From 9861b4f2d6bd24cc989020a8311339da7f77ed9c Mon Sep 17 00:00:00 2001
From: Bob Long <robertlong13@gmail.com>
Date: Mon, 30 Dec 2024 09:57:30 +1100
Subject: [PATCH] CarbonixCommon: CX_BIT: add prearm bypass mask

---
 Tools/autotest/carbonix.py                    | 14 +++++++++
 .../hwdef/CarbonixCommon/defaults.parm        |  4 +--
 .../scripts/cx_built_in_test.lua              | 31 +++++++++++++++++--
 3 files changed, 45 insertions(+), 4 deletions(-)

diff --git a/Tools/autotest/carbonix.py b/Tools/autotest/carbonix.py
index ebacad331f..7e803260c4 100644
--- a/Tools/autotest/carbonix.py
+++ b/Tools/autotest/carbonix.py
@@ -74,6 +74,13 @@ def TestESCTelemetry(index):
             self.wait_text(lost_text, check_context=True)
             self.progress("'" + lost_text + "':" + ' Success!')
 
+            # Check that the prearm disable parameter works
+            self.progress('Checking prearm disable parameter')
+            self.set_parameter('BIT_PREARM_DIS', 0b1)
+            self.wait_ready_to_arm()
+            self.set_parameter('BIT_PREARM_DIS', 0)
+            self.wait_not_ready_to_arm()
+
             # Clear the failure
             self.progress(f'Clearing ESC telemetry failure for ESC {index}')
             self.context_clear_collection('STATUSTEXT')
@@ -164,6 +171,13 @@ def TestGPSPrearm(index):
             self.set_parameter(this_numsats, 6)
             self.wait_not_ready_to_arm()
 
+            # Check that the prearm disable parameter works
+            self.progress('Checking prearm disable parameter')
+            self.set_parameter('BIT_PREARM_DIS', 0b10)
+            self.wait_ready_to_arm()
+            self.set_parameter('BIT_PREARM_DIS', 0)
+            self.wait_not_ready_to_arm()
+
             # Restore the number of satellites
             self.progress(f'Restoring number of satellites for GPS {index}')
             self.set_parameter(this_numsats, 30)
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm
index 275549223b..10f6c78b44 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm
@@ -118,8 +118,8 @@ RTL_RADIUS,200
 SCHED_LOOP_RATE,200         # Loop Rate for Control in flight Controller set to 200Hz from 400Hz Results SW-171.
 SCR_ENABLE,1
 SCR_HEAP_SIZE,200000
-SCR_LD_CHECKSUM,1341533
-SCR_RUN_CHECKSUM,1341533
+SCR_LD_CHECKSUM,907762
+SCR_RUN_CHECKSUM,907762
 SCR_VM_I_COUNT,100000
 SERVO1_FUNCTION,33 # Motor 1
 SERVO10_FUNCTION,4 # Aileron R
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_built_in_test.lua b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_built_in_test.lua
index 3106a3da65..ed38de54aa 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_built_in_test.lua
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_built_in_test.lua
@@ -36,6 +36,29 @@ local function clear_prearm_error()
     arming:set_aux_auth_passed(auth_id)
 end
 
+local function bind_param(name)
+    local p = Parameter()
+    assert(p:init(name), string.format('could not find %s parameter', name))
+    return p
+end
+
+local function bind_add_param(name, idx, default_value)
+    assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
+    return bind_param(PARAM_TABLE_PREFIX .. name)
+end
+
+-- Set up EFI parameters
+PARAM_TABLE_PREFIX = 'BIT_'
+PARAM_TABLE_KEY = 1
+assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 1), 'could not add ' .. string.sub(PARAM_TABLE_PREFIX, 1, -2) .. ' param table')
+--[[
+  // @Param: BIT_PREARM_DIS
+  // @DisplayName: Built-In-Test Prearm Bypass Mask
+  // @Description: Allows bypassing prearm checks for individual subsystems
+  // @Bitmask: 0:ESC, 1:GPS
+--]]
+local PREARM_BYPASS = bind_add_param('PREARM_DIS', 1, 0)
+
 -- initialize function
 local function init()
     -- initialize all subsystems that are part of constructor
@@ -54,8 +77,12 @@ local function check_prearm_status()
     -- Track errors in subsystems
     local subsystems_with_errors = {}
     local msg = ""
-    for _, subsystem in pairs(subsystems) do
-        local errors = subsystem:check_for_errors()
+    local disabled_mask = PREARM_BYPASS:get() or 0
+    for i, subsystem in pairs(subsystems) do
+        local errors = {}
+        if disabled_mask & (1 << (i - 1)) == 0 then
+            errors = subsystem:check_for_errors()
+        end
         if #errors > 0 then
             table.insert(subsystems_with_errors, subsystem.name)
             for _, error in pairs(errors) do