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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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24
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 */ /* start the delayed callback scheduler */
CallbackSchedulerStart(); CallbackSchedulerStart();
static uint8_t cycleCount;
/* create all modules thread */ /* create all modules thread */
MODULE_TASKCREATE_ALL; MODULE_TASKCREATE_ALL;
@ -204,6 +204,7 @@ static void systemTask(__attribute__((unused)) void *parameters)
while (1) { while (1) {
// Update the system statistics // Update the system statistics
updateStats(); updateStats();
cycleCount = cycleCount > 0 ? cycleCount - 1 : 3;
// Update the system alarms // Update the system alarms
updateSystemAlarms(); updateSystemAlarms();
@ -220,26 +221,33 @@ static void systemTask(__attribute__((unused)) void *parameters)
// Flash the heartbeat LED // Flash the heartbeat LED
#if defined(PIOS_LED_HEARTBEAT) #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); DEBUG_MSG("+ 0x%08x\r\n", 0xDEADBEEF);
#endif /* PIOS_LED_HEARTBEAT */ #endif /* PIOS_LED_HEARTBEAT */
// Turn on the error LED if an alarm is set // Turn on the error LED if an alarm is set
#if defined(PIOS_LED_ALARM) #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); PIOS_LED_On(PIOS_LED_ALARM);
} else { } else {
PIOS_LED_Off(PIOS_LED_ALARM); PIOS_LED_Off(PIOS_LED_ALARM);
} }
#endif /* PIOS_LED_ALARM */ #endif /* PIOS_LED_ALARM */
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
UAVObjEvent ev; UAVObjEvent ev;
int delayTime = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED ? int delayTime = SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ);
SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ * 2) :
SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS;
if (xQueueReceive(objectPersistenceQueue, &ev, delayTime) == pdTRUE) { if (xQueueReceive(objectPersistenceQueue, &ev, delayTime) == pdTRUE) {
// If object persistence is updated call the callback // If object persistence is updated call the callback