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px4-firmware
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px4io: moved blue heartbeat LED to main loop 

this allows us to tell if the main loop is running by looking for a
blinking blue LED
This commit is contained in:
Andrew Tridgell 2013-10-30 15:27:48 +11:00 committed by Lorenz Meier
parent 97af3d2204
commit 50d5241985
2 changed files with 14 additions and 15 deletions
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13
src/modules/px4iofirmware/px4io.c
View File

@ -117,6 +117,13 @@ show_debug_messages(void)
}
}
static void
heartbeat_blink(void)
{
static bool heartbeat = false;
LED_BLUE(heartbeat = !heartbeat);
}
int
user_start(int argc, char *argv[])
{
@ -201,6 +208,7 @@ user_start(int argc, char *argv[])
*/
uint64_t last_debug_time = 0;
uint64_t last_heartbeat_time = 0;
for (;;) {
/* track the rate at which the loop is running */
@ -216,6 +224,11 @@ user_start(int argc, char *argv[])
controls_tick();
perf_end(controls_perf);
if ((hrt_absolute_time() - last_heartbeat_time) > 250*1000) {
last_heartbeat_time = hrt_absolute_time();
heartbeat_blink();
}
#if 0
/* check for debug activity */
show_debug_messages();

16
src/modules/px4iofirmware/safety.c
View File

@ -77,7 +77,6 @@ static unsigned blink_counter = 0;
static bool safety_button_pressed;
static void safety_check_button(void *arg);
static void heartbeat_blink(void *arg);
static void failsafe_blink(void *arg);
void
@ -86,9 +85,6 @@ safety_init(void)
/* arrange for the button handler to be called at 10Hz */
hrt_call_every(&arming_call, 1000, 100000, safety_check_button, NULL);
/* arrange for the heartbeat handler to be called at 4Hz */
hrt_call_every(&heartbeat_call, 1000, 250000, heartbeat_blink, NULL);
/* arrange for the failsafe blinker to be called at 8Hz */
hrt_call_every(&failsafe_call, 1000, 125000, failsafe_blink, NULL);
}
@ -163,16 +159,6 @@ safety_check_button(void *arg)
}
}
static void
heartbeat_blink(void *arg)
{
static bool heartbeat = false;
/* XXX add flags here that need to be frobbed by various loops */
LED_BLUE(heartbeat = !heartbeat);
}
static void
failsafe_blink(void *arg)
{
@ -192,4 +178,4 @@ failsafe_blink(void *arg)
}
LED_AMBER(failsafe);
}
}