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AP_Periph: fix dna wait blink

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bugobliterator 2021-07-23 13:49:47 +05:30 committed by Andrew Tridgell
parent 26689aabba
commit 6f3e3a913a
1 changed files with 21 additions and 20 deletions
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41
Tools/AP_Periph/can.cpp
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@ -1223,25 +1223,6 @@ static bool can_do_dna(instance_t &ins)
} }
const uint32_t now = AP_HAL::native_millis(); const uint32_t now = AP_HAL::native_millis();
const uint32_t led_pattern = 0xAAAA;
const uint32_t led_change_period = 50;
static uint8_t led_idx = 0;
static uint32_t last_led_change;
if ((now - last_led_change > led_change_period) && AP_Periph_FW::no_iface_finished_dna) {
// blink LED in recognisable pattern while waiting for DNA
#ifdef HAL_GPIO_PIN_LED
palWriteLine(HAL_GPIO_PIN_LED, (led_pattern & (1U<<led_idx))?1:0);
#elif defined(HAL_GPIO_PIN_SAFE_LED)
// or use safety LED if defined
palWriteLine(HAL_GPIO_PIN_SAFE_LED, (led_pattern & (1U<<led_idx))?1:0);
#else
(void)led_pattern;
(void)led_idx;
#endif
led_idx = (led_idx+1) % 32;
last_led_change = now;
}
uint8_t node_id_allocation_transfer_id = 0; uint8_t node_id_allocation_transfer_id = 0;
@ -1430,6 +1411,27 @@ void AP_Periph_FW::hwesc_telem_update()
void AP_Periph_FW::can_update() void AP_Periph_FW::can_update()
{ {
const uint32_t now = AP_HAL::native_millis();
const uint32_t led_pattern = 0xAAAA;
const uint32_t led_change_period = 50;
static uint8_t led_idx = 0;
static uint32_t last_led_change;
if ((now - last_led_change > led_change_period) && no_iface_finished_dna) {
// blink LED in recognisable pattern while waiting for DNA
#ifdef HAL_GPIO_PIN_LED
palWriteLine(HAL_GPIO_PIN_LED, (led_pattern & (1U<<led_idx))?1:0);
#elif defined(HAL_GPIO_PIN_SAFE_LED)
// or use safety LED if defined
palWriteLine(HAL_GPIO_PIN_SAFE_LED, (led_pattern & (1U<<led_idx))?1:0);
#else
(void)led_pattern;
(void)led_idx;
#endif
led_idx = (led_idx+1) % 32;
last_led_change = now;
}
for (auto &ins : instances) { for (auto &ins : instances) {
if (AP_HAL::millis() > ins.send_next_node_id_allocation_request_at_ms) { if (AP_HAL::millis() > ins.send_next_node_id_allocation_request_at_ms) {
can_do_dna(ins); can_do_dna(ins);
@ -1437,7 +1439,6 @@ void AP_Periph_FW::can_update()
} }
static uint32_t last_1Hz_ms; static uint32_t last_1Hz_ms;
uint32_t now = AP_HAL::native_millis();
if (now - last_1Hz_ms >= 1000) { if (now - last_1Hz_ms >= 1000) {
last_1Hz_ms = now; last_1Hz_ms = now;
process1HzTasks(AP_HAL::native_micros64()); process1HzTasks(AP_HAL::native_micros64());