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/****************************************************************************
*
* 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 <drivers/drv_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 counter;
#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);
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.
*
*/
safety_button_pressed = BUTTON_SAFETY;
if(safety_button_pressed) {
//printf("Pressed, Arm counter: %d, Disarm counter: %d\n", arm_counter, disarm_counter);
}
/* Keep pressed for a while to arm */
if (safety_button_pressed && !system_state.armed) {
if (counter < ARM_COUNTER_THRESHOLD) {
counter++;
} else if (counter == ARM_COUNTER_THRESHOLD) {
/* change to armed state and notify the FMU */
system_state.armed = true;
counter++;
system_state.fmu_report_due = true;
}
/* Disarm quickly */
} else if (safety_button_pressed && system_state.armed) {
if (counter < DISARM_COUNTER_THRESHOLD) {
counter++;
} else if (counter == DISARM_COUNTER_THRESHOLD) {
/* change to disarmed state and notify the FMU */
system_state.armed = false;
counter++;
system_state.fmu_report_due = true;
}
} else {
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);
}
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