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dumber/software/dumber3/Application/leds.c

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/**
******************************************************************************
* @file leds.c
* @brief leds driver body
* @author S. DI MERCURIO (dimercur@insa-toulouse.fr)
* @date December 2023
*
******************************************************************************
* @copyright Copyright 2023 INSA-GEI, Toulouse, France. All rights reserved.
* @copyright This project is released under the Lesser GNU Public License (LGPL-3.0-only).
*
* @copyright This file is part of "Dumber" project
*
* @copyright This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 3 of the License, or (at your option) any later version.
*
* @copyright This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
* @copyright You should have received a copy of the GNU Lesser General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
******************************************************************************
*/
#include "leds.h"
/** @addtogroup Application_Software
* @{
*/
/** @addtogroup LEDS
* Leds handler is in charge of leds animation.
*
* Leds module consiste of two threads:
* - \ref LEDS_HandlerThread in charge of waiting for message in mailbox from application. Depending of the message received, animation is started, modified or stop
* - \ref LEDS_ActionThread, periodic task in charge of animating leds with configured sprites for given animation
* @{
*/
/** @addtogroup LEDS_Private Private
* @{
*/
/** @name Macro for switching ON and OFF individual led segments
*
*/
///@{
#define LEDS_On_Seg_A() HAL_GPIO_WritePin(LED_SEG_A_GPIO_Port, LED_SEG_A_Pin, GPIO_PIN_SET)
#define LEDS_On_Seg_B() HAL_GPIO_WritePin(LED_SEG_B_GPIO_Port, LED_SEG_B_Pin, GPIO_PIN_SET)
#define LEDS_On_Seg_C() HAL_GPIO_WritePin(LED_SEG_C_GPIO_Port, LED_SEG_C_Pin, GPIO_PIN_SET)
#define LEDS_On_Seg_D() HAL_GPIO_WritePin(LED_SEG_D_GPIO_Port, LED_SEG_D_Pin, GPIO_PIN_SET)
#define LEDS_On_Seg_E() HAL_GPIO_WritePin(LED_SEG_E_GPIO_Port, LED_SEG_E_Pin, GPIO_PIN_SET)
#define LEDS_On_Seg_F() HAL_GPIO_WritePin(LED_SEG_F_GPIO_Port, LED_SEG_F_Pin, GPIO_PIN_SET)
#define LEDS_On_Seg_G() HAL_GPIO_WritePin(LED_SEG_G_GPIO_Port, LED_SEG_G_Pin, GPIO_PIN_SET)
#define LEDS_On_Seg_DP() HAL_GPIO_WritePin(LED_SEG_DP_GPIO_Port, LED_SEG_DP_Pin, GPIO_PIN_SET)
#define LEDS_Off_Seg_A() HAL_GPIO_WritePin(LED_SEG_A_GPIO_Port, LED_SEG_A_Pin, GPIO_PIN_RESET)
#define LEDS_Off_Seg_B() HAL_GPIO_WritePin(LED_SEG_B_GPIO_Port, LED_SEG_B_Pin, GPIO_PIN_RESET)
#define LEDS_Off_Seg_C() HAL_GPIO_WritePin(LED_SEG_C_GPIO_Port, LED_SEG_C_Pin, GPIO_PIN_RESET)
#define LEDS_Off_Seg_D() HAL_GPIO_WritePin(LED_SEG_D_GPIO_Port, LED_SEG_D_Pin, GPIO_PIN_RESET)
#define LEDS_Off_Seg_E() HAL_GPIO_WritePin(LED_SEG_E_GPIO_Port, LED_SEG_E_Pin, GPIO_PIN_RESET)
#define LEDS_Off_Seg_F() HAL_GPIO_WritePin(LED_SEG_F_GPIO_Port, LED_SEG_F_Pin, GPIO_PIN_RESET)
#define LEDS_Off_Seg_G() HAL_GPIO_WritePin(LED_SEG_G_GPIO_Port, LED_SEG_G_Pin, GPIO_PIN_RESET)
#define LEDS_Off_Seg_DP() HAL_GPIO_WritePin(LED_SEG_DP_GPIO_Port, LED_SEG_DP_Pin, GPIO_PIN_RESET)
///@}
/** @name Macro for switching all display ON or OFF
*
*/
///@{
#define LEDS_All_Off() HAL_GPIO_WritePin(GPIOB, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin, GPIO_PIN_RESET);\
HAL_GPIO_WritePin(GPIOA, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, GPIO_PIN_RESET)
#define LEDS_All_On() HAL_GPIO_WritePin(GPIOB, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin, GPIO_PIN_SET);\
HAL_GPIO_WritePin(GPIOA, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, GPIO_PIN_SET)
///@}
/** @name List of single sprite (pattern) in animation
*
*/
///@{
#define LED_PATTERN_ALL_OFF 0
