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Code Issues Releases Activity

OP-1012 implement several messages for alarm led

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This commit is contained in:
Alessio Morale 2013-06-15 16:38:53 +02:00
parent 49da1aca86
commit 354fdf4bdf
1 changed files with 20 additions and 12 deletions
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32
flight/modules/System/systemmod.c
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@ -167,7 +167,7 @@ static void systemTask(__attribute__((unused)) void *parameters)
{
/* start the delayed callback scheduler */
CallbackSchedulerStart();
static uint8_t cycleCount;
/* create all modules thread */
MODULE_TASKCREATE_ALL;
@ -204,6 +204,7 @@ static void systemTask(__attribute__((unused)) void *parameters)
while (1) {
// Update the system statistics
updateStats();
cycleCount = cycleCount > 0 ? cycleCount - 1 : 3;
// Update the system alarms
updateSystemAlarms();
@ -220,26 +221,33 @@ static void systemTask(__attribute__((unused)) void *parameters)
// Flash the heartbeat LED
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
uint8_t armingStatus;
FlightStatusArmedGet(&armingStatus);
if ((armingStatus == FLIGHTSTATUS_ARMED_ARMED && (cycleCount & 0x1)) ||
(armingStatus != FLIGHTSTATUS_ARMED_ARMED && (cycleCount & 0x2))) {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
} else {
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
}
DEBUG_MSG("+ 0x%08x\r\n", 0xDEADBEEF);
#endif /* PIOS_LED_HEARTBEAT */
// Turn on the error LED if an alarm is set
#if defined(PIOS_LED_ALARM)
if (AlarmsHasWarnings()) {
if (AlarmsHasCritical()) {
PIOS_LED_On(PIOS_LED_ALARM);
} else if( (AlarmsHasErrors() && (cycleCount & 0x1)) ||
(!AlarmsHasErrors() && AlarmsHasWarnings() && (cycleCount & 0x2))){
PIOS_LED_On(PIOS_LED_ALARM);
} else {
PIOS_LED_Off(PIOS_LED_ALARM);
}
#endif /* PIOS_LED_ALARM */
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
UAVObjEvent ev;
int delayTime = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED ?
SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ * 2) :
SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS;
int delayTime = SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ);
if (xQueueReceive(objectPersistenceQueue, &ev, delayTime) == pdTRUE) {
// If object persistence is updated call the callback
@ -468,14 +476,14 @@ static void updateStats()
idleCounter = 0;
}
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
if(pios_uavo_settings_fs_id){
if (pios_uavo_settings_fs_id) {
PIOS_FLASHFS_GetStats(pios_uavo_settings_fs_id, &fsStats);
stats.SysSlotsFree = fsStats.num_free_slots;
stats.SysSlotsFree = fsStats.num_free_slots;
stats.SysSlotsActive = fsStats.num_active_slots;
}
if(pios_user_fs_id){
if (pios_user_fs_id) {
PIOS_FLASHFS_GetStats(pios_user_fs_id, &fsStats);
stats.UsrSlotsFree = fsStats.num_free_slots;
stats.UsrSlotsFree = fsStats.num_free_slots;
stats.UsrSlotsActive = fsStats.num_active_slots;
}
#endif