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system: include shutdown lock to BOARD_INDICATE_ARMED_STATE 

BOARD_INDICATE_ARMED_STATE was only set during arming, so an external
component might have reset the board during param save, leading to param
loss.

This extends the API to trigger the arming state also while the shutdown
lock is taken.
This commit is contained in:
Beat Küng 2020-10-05 16:53:16 +02:00
parent 908444bd68
commit 274ccaf57c
11 changed files with 135 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
boards/holybro/pix32v5/src/board_config.h
View File

@ -233,7 +233,7 @@
#define GPIO_nARMED_INIT /* PI0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN0)
#define GPIO_nARMED /* PI0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)
#define BOARD_INDICATE_ARMED_STATE(on_armed) px4_arch_configgpio((on_armed) ? GPIO_nARMED : GPIO_nARMED_INIT)
#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
/* PWM
*/

2
boards/nxp/fmurt1062-v1/src/board_config.h
View File

@ -231,7 +231,7 @@
#define GPIO_nARMED_INIT /* GPIO_SD_B1_01 GPIO3_IO1 */ (GPIO_PORT3 | GPIO_PIN1 | GPIO_INPUT | nARMED_INPUT_IOMUX)
#define GPIO_nARMED /* GPIO_SD_B1_01 GPIO3_IO1 */ (GPIO_PORT3 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | nARMED_OUTPUT_IOMUX)
#define BOARD_INDICATE_ARMED_STATE(on_armed) px4_arch_configgpio((on_armed) ? GPIO_nARMED : GPIO_nARMED_INIT)
#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
/* PWM
*/

2
boards/px4/fmu-v5/src/board_config.h
View File

@ -233,7 +233,7 @@
#define GPIO_nARMED_INIT /* PI0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN0)
#define GPIO_nARMED /* PI0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)
#define BOARD_INDICATE_ARMED_STATE(on_armed) px4_arch_configgpio((on_armed) ? GPIO_nARMED : GPIO_nARMED_INIT)
#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
/* PWM
*/

2
boards/px4/fmu-v5x/src/board_config.h
View File

@ -213,7 +213,7 @@
#define GPIO_nARMED /* PC12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN12)
#if !defined(TRACE_PINS)
# define BOARD_INDICATE_ARMED_STATE(on_armed) px4_arch_configgpio((on_armed) ? GPIO_nARMED : GPIO_nARMED_INIT)
# define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
#endif
/* PWM
*/

2
boards/px4/fmu-v6x/src/board_config.h
View File

@ -249,7 +249,7 @@
#if !defined(TRACE_PINS)
#define GPIO_nARMED_INIT /* PE6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6)
#define GPIO_nARMED /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
#define BOARD_INDICATE_ARMED_STATE(on_armed) px4_arch_configgpio((on_armed) ? GPIO_nARMED : GPIO_nARMED_INIT)
#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
#endif

1
platforms/common/CMakeLists.txt
View File

@ -41,6 +41,7 @@ endif()
add_library(px4_platform
board_identity.c
external_reset_lockout.cpp
i2c.cpp
i2c_spi_buses.cpp
module.cpp

62
platforms/common/external_reset_lockout.cpp Normal file
View File

@ -0,0 +1,62 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_platform_common/external_reset_lockout.h>
#if defined(BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE)
#include <px4_platform_common/atomic.h>
static px4::atomic<uint8_t> lockout_states {0};
void px4_indicate_external_reset_lockout(LockoutComponent component, bool enabled)
{
const uint8_t component_mask = 1 << (uint8_t)component;
uint8_t current_state;
if (enabled) {
current_state = lockout_states.fetch_or(component_mask) | component_mask;
} else {
current_state = lockout_states.fetch_and(~component_mask) & ~component_mask;
}
BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(current_state != 0);
}
#else
void px4_indicate_external_reset_lockout(LockoutComponent component, bool enabled) {}
#endif /* BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE */

8
platforms/common/include/px4_platform_common/board_common.h
View File

@ -285,14 +285,6 @@
# endif
#endif //
/* Provide an overridable default nop
* for BOARD_INDICATE_ARMED_STATE
*/
#if !defined(BOARD_INDICATE_ARMED_STATE)
# define BOARD_INDICATE_ARMED_STATE(on_armed)
#endif
/************************************************************************************
* Public Data
************************************************************************************/

58
platforms/common/include/px4_platform_common/external_reset_lockout.h Normal file
View File

@ -0,0 +1,58 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <px4_platform_common/px4_config.h>
#include <stdint.h>
enum class LockoutComponent : uint8_t {
Commander = 0,
SystemShutdownLock = 1
};
/**
* A board may provide a mechanism to signal that PX4 is in a critical state
* and should not be reset/powered off.
* The main use is when the system is armed, but also during parameter saving.
*
* This can be called from different threads.
*
* @param component calling component
* @param enabled true if compoment is in critical state
*/
void px4_indicate_external_reset_lockout(LockoutComponent component, bool enabled);

6
platforms/common/shutdown.cpp
View File

@ -47,6 +47,7 @@
#define MODULE_NAME "shutdown"
#endif
#include <px4_platform_common/external_reset_lockout.h>
#include <px4_platform_common/log.h>
#include <stdint.h>
@ -69,6 +70,7 @@ int px4_shutdown_lock()
if (ret == 0) {
++shutdown_lock_counter;
px4_indicate_external_reset_lockout(LockoutComponent::SystemShutdownLock, true);
return pthread_mutex_unlock(&shutdown_mutex);
}
@ -83,6 +85,10 @@ int px4_shutdown_unlock()
if (shutdown_lock_counter > 0) {
--shutdown_lock_counter;
if (shutdown_lock_counter == 0) {
px4_indicate_external_reset_lockout(LockoutComponent::SystemShutdownLock, false);
}
} else {
PX4_ERR("unmatched number of px4_shutdown_unlock() calls");
}

7
src/modules/commander/Commander.cpp
View File

@ -69,6 +69,7 @@
#include <navigator/navigation.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/external_reset_lockout.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/shutdown.h>
#include <px4_platform_common/tasks.h>
@ -2502,6 +2503,8 @@ Commander::run()
arm_auth_update(now, params_updated || param_init_forced);
px4_indicate_external_reset_lockout(LockoutComponent::Commander, armed.armed);
px4_usleep(COMMANDER_MONITORING_INTERVAL);
}
@ -2636,10 +2639,6 @@ Commander::control_status_leds(vehicle_status_s *status_local, const actuator_ar
_last_overload = overload;
/* board supports HW armed indicator */
BOARD_INDICATE_ARMED_STATE(actuator_armed->armed);
#if !defined(CONFIG_ARCH_LEDS) && defined(BOARD_HAS_CONTROL_STATUS_LEDS)
/* this runs at around 20Hz, full cycle is 16 ticks = 10/16Hz */