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| author | px4dev <px4@purgatory.org> | 2012-12-19 22:24:00 -0800 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2012-12-19 22:24:00 -0800 |
| commit | 73763353d094e151dc95bc827a1bb4da84939ed0 (patch) | |
| tree | 875e5a75195ebe1251f38f98c201b9f1cf6cbbbc /apps/px4io | |
| parent | fd771f67f2a2392d5ba2b7dd74100338859af6d7 (diff) | |
| parent | f40e4d13aa1c6cd854b848f1cd0c3a017e719138 (diff) | |
| download | px4-firmware-73763353d094e151dc95bc827a1bb4da84939ed0.tar.gz px4-firmware-73763353d094e151dc95bc827a1bb4da84939ed0.tar.bz2 px4-firmware-73763353d094e151dc95bc827a1bb4da84939ed0.zip | |
Merge branch 'master' into DSM-decoder-fix
Diffstat (limited to 'apps/px4io')
| -rw-r--r-- | apps/px4io/safety.c | 33 |
1 files changed, 26 insertions, 7 deletions
diff --git a/apps/px4io/safety.c b/apps/px4io/safety.c index d5bd103c1..60d20905a 100644 --- a/apps/px4io/safety.c +++ b/apps/px4io/safety.c @@ -60,10 +60,19 @@ static struct hrt_call failsafe_call; */ static unsigned counter; +/* + * Define the various LED flash sequences for each system state. + */ +#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); @@ -120,15 +129,25 @@ safety_check_button(void *arg) counter = 0; } - /* when armed, toggle the LED; 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) { - safety_led_state = !safety_led_state; - } else { - safety_led_state = true; + if (system_state.arm_ok) { + pattern = LED_PATTERN_IO_FMU_ARMED; + } else { + pattern = LED_PATTERN_IO_ARMED; + } + } else if (system_state.arm_ok) { + pattern = LED_PATTERN_FMU_ARMED; } - 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) |