode_out.reversible_mask;
         last_output_esc_type = mode_out.esc_type;
         break;
     case AP_HAL::RCOutput::MODE_PWM_ONESHOT:

libraries/AP_IOMCU/iofirmware/iofirmware.h

@@ -120,6 +120,7 @@ public:
     uint16_t last_output_mode_mask;
     uint16_t last_output_bdmask;
     uint16_t last_output_esc_type;
+    uint16_t last_output_reversible_mask;
 
     // MIXER values
     struct page_mixing mixing;

libraries/AP_IOMCU/iofirmware/ioprotocol.h

@@ -200,6 +200,7 @@ struct page_mode_out {
     uint16_t mode;
     uint16_t bdmask;
     uint16_t esc_type;
+    uint16_t reversible_mask;
 };
 
 struct page_dshot {