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AP_Periph: added LED blinking while waiting for DNA

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This commit is contained in:
Andrew Tridgell 2020-05-11 14:37:23 +10:00
parent d789c618a2
commit 4c1418f325
1 changed files with 15 additions and 2 deletions
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17
Tools/AP_Periph/can.cpp
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@ -938,26 +938,39 @@ static void process1HzTasks(uint64_t timestamp_usec)
static void can_wait_node_id(void)
{
uint8_t node_id_allocation_transfer_id = 0;
const uint32_t led_pattern = 0xAAAA;
uint8_t led_idx = 0;
uint32_t last_led_change = AP_HAL::millis();
const uint32_t led_change_period = 50;
while (canardGetLocalNodeID(&canard) == CANARD_BROADCAST_NODE_ID)
{
printf("Waiting for dynamic node ID allocation... (pool %u)\n", pool_peak_percent());
stm32_watchdog_pat();
uint32_t now = AP_HAL::millis();
send_next_node_id_allocation_request_at_ms =
AP_HAL::millis() + UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS +
now + UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS +
get_random_range(UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MAX_FOLLOWUP_DELAY_MS);
while ((AP_HAL::millis() < send_next_node_id_allocation_request_at_ms) &&
while (((now=AP_HAL::millis()) < send_next_node_id_allocation_request_at_ms) &&
(canardGetLocalNodeID(&canard) == CANARD_BROADCAST_NODE_ID))
{
processTx();
processRx();
canardCleanupStaleTransfers(&canard, AP_HAL::micros64());
stm32_watchdog_pat();
if (now - last_led_change > led_change_period) {
// blink LED in recognisable pattern while waiting for DNA
palWriteLine(HAL_GPIO_PIN_LED, (led_pattern & (1U<<led_idx))?1:0);
led_idx = (led_idx+1) % 32;
last_led_change = now;
}
}
if (canardGetLocalNodeID(&canard) != CANARD_BROADCAST_NODE_ID)
{
break;