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Code Issues Releases Activity

OP-1477 - change led rate so that's less annoying

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This commit is contained in:
Alessio Morale 2014-09-23 11:39:31 +02:00
parent 7a9a0868c9
commit 7e78194e12
1 changed files with 13 additions and 3 deletions
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16
flight/modules/gpsp/gpsdsysmod.c
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@ -52,6 +52,9 @@ SystemStatsData systemStats;
extern uint32_t pios_com_main_id;
// Private constants
#define SYSTEM_UPDATE_PERIOD_MS 1
#define HB_LED_BLINK_ON_PERIOD_MS 100
#define HB_LED_BLINK_OFF_PERIOD_MS 1900
#define SYSTEM_UPDATE_PERIOD_MS 1
#define STACK_SIZE_BYTES 450
@ -128,16 +131,23 @@ static void gpspSystemTask(__attribute__((unused)) void *parameters)
PIOS_COM_ChangeBaud(pios_com_main_id, 115200);
static TickType_t lastUpdate;
setupGPS();
uint8_t counter = 0;
uint32_t ledTimer = 0;
while (1) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_SYSTEM);
#endif
// NotificationUpdateStatus();
// Update the system statistics
if (!(++counter & 0x7F)) {
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
uint32_t ledPeriod = PIOS_DELAY_DiffuS(ledTimer) / 1000;
if (ledPeriod < HB_LED_BLINK_ON_PERIOD_MS) {
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
} else {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
}
if (ledPeriod > (HB_LED_BLINK_ON_PERIOD_MS + HB_LED_BLINK_OFF_PERIOD_MS)) {
ledTimer = PIOS_DELAY_GetRaw();
}
vTaskDelayUntil(&lastUpdate, SYSTEM_UPDATE_PERIOD_MS * configTICK_RATE_HZ / 1000);
handleGPS();