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Merge branch 'master' into DSM-decoder-fix

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px4dev
2012-12-19 22:24:00 -08:00
parent fd771f67f2 f40e4d13aa
commit 73763353d0
3 changed files with 90 additions and 215 deletions
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apps/px4io/safety.c
+26 -7
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@@ -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)