safety.c File Reference

Safety button logic. More...

#include <px4_platform_common/px4_config.h>
#include <stdbool.h>
#include <drivers/drv_hrt.h>
#include "px4io.h"

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Macros
#define	LED_PATTERN_FMU_OK_TO_ARM   0x0003
	slow blinking More...
#define	LED_PATTERN_FMU_REFUSE_TO_ARM   0x5555
	fast blinking More...
#define	LED_PATTERN_IO_ARMED   0x5050
	long off, then double blink More...
#define	LED_PATTERN_FMU_ARMED   0x5500
	long off, then quad blink More...
#define	LED_PATTERN_IO_FMU_ARMED   0xffff
	constantly on More...
#define	ARM_COUNTER_THRESHOLD   10

Functions
static void	safety_check_button (void *arg)
static void	failsafe_blink (void *arg)
void	safety_init (void)
	Safety switch/LED. More...
void	failsafe_led_init (void)

Variables
static struct hrt_call	arming_call
static struct hrt_call	failsafe_call
static unsigned	counter = 0
static unsigned	blink_counter = 0
static bool	safety_button_pressed

Detailed Description

Safety button logic.

Author

Lorenz Meier loren.nosp@m.z@px.nosp@m.4.io

Definition in file safety.c.

Macro Definition Documentation

ARM_COUNTER_THRESHOLD

#define ARM_COUNTER_THRESHOLD   10

Definition at line 76 of file safety.c.

Referenced by safety_check_button().

LED_PATTERN_FMU_ARMED

#define LED_PATTERN_FMU_ARMED   0x5500

long off, then quad blink

Definition at line 64 of file safety.c.

Referenced by safety_check_button().

LED_PATTERN_FMU_OK_TO_ARM

#define LED_PATTERN_FMU_OK_TO_ARM   0x0003

slow blinking

Definition at line 61 of file safety.c.

Referenced by safety_check_button().

LED_PATTERN_FMU_REFUSE_TO_ARM

#define LED_PATTERN_FMU_REFUSE_TO_ARM   0x5555

fast blinking

Definition at line 62 of file safety.c.

Referenced by safety_check_button().

LED_PATTERN_IO_ARMED

#define LED_PATTERN_IO_ARMED   0x5050

long off, then double blink

Definition at line 63 of file safety.c.

Referenced by safety_check_button().

LED_PATTERN_IO_FMU_ARMED

#define LED_PATTERN_IO_FMU_ARMED   0xffff

constantly on

Definition at line 65 of file safety.c.

Referenced by safety_check_button().

Function Documentation

failsafe_blink()

static void failsafe_blink ( void *  arg )

static

Definition at line 169 of file safety.c.

References LED_AMBER, PX4IO_P_STATUS_FLAGS_FMU_OK, PX4IO_P_STATUS_FLAGS_INIT_OK, and r_status_flags.

Referenced by failsafe_led_init().

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failsafe_led_init()

void failsafe_led_init

(

void

)

Definition at line 91 of file safety.c.

References failsafe_blink(), failsafe_call, and hrt_call_every().

Referenced by user_start().

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safety_check_button()

static void safety_check_button ( void *  arg )

static

Definition at line 98 of file safety.c.

References ARM_COUNTER_THRESHOLD, atomic_modify_clear(), atomic_modify_or(), blink_counter, BUTTON_SAFETY, counter, LED_PATTERN_FMU_ARMED, LED_PATTERN_FMU_OK_TO_ARM, LED_PATTERN_FMU_REFUSE_TO_ARM, LED_PATTERN_IO_ARMED, LED_PATTERN_IO_FMU_ARMED, LED_SAFETY, PX4IO_P_SETUP_ARMING_FMU_ARMED, PX4IO_P_SETUP_ARMING_IO_ARM_OK, PX4IO_P_STATUS_FLAGS_SAFETY_OFF, r_setup_arming, r_status_flags, and safety_button_pressed.

Referenced by safety_init().

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safety_init()

void safety_init

(

void

)

Safety switch/LED.

Definition at line 84 of file safety.c.

References arming_call, hrt_call_every(), and safety_check_button().

Referenced by user_start().

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Variable Documentation

arming_call

struct hrt_call arming_call

static

Definition at line 49 of file safety.c.

Referenced by safety_init().

blink_counter

unsigned blink_counter = 0

static

Definition at line 67 of file safety.c.

Referenced by safety_check_button().

counter

unsigned counter = 0

static

Definition at line 56 of file safety.c.

Referenced by Ekf::calculateOutputStates(), do_level_calibration(), LedController::get_control_data(), SRF02::init(), EstimatorInterface::isVehicleAtRest(), IridiumSBD::main_loop(), ring_blink(), Commander::run(), safety_check_button(), IridiumSBD::start(), rc_receiver::task_main(), test_corruption(), vmount_main(), px4::logger::watchdog_update(), RGBLED::~RGBLED(), RGBLED_NPC5623C::~RGBLED_NPC5623C(), RGBLED_PWM::~RGBLED_PWM(), and ToneAlarm::~ToneAlarm().

failsafe_call

struct hrt_call failsafe_call

static

Definition at line 50 of file safety.c.

Referenced by failsafe_led_init().

safety_button_pressed

bool safety_button_pressed

static

Definition at line 78 of file safety.c.

Referenced by SafetyButton::CheckButton(), and safety_check_button().