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Merge branch 'master' into betaflight

Browse source 
Conflicts:
	src/main/drivers/accgyro_mpu3050.c
	src/main/drivers/accgyro_mpu6050.c
	src/main/drivers/accgyro_spi_mpu6000.c
	src/main/drivers/accgyro_spi_mpu6500.c
	src/main/drivers/sensor.h
This commit is contained in:
borisbstyle 2015-09-15 23:36:40 +02:00
commit dae052632c
24 changed files with 201 additions and 92 deletions
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56
src/main/drivers/system.c
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@ -47,7 +47,7 @@ void registerExti15_10_CallbackHandler(extiCallbackHandler *fn)
return;
}
}
failureMode(15); // EXTI15_10_CALLBACK_HANDLER_COUNT is too low for the amount of handlers required.
failureMode(FAILURE_DEVELOPER); // EXTI15_10_CALLBACK_HANDLER_COUNT is too low for the amount of handlers required.
}
void unregisterExti15_10_CallbackHandler(extiCallbackHandler *fn)
@ -193,21 +193,49 @@ void delay(uint32_t ms)
delayMicroseconds(1000);
}
// FIXME replace mode with an enum so usage can be tracked, currently mode is a magic number
void failureMode(uint8_t mode)
{
uint8_t flashesRemaining = 10;
#define SHORT_FLASH_DURATION 50
#define CODE_FLASH_DURATION 250
LED1_ON;
LED0_OFF;
while (flashesRemaining--) {
LED1_TOGGLE;
LED0_TOGGLE;
delay(475 * mode - 2);
BEEP_ON;
delay(25);
BEEP_OFF;
void failureMode(failureMode_e mode)
{
int codeRepeatsRemaining = 10;
int codeFlashesRemaining;
int shortFlashesRemaining;
while (codeRepeatsRemaining--) {
LED1_ON;
LED0_OFF;
shortFlashesRemaining = 5;
codeFlashesRemaining = mode + 1;
uint8_t flashDuration = SHORT_FLASH_DURATION;
while (shortFlashesRemaining || codeFlashesRemaining) {
LED1_TOGGLE;
LED0_TOGGLE;
BEEP_ON;
delay(flashDuration);
LED1_TOGGLE;
LED0_TOGGLE;
BEEP_OFF;
delay(flashDuration);
if (shortFlashesRemaining) {
shortFlashesRemaining--;
if (shortFlashesRemaining == 0) {
delay(500);
flashDuration = CODE_FLASH_DURATION;
}
} else {
codeFlashesRemaining--;
}
}
delay(1000);
}
#ifdef DEBUG
systemReset();
#else
systemResetToBootloader();
#endif
}