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61 lines
1.6 KiB
61 lines
1.6 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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// |
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// failsafe support |
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// Andrew Tridgell, December 2011 |
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// |
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// our failsafe strategy is to detect main loop lockup and disarm the motors |
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// |
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static bool failsafe_enabled = true; |
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static uint16_t failsafe_last_mainLoop_count; |
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static uint32_t failsafe_last_timestamp; |
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static bool in_failsafe; |
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// |
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// failsafe_enable - enable failsafe |
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// |
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void failsafe_enable() |
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{ |
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failsafe_enabled = true; |
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failsafe_last_timestamp = micros(); |
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} |
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// |
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// failsafe_disable - used when we know we are going to delay the mainloop significantly |
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// |
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void failsafe_disable() |
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{ |
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failsafe_enabled = false; |
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} |
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// |
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// failsafe_check - this function is called from the core timer interrupt at 1kHz. |
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// |
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void failsafe_check() |
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{ |
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uint32_t tnow = hal.scheduler->micros(); |
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if (mainLoop_count != failsafe_last_mainLoop_count) { |
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// the main loop is running, all is OK |
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failsafe_last_mainLoop_count = mainLoop_count; |
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failsafe_last_timestamp = tnow; |
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in_failsafe = false; |
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return; |
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} |
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if (failsafe_enabled && tnow - failsafe_last_timestamp > 2000000) { |
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// motors are running but we have gone 2 second since the |
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// main loop ran. That means we're in trouble and should |
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// disarm the motors. |
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in_failsafe = true; |
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} |
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if (failsafe_enabled && in_failsafe && tnow - failsafe_last_timestamp > 1000000) { |
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// disarm motors every second |
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failsafe_last_timestamp = tnow; |
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if(motors.armed()) { |
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motors.armed(false); |
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motors.output(); |
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} |
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} |
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}
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