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AP_BoardConfig: moved logic for safety button press to AP_BoardConfig

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this allows for common code between CAN and pin safety switches, as
well as making the code neater as most of the logic is related to
AP_BoardConfig options
This commit is contained in:
Andrew Tridgell 2019-09-03 12:24:18 +10:00
parent 82a98ef95d
commit 5a96e374ba
2 changed files with 38 additions and 13 deletions
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43
libraries/AP_BoardConfig/AP_BoardConfig.cpp
View File

@ -51,13 +51,11 @@
#define HAL_IMU_TEMP_DEFAULT -1 // disabled
#endif
#if HAL_HAVE_SAFETY_SWITCH
# ifndef BOARD_SAFETY_OPTION_DEFAULT
# define BOARD_SAFETY_OPTION_DEFAULT (BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF|BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON)
# endif
# ifndef BOARD_SAFETY_ENABLE
# define BOARD_SAFETY_ENABLE 1
# endif
#ifndef BOARD_SAFETY_OPTION_DEFAULT
# define BOARD_SAFETY_OPTION_DEFAULT (BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF|BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON)
#endif
#ifndef BOARD_SAFETY_ENABLE
# define BOARD_SAFETY_ENABLE 1
#endif
#ifndef BOARD_PWM_COUNT_DEFAULT
@ -187,14 +185,12 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
AP_SUBGROUPINFO(_radio, "RADIO", 11, AP_BoardConfig, AP_Radio),
#endif
#if HAL_HAVE_SAFETY_SWITCH
// @Param: SAFETYOPTION
// @DisplayName: Options for safety button behavior
// @Description: This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed
// @Bitmask: 0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms
// @User: Standard
AP_GROUPINFO("SAFETYOPTION", 13, AP_BoardConfig, state.safety_option, BOARD_SAFETY_OPTION_DEFAULT),
#endif
// @Group: RTC
// @Path: ../AP_RTC/AP_RTC.cpp
@ -345,3 +341,32 @@ void AP_BoardConfig::sensor_config_error(const char *reason)
hal.scheduler->delay(5);
}
}
/*
handle logic for safety state button press. This should be called at
10Hz when the button is pressed. The button can either be directly
on a pin or on a UAVCAN device
This function returns true if the safety state should be toggled
*/
bool AP_BoardConfig::safety_button_handle_pressed(uint8_t press_count)
{
if (press_count != 10) {
return false;
}
// get button options
uint16_t safety_options = get_safety_button_options();
if (!(safety_options & BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED) &&
hal.util->get_soft_armed()) {
return false;
}
AP_HAL::Util::safety_state safety_state = hal.util->safety_switch_state();
if (safety_state == AP_HAL::Util::SAFETY_DISARMED &&
!(safety_options & BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF)) {
return false;
}
if (safety_state == AP_HAL::Util::SAFETY_ARMED &&
!(safety_options & BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON)) {
return false;
}
return true;
}

8
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -115,7 +115,6 @@ public:
return _singleton?_singleton->pwm_count.get():8;
}
#if HAL_HAVE_SAFETY_SWITCH
enum board_safety_button_option {
BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF= (1 << 0),
BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON= (1 << 1),
@ -127,7 +126,6 @@ public:
uint16_t get_safety_button_options(void) {
return uint16_t(state.safety_option.get());
}
#endif
// return the value of BRD_SAFETY_MASK
uint16_t get_safety_mask(void) const {
@ -167,13 +165,16 @@ public:
return _singleton?(_singleton->_options & BOARD_OPTION_WATCHDOG)!=0:false;
}
// handle press of safety button. Return true if safety state
// should be toggled
bool safety_button_handle_pressed(uint8_t press_count);
private:
static AP_BoardConfig *_singleton;
AP_Int16 vehicleSerialNumber;
AP_Int8 pwm_count;
#if AP_FEATURE_BOARD_DETECT || defined(AP_FEATURE_BRD_PWM_COUNT_PARAM) || HAL_HAVE_SAFETY_SWITCH
struct {
AP_Int8 safety_enable;
AP_Int16 safety_option;
@ -186,7 +187,6 @@ private:
AP_Int8 board_type;
AP_Int8 io_enable;
} state;
#endif
#if AP_FEATURE_BOARD_DETECT
static enum px4_board_type px4_configured_board;