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fix: Status LEDs solid=OK blink=error (#22)

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New LED behavior (active-low, PC15=LED1, PC14=LED2):
  Disarmed, IMU OK : LED1 solid ON  + LED2 off
  Armed            : LED1 solid ON  + LED2 solid ON
  Tilt fault       : LED1 blink 1Hz + LED2 blink 1Hz
  IMU error        : LED1 blink 1Hz + LED2 solid ON

Rule: solid = good, slow blink (~1Hz) = needs attention.
Removed the confusing fast-blink-at-5Hz-for-error and the
baro-flash-every-5s patterns.

status_update() signature changed: baro_ok → armed + tilt_fault
so the LED pattern can reflect arm state directly.

Closes #22.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
sl-firmware 2026-02-28 17:43:25 -05:00
parent f02ed8172a
commit 011f212056
3 changed files with 35 additions and 22 deletions
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14
include/status.h
View File

@ -3,5 +3,17 @@
#include <stdint.h>
void status_init(void);
void status_boot_beep(void);
void status_update(uint32_t tick, int imu_ok, int baro_ok);
/*
* status_update() — call every main loop iteration.
* Controls LED1 (PC15) and LED2 (PC14), both active-low.
*
* Solid ON = good (normal operation)
* Slow blink (~1 Hz) = needs attention (error or fault)
*
* LED1 solid + LED2 off → disarmed, IMU OK
* LED1 solid + LED2 solid → armed
* Both slow blink → tilt fault
* LED1 slow blink + LED2 solid → IMU error (solid LED2 = always-on indicator)
*/
void status_update(uint32_t tick, int imu_ok, int armed, int tilt_fault);
#endif

4
src/main.c
View File

@ -232,7 +232,9 @@ int main(void) {
CDC_Transmit((uint8_t *)buf, len);
}
status_update(now, (imu_ret == 0), (bal.state == BALANCE_ARMED));
status_update(now, (imu_ret == 0),
(bal.state == BALANCE_ARMED),
(bal.state == BALANCE_TILT_FAULT));
HAL_Delay(1);
}
}

39
src/status.c
View File

@ -42,26 +42,25 @@ void status_boot_beep(void) {
HAL_GPIO_WritePin(BEEPER_PORT, BEEPER_PIN, GPIO_PIN_RESET);
}
void status_update(uint32_t tick, int imu_ok, int baro_ok) {
if (imu_ok) {
/* Slow blink LED1 at 1Hz */
if ((tick / 500) % 2)
HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, GPIO_PIN_RESET); /* ON */
else
HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, GPIO_PIN_SET); /* OFF */
/* LED2: quick flash every 5s if baro OK */
if (baro_ok && (tick % 5000) < 100)
HAL_GPIO_WritePin(LED2_PORT, LED2_PIN, GPIO_PIN_RESET);
else
HAL_GPIO_WritePin(LED2_PORT, LED2_PIN, GPIO_PIN_SET);
} else {
/* Fast blink LED1 at 5Hz = error */
if ((tick / 100) % 2)
HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, GPIO_PIN_RESET);
else
HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, GPIO_PIN_SET);
/* LED2 solid ON */
void status_update(uint32_t tick, int imu_ok, int armed, int tilt_fault) {
/* Solid = good, blink = needs attention (1 Hz, 500ms half-period) */
GPIO_PinState blink = ((tick / 500) % 2) ? GPIO_PIN_RESET /* ON half */
: GPIO_PIN_SET; /* OFF half */
if (!imu_ok) {
/* IMU error: LED1 blinking (attention), LED2 solid ON */
HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, blink);
HAL_GPIO_WritePin(LED2_PORT, LED2_PIN, GPIO_PIN_RESET);
} else if (tilt_fault) {
/* Tilt fault: both LEDs slow blink */
HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, blink);
HAL_GPIO_WritePin(LED2_PORT, LED2_PIN, blink);
} else if (armed) {
/* Armed: both LEDs solid ON */
HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, GPIO_PIN_RESET);
HAL_GPIO_WritePin(LED2_PORT, LED2_PIN, GPIO_PIN_RESET);
} else {
/* Normal disarmed: LED1 solid ON, LED2 off */
HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, GPIO_PIN_RESET);
HAL_GPIO_WritePin(LED2_PORT, LED2_PIN, GPIO_PIN_SET);
}
}