|
|
|
@ -1,17 +1,17 @@
@@ -1,17 +1,17 @@
|
|
|
|
|
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
|
|
|
/* |
|
|
|
|
failsafe support |
|
|
|
|
Andrew Tridgell, December 2011 |
|
|
|
|
* failsafe support |
|
|
|
|
* Andrew Tridgell, December 2011 |
|
|
|
|
*/ |
|
|
|
|
|
|
|
|
|
/* |
|
|
|
|
our failsafe strategy is to detect main loop lockup and switch to |
|
|
|
|
passing inputs straight from the RC inputs to RC outputs. |
|
|
|
|
* our failsafe strategy is to detect main loop lockup and switch to |
|
|
|
|
* passing inputs straight from the RC inputs to RC outputs. |
|
|
|
|
*/ |
|
|
|
|
|
|
|
|
|
/* |
|
|
|
|
this failsafe_check function is called from the core timer interrupt |
|
|
|
|
at 1kHz. |
|
|
|
|
* this failsafe_check function is called from the core timer interrupt |
|
|
|
|
* at 1kHz. |
|
|
|
|
*/ |
|
|
|
|
void failsafe_check(uint32_t tnow) |
|
|
|
|
{ |
|
|
|
|