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Added more LED state logic and improve code. #98

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Dec 8, 2012
Merged

Added more LED state logic and improve code. #98

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42 changes: 20 additions & 22 deletions apps/px4io/safety.c
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Original file line number Diff line number Diff line change
Expand Up @@ -61,14 +61,18 @@ static struct hrt_call failsafe_call;
static unsigned counter;

/*
* Used to coordinate a special blink pattern wheb both the FMU and IO are armed.
* Define the various LED flash sequences for each system state.
*/
static unsigned blink_count = 0;
#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);
Expand Down Expand Up @@ -125,31 +129,25 @@ safety_check_button(void *arg)
counter = 0;
}

/*
* When the IO is armed, toggle the LED; when IO and FMU armed use aircraft like
* pattern (long pause then 2 fast blinks); 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) {
if (system_state.arm_ok) {
/* FMU and IO are armed */
if (blink_count > 9) {
safety_led_state = !safety_led_state;
} else {
safety_led_state = false;
}
if (blink_count++ == 12) {
blink_count = 0;
}
pattern = LED_PATTERN_IO_FMU_ARMED;
} else {
/* Only the IO is armed so use a constant blink rate */
safety_led_state = !safety_led_state;
pattern = LED_PATTERN_IO_ARMED;
}
} else {
safety_led_state = true;
} 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)
Expand Down