forked from Archive/PX4-Autopilot
105 lines
3.2 KiB
C
105 lines
3.2 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file Safety button logic.
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*/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <stdbool.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <debug.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <nuttx/clock.h>
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#include <arch/board/up_boardinitialize.h>
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#include <arch/board/drv_gpio.h>
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#include <arch/board/drv_ppm_input.h>
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#include <arch/board/up_hrt.h>
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#include "px4io.h"
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static struct hrt_call arming_call;
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/*
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* Count the number of times in a row that we see the arming button
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* held down.
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*/
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static unsigned arm_counter;
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#define ARM_COUNTER_THRESHOLD 10
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static bool safety_led_state;
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static void safety_check_button(void *arg);
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void
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safety_init(void)
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{
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/* arrange for the button handler to be called at 10Hz */
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hrt_call_every(&arming_call, 1000, 100000, safety_check_button, NULL);
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}
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static void
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safety_check_button(void *arg)
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{
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/*
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* Debounce the safety button, change state if it has been held for long enough.
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*
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* Ignore the button if FMU has not said it's OK to arm yet.
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*/
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if (BUTTON_SAFETY && system_state.arm_ok) {
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if (arm_counter < ARM_COUNTER_THRESHOLD) {
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arm_counter++;
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} else if (arm_counter == ARM_COUNTER_THRESHOLD) {
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/* change our armed state and notify the FMU */
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system_state.armed = !system_state.armed;
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arm_counter++;
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system_state.fmu_report_due = true;
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}
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} else {
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arm_counter = 0;
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}
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/* when armed, toggle the LED; when safe, leave it on */
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if (system_state.armed) {
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safety_led_state = !safety_led_state;
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} else {
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safety_led_state = true;
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}
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LED_SAFETY(safety_led_state);
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}
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