#define LED_PATTERN_BAT_SPRITE_0 1
#define LED_PATTERN_BAT_SPRITE_1 2
#define LED_PATTERN_BAT_SPRITE_2 3
#define LED_PATTERN_BAT_SPRITE_3 4
#define LED_PATTERN_IDLE_0 5
#define LED_PATTERN_IDLE_1 6
#define LED_PATTERN_RUN_0 7
#define LED_PATTERN_RUN_1 8
#define LED_PATTERN_RUN_2 9
#define LED_PATTERN_RUN_3 10
#define LED_PATTERN_RUN_4 11
#define LED_PATTERN_RUN_5 12
#define LED_PATTERN_RUN_WITH_WATCHDOG_0 13
#define LED_PATTERN_RUN_WITH_WATCHDOG_1 14
#define LED_PATTERN_RUN_WITH_WATCHDOG_2 15
#define LED_PATTERN_RUN_WITH_WATCHDOG_3 16
#define LED_PATTERN_RUN_WITH_WATCHDOG_4 17
#define LED_PATTERN_RUN_WITH_WATCHDOG_5 18
#define LED_PATTERN_ERROR 19
#define LED_PATTERN_BATTERY 20
#define LED_PATTERN_DIGIT_0 21
#define LED_PATTERN_DIGIT_1 22
#define LED_PATTERN_DIGIT_2 23
#define LED_PATTERN_DIGIT_3 24
#define LED_PATTERN_DIGIT_4 25
#define LED_PATTERN_DIGIT_5 26
#define LED_PATTERN_DIGIT_6 27
#define LED_PATTERN_DIGIT_7 28
#define LED_PATTERN_DIGIT_8 29
#define LED_PATTERN_DIGIT_9 30
#define LED_PATTERN_DIGIT_C 31
#define LED_PATTERN_DIGIT_L 32
#define LED_PATTERN_DIGIT_B 33
#define LED_PATTERN_WDT_EXP_1 34
#define LED_PATTERN_WDT_EXP_2 35
#define LED_PATTERN_DIGIT_UNKNOWN 36
#define LED_MAX_PATTERNS 37
///@}
/*
* Relation entre segment et nom
*
* Avant du robot
*
*
* D
* -----
* | |
* C | | E
* | G |
* -----
* | |
* B | | F
* | |
* -----
* A
*
*
* Arriere du robot
*
*/
/** @brief Constant array defining led configuration for all possible sprites used in animation
*
*/
uint16_t LEDS_Patterns [LED_MAX_PATTERNS][4]= {
// GPIOA ON / GPIOB ON / GPIOA OFF / GPIOB OFF
{ 0, 0, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin}, // All Off
{ 0, 0, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin}, // Bat sprite 0
{ 0, LED_SEG_A_Pin, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_B_Pin|LED_SEG_C_Pin}, // Bat sprite 1
{ LED_SEG_G_Pin, LED_SEG_A_Pin, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_DP_Pin, LED_SEG_B_Pin|LED_SEG_C_Pin}, // Bat sprite 2
{ LED_SEG_D_Pin|LED_SEG_G_Pin, LED_SEG_A_Pin, LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_DP_Pin, LED_SEG_B_Pin|LED_SEG_C_Pin}, // Bat sprite 3
{ 0, 0, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin}, // Idle 0
{ LED_SEG_DP_Pin, 0, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin}, // Idle 1
{ LED_SEG_D_Pin, 0, LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin}, // Run 0
{ LED_SEG_E_Pin, 0, LED_SEG_D_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin}, // Run 1
{ LED_SEG_F_Pin, 0, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin}, // Run 2
{ 0, LED_SEG_A_Pin, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_B_Pin|LED_SEG_C_Pin}, // Run 3
{ 0, LED_SEG_B_Pin, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_C_Pin}, // Run 4
{ 0, LED_SEG_C_Pin, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin}, // Run 5
{ LED_SEG_D_Pin|LED_SEG_DP_Pin, 0, LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin}, // Run with watchdog 0
{ LED_SEG_E_Pin, 0, LED_SEG_D_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin}, // Run with watchdog 1
{ LED_SEG_F_Pin|LED_SEG_DP_Pin, 0, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_G_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin}, // Run with watchdog 2
{ 0, LED_SEG_A_Pin, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_B_Pin|LED_SEG_C_Pin}, // Run with watchdog 3
{ LED_SEG_DP_Pin, LED_SEG_B_Pin, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin, LED_SEG_A_Pin|LED_SEG_C_Pin}, // Run with watchdog 4
{ 0, LED_SEG_C_Pin, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin}, // Run with watchdog 5
{ LED_SEG_D_Pin|LED_SEG_G_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin, LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_DP_Pin, 0}, // Error
