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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.sbg
11 changed files with 135 additions and 17 deletions
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/****************************************************************************
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* |
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* Copyright (C) 2020 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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#include <px4_platform_common/external_reset_lockout.h> |
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#if defined(BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE) |
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#include <px4_platform_common/atomic.h> |
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static px4::atomic<uint8_t> lockout_states {0}; |
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void px4_indicate_external_reset_lockout(LockoutComponent component, bool enabled) |
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{ |
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const uint8_t component_mask = 1 << (uint8_t)component; |
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uint8_t current_state; |
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if (enabled) { |
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current_state = lockout_states.fetch_or(component_mask) | component_mask; |
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} else { |
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current_state = lockout_states.fetch_and(~component_mask) & ~component_mask; |
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} |
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BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(current_state != 0); |
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} |
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#else |
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void px4_indicate_external_reset_lockout(LockoutComponent component, bool enabled) {} |
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#endif /* BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE */ |
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/****************************************************************************
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* |
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* Copyright (C) 2020 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
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* 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. |
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* 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. |
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* |
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* 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. |
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* |
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****************************************************************************/ |
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#pragma once |
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#include <px4_platform_common/px4_config.h> |
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#include <stdint.h> |
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enum class LockoutComponent : uint8_t { |
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Commander = 0, |
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SystemShutdownLock = 1 |
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}; |
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/**
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* A board may provide a mechanism to signal that PX4 is in a critical state |
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* and should not be reset/powered off. |
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* The main use is when the system is armed, but also during parameter saving. |
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* |
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* This can be called from different threads. |
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* |
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* @param component calling component |
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* @param enabled true if compoment is in critical state |
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*/ |
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void px4_indicate_external_reset_lockout(LockoutComponent component, bool enabled); |
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