sl-firmware
011f212056
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>
67 lines
2.2 KiB
C
67 lines
2.2 KiB
C
#include "stm32f7xx_hal.h"
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#include "config.h"
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#include "status.h"
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void status_init(void) {
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__HAL_RCC_GPIOB_CLK_ENABLE();
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__HAL_RCC_GPIOC_CLK_ENABLE();
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GPIO_InitTypeDef gpio = {0};
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gpio.Mode = GPIO_MODE_OUTPUT_PP;
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gpio.Pull = GPIO_NOPULL;
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gpio.Speed = GPIO_SPEED_FREQ_LOW;
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/* LED1 - PC15 */
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gpio.Pin = LED1_PIN;
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HAL_GPIO_Init(LED1_PORT, &gpio);
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/* LED2 - PC14 */
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gpio.Pin = LED2_PIN;
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HAL_GPIO_Init(LED2_PORT, &gpio);
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/* Buzzer - PB2 (inverted: HIGH = off) */
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gpio.Pin = BEEPER_PIN;
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HAL_GPIO_Init(BEEPER_PORT, &gpio);
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/* Start with both LEDs ON (active low) */
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HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(LED2_PORT, LED2_PIN, GPIO_PIN_RESET);
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/* Buzzer off */
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HAL_GPIO_WritePin(BEEPER_PORT, BEEPER_PIN, GPIO_PIN_RESET);
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}
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void status_boot_beep(void) {
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/* Two quick beeps */
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HAL_GPIO_WritePin(BEEPER_PORT, BEEPER_PIN, GPIO_PIN_SET);
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HAL_Delay(80);
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HAL_GPIO_WritePin(BEEPER_PORT, BEEPER_PIN, GPIO_PIN_RESET);
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HAL_Delay(80);
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HAL_GPIO_WritePin(BEEPER_PORT, BEEPER_PIN, GPIO_PIN_SET);
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HAL_Delay(80);
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HAL_GPIO_WritePin(BEEPER_PORT, BEEPER_PIN, GPIO_PIN_RESET);
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}
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void status_update(uint32_t tick, int imu_ok, int armed, int tilt_fault) {
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/* Solid = good, blink = needs attention (1 Hz, 500ms half-period) */
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GPIO_PinState blink = ((tick / 500) % 2) ? GPIO_PIN_RESET /* ON half */
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: GPIO_PIN_SET; /* OFF half */
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if (!imu_ok) {
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/* IMU error: LED1 blinking (attention), LED2 solid ON */
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HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, blink);
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HAL_GPIO_WritePin(LED2_PORT, LED2_PIN, GPIO_PIN_RESET);
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} else if (tilt_fault) {
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/* Tilt fault: both LEDs slow blink */
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HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, blink);
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HAL_GPIO_WritePin(LED2_PORT, LED2_PIN, blink);
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} else if (armed) {
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/* Armed: both LEDs solid ON */
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HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(LED2_PORT, LED2_PIN, GPIO_PIN_RESET);
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} else {
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/* Normal disarmed: LED1 solid ON, LED2 off */
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HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(LED2_PORT, LED2_PIN, GPIO_PIN_SET);
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}
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}
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