{ LED_SEG_F_Pin|LED_SEG_G_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_DP_Pin, 0}, // Battery
{ LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin, LED_SEG_G_Pin|LED_SEG_DP_Pin, 0}, // 0
{ LED_SEG_E_Pin|LED_SEG_F_Pin, 0, LED_SEG_D_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin}, // 1
{ LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_G_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin, LED_SEG_F_Pin|LED_SEG_DP_Pin, LED_SEG_C_Pin}, // 2
{ LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin, LED_SEG_A_Pin, LED_SEG_DP_Pin, LED_SEG_B_Pin|LED_SEG_C_Pin}, // 3
{ LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin, LED_SEG_C_Pin, LED_SEG_D_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin}, // 4
{ LED_SEG_D_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin, LED_SEG_A_Pin|LED_SEG_C_Pin, LED_SEG_E_Pin|LED_SEG_DP_Pin, LED_SEG_B_Pin}, // 5
{ LED_SEG_D_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin, LED_SEG_E_Pin|LED_SEG_DP_Pin}, // 6
{ LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin, 0, LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin}, // 7
{ LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin, LED_SEG_DP_Pin, 0}, // 8
{ LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin, LED_SEG_A_Pin|LED_SEG_C_Pin, LED_SEG_DP_Pin, LED_SEG_B_Pin}, // 9
{ LED_SEG_D_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin, LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, 0}, // C
{ 0, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, 0},// L
{ LED_SEG_F_Pin|LED_SEG_G_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_DP_Pin, 0}, // b
{ LED_SEG_E_Pin, LED_SEG_B_Pin, LED_SEG_D_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_C_Pin}, // Watchdog expired 1
{ LED_SEG_F_Pin, LED_SEG_C_Pin, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin}, // Watchdog expired 2
{ LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_G_Pin, LED_SEG_B_Pin, LED_SEG_F_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_C_Pin} // ?
};
LEDS_State LEDS_Animation;
LEDS_State LEDS_AnimationAncien;
StaticTask_t xTaskLedsHandler;
/* Buffer that the task being created will use as its stack. Note this is
an array of StackType_t variables. The size of StackType_t is dependent on
the RTOS port. */
StackType_t xStackLedsHandler[ STACK_SIZE ];
TaskHandle_t xHandleLedsHandler = NULL;
StaticTask_t xTaskLedsAction;
/* Buffer that the task being created will use as its stack. Note this is
an array of StackType_t variables. The size of StackType_t is dependent on
the RTOS port. */
StackType_t xStackLedsAction[ STACK_SIZE ];
TaskHandle_t xHandleLedsAction = NULL;
void LEDS_ActionThread(void* params);
void LEDS_ShowPattern(uint8_t pattern);
void LEDS_Tests(void* params);
void LEDS_HandlerThread(void* params);
/**
* @brief Function for initializing leds animation
*
* @param None
* @retval None
*/
void LEDS_Init(void) {
LEDS_All_Off();
LEDS_Animation=leds_off;
LEDS_AnimationAncien =LEDS_Animation;
/* Mailbox is created in messages.c */
/* Create the task without using any dynamic memory allocation. */
xHandleLedsHandler = xTaskCreateStatic(
LEDS_HandlerThread, /* Function that implements the task. */
"LEDS Handler", /* Text name for the task. */
STACK_SIZE, /* Number of indexes in the xStack array. */
NULL, /* Parameter passed into the task. */
PriorityLedsHandler,/* Priority at which the task is created. */
xStackLedsHandler, /* Array to use as the task's stack. */
&xTaskLedsHandler); /* Variable to hold the task's data structure. */
vTaskResume(xHandleLedsHandler);
}
/**
* @brief Request an animation, given in parameter
*
* @remark This function wrap a message sending to leds mailbox.
