From 74bcf29c698ee9b6f8a7859d59c28f4a69a54e02 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 9 Mar 2013 13:20:05 +0100
Subject: [PATCH] Refactored debug level into proper register, px4io status now
 correctly reads it. Added more of the missing alarms clear logic, alarms
 reporting now consistent. Adding missing sign change on mode switch, fixes
 override issue when attempting to switch to auto mode. Pending outdoor tests

---
 apps/px4io/controls.c  | 4 +++-
 apps/px4io/px4io.c     | 7 +++----
 apps/px4io/registers.c | 8 +++++---
 3 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c
index 2d99116f80..b507078a17 100644
--- a/apps/px4io/controls.c
+++ b/apps/px4io/controls.c
@@ -213,7 +213,9 @@ controls_tick() {
 		if (assigned_channels == 0) {
 			rc_input_lost = true;
 		} else {
+			/* set RC OK flag and clear RC lost alarm */
 			r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK;
+			r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_RC_LOST;
 		}
 
 		/*
@@ -274,7 +276,7 @@ controls_tick() {
 		 * requested override.
 		 *
 		 */
-		if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (r_rc_values[4] > RC_CHANNEL_HIGH_THRESH))
+		if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(r_rc_values[4]) > RC_CHANNEL_HIGH_THRESH))
 			override = true;
 
 		if (override) {
diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c
index 0c48385231..9de37e1188 100644
--- a/apps/px4io/px4io.c
+++ b/apps/px4io/px4io.c
@@ -64,8 +64,7 @@ struct sys_state_s 	system_state;
 
 static struct hrt_call serial_dma_call;
 
-/* global debug level for isr_debug() */
-volatile uint8_t debug_level = 0;
+/* store i2c reset count XXX this should be a register, together with other error counters */
 volatile uint32_t i2c_loop_resets = 0;
 
 /*
@@ -90,7 +89,7 @@ static char msg[NUM_MSG][40];
 void
 isr_debug(uint8_t level, const char *fmt, ...)
 {
-	if (level > debug_level) {
+	if (level > r_page_setup[PX4IO_P_SETUP_SET_DEBUG]) {
 		return;
 	}
 	va_list ap;
@@ -219,7 +218,7 @@ user_start(int argc, char *argv[])
 			struct mallinfo minfo = mallinfo();
 
 			isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x r=%u m=%u", 
-				  (unsigned)debug_level,
+				  (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG],
 				  (unsigned)r_status_flags,
 				  (unsigned)r_setup_arming,
 				  (unsigned)r_setup_features,
diff --git a/apps/px4io/registers.c b/apps/px4io/registers.c
index 511a47f8df..645c1565d7 100644
--- a/apps/px4io/registers.c
+++ b/apps/px4io/registers.c
@@ -137,7 +137,8 @@ volatile uint16_t	r_page_setup[] =
 	[PX4IO_P_SETUP_RELAYS]			= 0,
 	[PX4IO_P_SETUP_VBATT_SCALE]		= 10000,
 	[PX4IO_P_SETUP_IBATT_SCALE]		= 0,
-	[PX4IO_P_SETUP_IBATT_BIAS]		= 0
+	[PX4IO_P_SETUP_IBATT_BIAS]		= 0,
+	[PX4IO_P_SETUP_SET_DEBUG]		= 0,
 };
 
 #define PX4IO_P_SETUP_FEATURES_VALID	(0)
@@ -201,6 +202,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 
 		system_state.fmu_data_received_time = hrt_absolute_time();
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
+        	r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST;
 		r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RAW_PWM;
 		
 		break;
@@ -351,8 +353,8 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			break;
 
 		case PX4IO_P_SETUP_SET_DEBUG:
-			debug_level = value;
-			isr_debug(0, "set debug %u\n", (unsigned)debug_level);
+			r_page_setup[PX4IO_P_SETUP_SET_DEBUG] = value;
+			isr_debug(0, "set debug %u\n", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG]);
 			break;
 
 		default: