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px4-firmware
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Added more LED state logic and improve code. 

The LED will now also indicate when the FMU is ARMED. Switched to using
a 16-bit value where each bit indicates what state the LED should be
in.
This commit is contained in:
Simon Wilks 2012-12-08 13:39:28 +01:00
parent 197e573885
commit 03b51c69e0
1 changed files with 20 additions and 22 deletions
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42
apps/px4io/safety.c
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@ -61,14 +61,18 @@ static struct hrt_call failsafe_call;
static unsigned counter;
/*
* Used to coordinate a special blink pattern wheb both the FMU and IO are armed.
* Define the various LED flash sequences for each system state.
*/
static unsigned blink_count = 0;
#define LED_PATTERN_SAFE 0xffff // always on
#define LED_PATTERN_FMU_ARMED 0x4444 // slow blinking
#define LED_PATTERN_IO_ARMED 0x5555 // fast blinking
#define LED_PATTERN_IO_FMU_ARMED 0x5050 // long off then double blink
static unsigned blink_counter = 0;
#define ARM_COUNTER_THRESHOLD 10
#define DISARM_COUNTER_THRESHOLD 2
static bool safety_led_state;
static bool safety_button_pressed;
static void safety_check_button(void *arg);
@ -125,31 +129,25 @@ safety_check_button(void *arg)
counter = 0;
}
/*
* When the IO is armed, toggle the LED; when IO and FMU armed use aircraft like
* pattern (long pause then 2 fast blinks); when safe, leave it on.
*/
/* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */
uint16_t pattern = LED_PATTERN_SAFE;
if (system_state.armed) {
if (system_state.arm_ok) {
/* FMU and IO are armed */
if (blink_count > 9) {
safety_led_state = !safety_led_state;
pattern = LED_PATTERN_IO_FMU_ARMED;
} else {
safety_led_state = false;
pattern = LED_PATTERN_IO_ARMED;
}
if (blink_count++ == 12) {
blink_count = 0;
} else if (system_state.arm_ok) {
pattern = LED_PATTERN_FMU_ARMED;
}
} else {
/* Only the IO is armed so use a constant blink rate */
safety_led_state = !safety_led_state;
}
} else {
safety_led_state = true;
}
LED_SAFETY(safety_led_state);
}
/* Turn the LED on if we have a 1 at the current bit position */
LED_SAFETY(pattern & (1 << blink_counter++));
if (blink_counter > 15) {
blink_counter = 0;
}
}
static void
heartbeat_blink(void *arg)