* If multiple module request animation, only the laste requested animation will be taken into account
*
* @param[in] state Led animation requested
* @retval None
*/
void LEDS_Set(LEDS_State state) {
static LEDS_State leds_state;
if ((state>=leds_off) && (state <=leds_state_unknown)) {
leds_state = state;
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT,
(QueueHandle_t)0x0, (void*) &leds_state);
}
}
/**
* @brief Apply a pattern to led
*
* @param[in] pattern Pattern to show, defined in \ref LEDS_Patterns. Use macro starting with LED_PATTERN_ as parameter
* @retval None
*/
void LEDS_ShowPattern(uint8_t pattern) {
if (pattern < LED_MAX_PATTERNS) {
HAL_GPIO_WritePin(GPIOA, LEDS_Patterns[pattern][2], GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB, LEDS_Patterns[pattern][3], GPIO_PIN_RESET);
if (LEDS_Patterns[pattern][0] + LEDS_Patterns[pattern][1]!=0) {
HAL_GPIO_WritePin(GPIOA, LEDS_Patterns[pattern][0], GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOB, LEDS_Patterns[pattern][1], GPIO_PIN_SET);
}
}
}
/**
* @brief Test task for checking animation correctness
*
* @warning Do not use in normal running condition
*
* @param[in] params Initial task parameters
* @retval None
*/
void LEDS_Tests(void* params) {
LEDS_State ledState = leds_idle;
LEDS_All_Off();
while (1) {
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, LEDS_Mailbox, (void*)&ledState);
vTaskDelay(pdMS_TO_TICKS(5000)); // wait 10s
ledState++;
if (ledState>leds_state_unknown) ledState=leds_idle;
}
}
/**
* @brief Message handler task
*
* Get received animation message from application and start, stop or modify animation depending on animation requested
* by controlling \ref LEDS_ActionThread task.
* If requested animation is same of currently running, no modification is done.
*
* @param[in] params Initial task parameters
* @retval None
*/
void LEDS_HandlerThread(void* params) {
MESSAGE_Typedef msg;
while (1) {
msg = MESSAGE_ReadMailbox(LEDS_Mailbox);
if (msg.id == MSG_ID_LED_ETAT) { // Si c'est bien un message de changement d'etat LEDS
LEDS_Animation = *((LEDS_State*)msg.data);
if (LEDS_Animation != LEDS_AnimationAncien) { // si le nouvel etat est different de l'ancien
// dans ce cas, on eteint les leds pour repartir sur une base saine
LEDS_AnimationAncien = LEDS_Animation;
/* If action task is running, destroy it first */
if (xHandleLedsAction!= NULL) vTaskDelete(xHandleLedsAction);
/* Create the task without using any dynamic memory allocation. */
xHandleLedsAction = xTaskCreateStatic(
LEDS_ActionThread, /* Function that implements the task. */
"LEDS Action", /* Text name for the task. */
STACK_SIZE, /* Number of indexes in the xStack array. */
NULL, /* Parameter passed into the task. */
PriorityLedsAction,/* Priority at which the task is created. */
xStackLedsAction, /* Array to use as the task's stack. */
&xTaskLedsAction); /* Variable to hold the task's data structure. */
vTaskResume(xHandleLedsAction);
}
}
}
}
/**
* @brief Animation task
*
* Periodic task (100 ms) used for animating led. Started and stopped from \ref LEDS_HandlerThread
*
* @param[in] params Initial task parameters
* @retval None
*/
void LEDS_ActionThread(void* params) {
uint8_t cnt=0;
TickType_t xLastWakeTime;
// Initialise the xLastWakeTime variable with the current time.
