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decouple failsafe from the rest of the system.

Browse source 
Note: the pwm_common driver has a dependency on the main failsafe code,
the solution is probably to move some of the code into rx_pwm.
This commit is contained in:
Dominic Clifton 2014-04-21 00:46:16 +01:00
parent aef28c1c08
commit e969d184e6
29 changed files with 224 additions and 119 deletions
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116
src/failsafe.c
View file

@ -1,45 +1,73 @@
#include <stdbool.h>
#include <stdint.h>
// FIXME a solution to the dependency problems here is to roll up the failsafe configuration into a structure in failsafe.h and supply it using failsafeInit()
#include "common/axis.h" // FIXME this file should not have this dependency
#include "rx_common.h"
#include "drivers/serial_common.h" // FIXME this file should not have this dependency
#include "serial_common.h" // FIXME this file should not have this dependency
#include "flight_mixer.h" // FIXME this file should not have this dependency
#include "flight_common.h" // FIXME this file should not have this dependency
#include "sensors_common.h" // FIXME this file should not have this dependency
#include "boardalignment.h" // FIXME this file should not have this dependency
#include "battery.h" // FIXME this file should not have this dependency
#include "common/axis.h"
#include "flight_common.h"
#include "runtime_config.h"
#include "config.h"
#include "config_storage.h"
int16_t failsafeCnt = 0;
int16_t failsafeEvents = 0;
#include "failsafe.h"
bool isFailsafeIdle(void)
/*
* Usage:
*
* failsafeInit() and useFailsafeConfig() must be called before the other methods are used.
*
* failsafeInit() and useFailsafeConfig() can be called in any order.
* failsafeInit() should only be called once.
*/
static failsafe_t failsafe;
static failsafeConfig_t *failsafeConfig;
static rxConfig_t *rxConfig;
const failsafeVTable_t failsafeVTable[];
void reset(void)
{
return failsafeCnt == 0;
failsafe.counter = 0;
}
bool hasFailsafeTimerElapsed(void)
/*
* Should called when the failsafe config needs to be changed - e.g. a different profile has been selected.
*/
void useFailsafeConfig(failsafeConfig_t *failsafeConfigToUse)
{
return failsafeCnt > (5 * cfg.failsafe_delay);
failsafeConfig = failsafeConfigToUse;
reset();
}
bool shouldFailsafeForceLanding(bool armed)
failsafe_t* failsafeInit(rxConfig_t *intialRxConfig)
{
return hasFailsafeTimerElapsed() && armed;
rxConfig = intialRxConfig;
failsafe.vTable = failsafeVTable;
failsafe.events = 0;
return &failsafe;
}
bool shouldFailsafeHaveCausedLandingByNow(void)
bool isIdle(void)
{
return failsafeCnt > 5 * (cfg.failsafe_delay + cfg.failsafe_off_delay);
return failsafe.counter == 0;
}
bool hasTimerElapsed(void)
{
return failsafe.counter > (5 * failsafeConfig->failsafe_delay);
}
bool shouldForceLanding(bool armed)
{
return hasTimerElapsed() && armed;
}
bool shouldHaveCausedLandingByNow(void)
{
return failsafe.counter > 5 * (failsafeConfig->failsafe_delay + failsafeConfig->failsafe_off_delay);
}
void failsafeAvoidRearm(void)
@ -48,29 +76,45 @@ void failsafeAvoidRearm(void)
f.OK_TO_ARM = 0; // to restart accidently by just reconnect to the tx - you will have to switch off first to rearm
}
void onValidDataReceived(void)
{
if (failsafe.counter > 20)
failsafe.counter -= 20;
else
failsafe.counter = 0;
}
void updateFailsafeState(void)
void updateState(void)
{
uint8_t i;
if (!feature(FEATURE_FAILSAFE)) {
return;
}
if (hasTimerElapsed()) {
if (hasFailsafeTimerElapsed()) {
if (shouldFailsafeForceLanding(f.ARMED)) { // Stabilize, and set Throttle to specified level
if (shouldForceLanding(f.ARMED)) { // Stabilize, and set Throttle to specified level
for (i = 0; i < 3; i++) {
rcData[i] = mcfg.rxConfig.midrc; // after specified guard time after RC signal is lost (in 0.1sec)
rcData[i] = rxConfig->midrc; // after specified guard time after RC signal is lost (in 0.1sec)
}
rcData[THROTTLE] = cfg.failsafe_throttle;
failsafeEvents++;
rcData[THROTTLE] = failsafeConfig->failsafe_throttle;
failsafe.events++;
}
if (shouldFailsafeHaveCausedLandingByNow() || !f.ARMED) {
if (shouldHaveCausedLandingByNow() || !f.ARMED) {
failsafeAvoidRearm();
}
}
failsafeCnt++;
failsafe.counter++;
}
const failsafeVTable_t failsafeVTable[] = {
{
reset,
onValidDataReceived,
shouldForceLanding,
hasTimerElapsed,
shouldHaveCausedLandingByNow,
updateState,
isIdle
}
};