diff options
Diffstat (limited to 'src/modules/px4iofirmware/px4io.c')
| -rw-r--r-- | src/modules/px4iofirmware/px4io.c | 67 |
1 files changed, 67 insertions, 0 deletions
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c index cd134ccb4..14ee9cb40 100644 --- a/src/modules/px4iofirmware/px4io.c +++ b/src/modules/px4iofirmware/px4io.c @@ -85,6 +85,9 @@ static volatile uint8_t msg_next_out, msg_next_in; #define NUM_MSG 2 static char msg[NUM_MSG][40]; +static void heartbeat_blink(void); +static void ring_blink(void); + /* * add a debug message to be printed on the console */ @@ -126,6 +129,65 @@ heartbeat_blink(void) LED_BLUE(heartbeat = !heartbeat); } +static void +ring_blink(void) +{ +#ifdef GPIO_LED4 + + if (/* IO armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) + /* and FMU is armed */ && (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + LED_RING(1); + return; + } + + // XXX this led code does have + // intentionally a few magic numbers. + const unsigned max_brightness = 118; + + static unsigned counter = 0; + static unsigned brightness = max_brightness; + static unsigned brightness_counter = 0; + static unsigned on_counter = 0; + + if (brightness_counter < max_brightness) { + + bool on = ((on_counter * 100) / brightness_counter+1) <= ((brightness * 100) / max_brightness+1); + + // XXX once led is PWM driven, + // remove the ! in the line below + // to return to the proper breathe + // animation / pattern (currently inverted) + LED_RING(!on); + brightness_counter++; + + if (on) { + on_counter++; + } + + } else { + + if (counter >= 62) { + counter = 0; + } + + int n; + + if (counter < 32) { + n = counter; + + } else { + n = 62 - counter; + } + + brightness = (n * n) / 8; + brightness_counter = 0; + on_counter = 0; + counter++; + } + +#endif +} + static uint64_t reboot_time; /** @@ -191,6 +253,9 @@ user_start(int argc, char *argv[]) LED_AMBER(false); LED_BLUE(false); LED_SAFETY(false); +#ifdef GPIO_LED4 + LED_RING(false); +#endif /* turn on servo power (if supported) */ #ifdef POWER_SERVO @@ -294,6 +359,8 @@ user_start(int argc, char *argv[]) heartbeat_blink(); } + ring_blink(); + check_reboot(); /* check for debug activity (default: none) */ |