diff options
Diffstat (limited to 'apps/px4io/safety.c')
-rw-r--r-- | apps/px4io/safety.c | 104 |
1 files changed, 104 insertions, 0 deletions
diff --git a/apps/px4io/safety.c b/apps/px4io/safety.c new file mode 100644 index 000000000..895c33806 --- /dev/null +++ b/apps/px4io/safety.c @@ -0,0 +1,104 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + /** + * @file Safety button logic. + */ + +#include <nuttx/config.h> +#include <stdio.h> +#include <stdbool.h> +#include <fcntl.h> +#include <unistd.h> +#include <debug.h> +#include <stdlib.h> +#include <errno.h> + +#include <nuttx/clock.h> + +#include <arch/board/up_boardinitialize.h> +#include <arch/board/drv_gpio.h> +#include <arch/board/drv_ppm_input.h> +#include <arch/board/up_hrt.h> + +#include "px4io.h" + +static struct hrt_call arming_call; + +/* + * Count the number of times in a row that we see the arming button + * held down. + */ +static unsigned arm_counter; +#define ARM_COUNTER_THRESHOLD 10 + +static bool safety_led_state; + +static void safety_check_button(void *arg); + +void +safety_init(void) +{ + /* arrange for the button handler to be called at 10Hz */ + hrt_call_every(&arming_call, 1000, 100000, safety_check_button, NULL); +} + +static void +safety_check_button(void *arg) +{ + /* + * Debounce the safety button, change state if it has been held for long enough. + * + * Ignore the button if FMU has not said it's OK to arm yet. + */ + if (BUTTON_SAFETY && system_state.arm_ok) { + if (arm_counter < ARM_COUNTER_THRESHOLD) { + arm_counter++; + } else if (arm_counter == ARM_COUNTER_THRESHOLD) { + /* change our armed state and notify the FMU */ + system_state.armed = !system_state.armed; + arm_counter++; + system_state.fmu_report_due = true; + } + } else { + arm_counter = 0; + } + + /* when armed, toggle the LED; when safe, leave it on */ + if (system_state.armed) { + safety_led_state = !safety_led_state; + } else { + safety_led_state = true; + } + LED_SAFETY(safety_led_state); +} |