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/* status.c */ #include "status.h" #include "led.h" static bool armed = FALSE; static unsigned int module_ready[STATUS_MODULES]; static const unsigned int module_count[STATUS_MODULES] = STATUS_COUNT; led_pattern led_pattern_stick[] = {100, 1000, 0}; led_pattern led_pattern_gyro_zero[] = {100, 200, 100, 1000, 0}; led_pattern led_pattern_gyro_rate[] = {100, 200, 100, 200, 100, 1000, 0}; led_pattern led_pattern_attitude[] = {100, 200, 100, 200, 100, 200, 100, 1000, 0}; led_pattern led_pattern_dcm_error[] = {100, 200, 100, 200, 100, 200, 100, 200, 100, 1000, 0}; bool status_armed(void) { return armed; } void status_set_ready(unsigned int module, bool ready) { int i; int all_ready; if (module >= STATUS_MODULES) return; if (ready) { if (module_ready[module] < module_count[module]) module_ready[module]++; } else { module_ready[module] = 0; } /* We can't un-arm. */ if (armed) return; all_ready = TRUE; for (i = 0; i < STATUS_MODULES; i++) if (module_ready[i] < module_count[i]) { if (all_ready) { status_set_led_pattern(i); all_ready = FALSE; } } if (all_ready) { armed = TRUE; led_set_pattern(led_pattern_active); } } void status_set_led_pattern(unsigned int module) { switch (module) { case STATUS_MODULE_STICK: led_set_pattern(led_pattern_stick); break; case STATUS_MODULE_GYRO_ZERO: led_set_pattern(led_pattern_gyro_zero); break; case STATUS_MODULE_GYRO_RATE: led_set_pattern(led_pattern_gyro_rate); break; case STATUS_MODULE_ATTITUDE: led_set_pattern(led_pattern_attitude); break; case STATUS_MODULE_DCM_ERROR: led_set_pattern(led_pattern_dcm_error); break; default: led_set_pattern(led_pattern_unknown); break; } } void init_status(void) { int i; armed = FALSE; for (i = 0; i < STATUS_MODULES; i++) module_ready[i] = 0; led_set_pattern(led_pattern_unknown); }