Gavan Fantom
999e129e2c
Also, implement a software watchdog to make sure that the main real-time modules are actually being run. Provide a panic facility, also giving blink codes to indicate the panic reason.
37 lines
829 B
C
37 lines
829 B
C
/* status.h */
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#include "types.h"
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bool status_armed(void);
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void status_set_ready(unsigned int module, bool ready);
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void status_set_led_pattern(unsigned int module);
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void init_status(void);
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#define STATUS_MODULE_GYRO_ZERO 0
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#define STATUS_MODULE_GYRO_RATE 1
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#define STATUS_MODULE_ATTITUDE 2
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#define STATUS_MODULE_DCM_ERROR 3
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#define STATUS_MODULE_STICK 4
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#define STATUS_MODULES 5
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#define STATUS_COUNT { \
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STATUS_COUNT_GYRO_ZERO, \
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STATUS_COUNT_GYRO_RATE, \
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STATUS_COUNT_ATTITUDE, \
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STATUS_COUNT_DCM_ERROR, \
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STATUS_COUNT_STICK \
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}
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/*
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* Each condition must be valid for so many samples, typically once
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* per 100Hz loop
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*/
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#define STATUS_COUNT_STICK 100
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#define STATUS_COUNT_GYRO_ZERO 1
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#define STATUS_COUNT_GYRO_RATE 100
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#define STATUS_COUNT_ATTITUDE 100
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#define STATUS_COUNT_DCM_ERROR 100
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