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px4-firmware
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Minor cleanups on handling, make wrong reg accesses non-fatal for the transfer

This commit is contained in:
Lorenz Meier 2014-05-16 10:43:50 +02:00
parent 5ca96631fc
commit 1b491005d1
2 changed files with 16 additions and 13 deletions
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2
src/modules/px4iofirmware/protocol.h
View File

@ -190,6 +190,8 @@
#define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* hardware rev [1] power relay 2 */
#define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* hardware rev [1] accessory power 1 */
#define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* hardware rev [1] accessory power 2 */
#else
#define PX4IO_P_SETUP_RELAYS_PAD 5
#endif
#define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */

27
src/modules/px4iofirmware/registers.c
View File

@ -161,8 +161,8 @@ volatile uint16_t r_page_setup[] =
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
[PX4IO_P_SETUP_RELAYS] = 0,
#else
/* this is unused, but we will pad it to be safe */
[PX4IO_P_SETUP_RELAYS] = 0,
/* this is unused, but we will pad it for readability (the compiler pads it automatically) */
[PX4IO_P_SETUP_RELAYS_PAD] = 0,
#endif
#ifdef ADC_VSERVO
[PX4IO_P_SETUP_VSERVO_SCALE] = 10000,
@ -526,18 +526,22 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
break;
case PX4IO_P_SETUP_PWM_DEFAULTRATE:
if (value < 50)
if (value < 50) {
value = 50;
if (value > 400)
}
if (value > 400) {
value = 400;
}
pwm_configure_rates(r_setup_pwm_rates, value, r_setup_pwm_altrate);
break;
case PX4IO_P_SETUP_PWM_ALTRATE:
if (value < 50)
if (value < 50) {
value = 50;
if (value > 400)
}
if (value > 400) {
value = 400;
}
pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value);
break;
@ -565,12 +569,13 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
// don't allow reboot while armed
return -1;
break;
}
// check the magic value
if (value != PX4IO_REBOOT_BL_MAGIC)
return -1;
if (value != PX4IO_REBOOT_BL_MAGIC) {
break;
}
// we schedule a reboot rather than rebooting
// immediately to allow the IO board to ACK
@ -585,16 +590,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
case PX4IO_P_SETUP_FORCE_SAFETY_OFF:
if (value == PX4IO_FORCE_SAFETY_MAGIC) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
} else {
return -1;
}
break;
case PX4IO_P_SETUP_RC_THR_FAILSAFE_US:
if (value > 650 && value < 2350) {
r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = value;
} else {
return -1;
}
break;