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Code Issues Wiki Activity

Ensure motors are stopped before a reboot. Ensure hard fault handler

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doesn't use potentially unitialised data to update the motors.  Pause
for 50ms before rebooting after updating disabling the motors to ensure
the timer hardware and ESCs havea chance to react.

This commit might help with #123
This commit is contained in:
Dominic Clifton 2015-02-23 13:59:41 +00:00
parent b568b9c59d
commit b9e1283809
5 changed files with 37 additions and 6 deletions
Download patch file Download diff file Expand all files Collapse all files

33
src/main/main.c
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@ -127,11 +127,20 @@ void SetSysClock(void);
void SetSysClock(bool overclock);
#endif
typedef enum {
SYSTEM_STATE_INITIALISING = 0,
SYSTEM_STATE_CONFIG_LOADED = (1 << 0),
SYSTEM_STATE_SENSORS_READY = (1 << 1),
SYSTEM_STATE_MOTORS_READY = (1 << 2),
SYSTEM_STATE_READY = (1 << 7)
} systemState_e;
static uint8_t systemState = SYSTEM_STATE_INITIALISING;
void init(void)
{
uint8_t i;
drv_pwm_config_t pwm_params;
bool sensorsOK = false;
printfSupportInit();
@ -140,6 +149,8 @@ void init(void)
ensureEEPROMContainsValidData();
readEEPROM();
systemState |= SYSTEM_STATE_CONFIG_LOADED;
#ifdef STM32F303
// start fpu
SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
@ -222,6 +233,8 @@ void init(void)
mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
systemState |= SYSTEM_STATE_MOTORS_READY;
#ifdef BEEPER
beeperConfig_t beeperConfig = {
.gpioPin = BEEP_PIN,
@ -300,11 +313,12 @@ void init(void)
}
#endif
sensorsOK = sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, currentProfile->mag_declination);
// if gyro was not detected due to whatever reason, we give up now.
if (!sensorsOK)
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, currentProfile->mag_declination)) {
// if gyro was not detected due to whatever reason, we give up now.
failureMode(3);
}
systemState |= SYSTEM_STATE_SENSORS_READY;
LED1_ON;
LED0_OFF;
@ -329,7 +343,9 @@ void init(void)
serialInit(&masterConfig.serialConfig);
failsafe = failsafeInit(&masterConfig.rxConfig);
beepcodeInit(failsafe);
rxInit(&masterConfig.rxConfig, failsafe);
#ifdef GPS
@ -425,6 +441,8 @@ void init(void)
#ifdef CJMCU
LED2_ON;
#endif
systemState |= SYSTEM_STATE_READY;
}
#ifdef SOFTSERIAL_LOOPBACK
@ -453,6 +471,9 @@ int main(void) {
void HardFault_Handler(void)
{
// fall out of the sky
writeAllMotors(masterConfig.escAndServoConfig.mincommand);
uint8_t requiredState = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY;
if ((systemState & requiredState) == requiredState) {
stopMotors();
}
while (1);
}