xLastWakeTime = xTaskGetTickCount();
LEDS_All_Off();
while (1) {
switch (LEDS_Animation) {
case leds_off:
LEDS_All_Off();
break;
case leds_idle:
if (cnt<5)
LEDS_ShowPattern(LED_PATTERN_IDLE_1);
else if (cnt<10)
LEDS_ShowPattern(LED_PATTERN_IDLE_0);
else
cnt=0;
break;
case leds_run:
if (cnt>5) cnt=0;
LEDS_ShowPattern(LED_PATTERN_RUN_0+cnt);
break;
case leds_run_with_watchdog:
if (cnt>5) cnt=0;
LEDS_ShowPattern(LED_PATTERN_RUN_WITH_WATCHDOG_0+cnt);
break;
case leds_bat_critical_low:
if (cnt<3)
LEDS_ShowPattern(LED_PATTERN_DIGIT_C);
else if (cnt<6)
LEDS_ShowPattern(LED_PATTERN_DIGIT_L);
else if (cnt <9)
LEDS_ShowPattern(LED_PATTERN_DIGIT_B);
else if (cnt <12)
LEDS_ShowPattern(LED_PATTERN_ALL_OFF);
else
cnt=0;
break;
case leds_bat_low:
if (!(cnt%2))
LEDS_ShowPattern(LED_PATTERN_BAT_SPRITE_1);
else
LEDS_ShowPattern(LED_PATTERN_ALL_OFF);
break;
case leds_bat_med:
if (cnt<3)
LEDS_ShowPattern(LED_PATTERN_BAT_SPRITE_1);
else if (cnt<6)
LEDS_ShowPattern(LED_PATTERN_BAT_SPRITE_2);
else
cnt=0;
break;
case leds_bat_high:
if (cnt<3)
LEDS_ShowPattern(LED_PATTERN_BAT_SPRITE_1);
else if (cnt<6)
LEDS_ShowPattern(LED_PATTERN_BAT_SPRITE_2);
else if (cnt <9)
LEDS_ShowPattern(LED_PATTERN_BAT_SPRITE_3);
else
cnt=3;
break;
case leds_bat_charge_low:
if (cnt<3)
LEDS_ShowPattern(LED_PATTERN_BAT_SPRITE_1);
else if (cnt<6)
LEDS_ShowPattern(LED_PATTERN_BAT_SPRITE_2);
else if (cnt<9)
LEDS_ShowPattern(LED_PATTERN_BAT_SPRITE_3);
else if (cnt<12)
LEDS_ShowPattern(LED_PATTERN_ALL_OFF);
else
cnt=0;
break;
case leds_bat_charge_med:
if (cnt<3)
LEDS_ShowPattern(LED_PATTERN_BAT_SPRITE_2);
else if (cnt<6)
LEDS_ShowPattern(LED_PATTERN_BAT_SPRITE_3);
else if (cnt <9)
LEDS_ShowPattern(LED_PATTERN_BAT_SPRITE_1);
else
cnt=0;
break;
case leds_bat_charge_high:
if (cnt<3)
LEDS_ShowPattern(LED_PATTERN_BAT_SPRITE_3);
else if (cnt<6)
LEDS_ShowPattern(LED_PATTERN_BAT_SPRITE_2);
else
cnt=0;
break;
case leds_bat_charge_complete:
LEDS_ShowPattern(LED_PATTERN_BAT_SPRITE_3);
cnt=0;
break;
case leds_watchdog_expired:
if (cnt<4)
LEDS_ShowPattern(LED_PATTERN_WDT_EXP_1);
else if (cnt<7)
LEDS_ShowPattern(LED_PATTERN_WDT_EXP_2);
else
cnt=0;
break;
case leds_error_1:
if (cnt<5)
LEDS_ShowPattern(LED_PATTERN_ERROR);
else if (cnt<10)
LEDS_ShowPattern(LED_PATTERN_DIGIT_1);
else
cnt=0;
break;
case leds_error_2:
if (cnt<5)
LEDS_ShowPattern(LED_PATTERN_ERROR);
else if (cnt<10)
LEDS_ShowPattern(LED_PATTERN_DIGIT_2);
else
cnt=0;
break;
case leds_error_3:
if (cnt<5)
LEDS_ShowPattern(LED_PATTERN_ERROR);
else if (cnt<10)
LEDS_ShowPattern(LED_PATTERN_DIGIT_3);
else
cnt=0;
break;
case leds_error_4:
if (cnt<5)
LEDS_ShowPattern(LED_PATTERN_ERROR);
else if (cnt<10)
LEDS_ShowPattern(LED_PATTERN_DIGIT_4);
else
cnt=0;
break;
case leds_error_5:
if (cnt<5)
LEDS_ShowPattern(LED_PATTERN_ERROR);
else if (cnt<10)
LEDS_ShowPattern(LED_PATTERN_DIGIT_5);
else
cnt=0;
break;
case leds_state_unknown:
if (cnt<3)
LEDS_ShowPattern(LED_PATTERN_DIGIT_UNKNOWN);
else if (cnt<10)
LEDS_ShowPattern(LED_PATTERN_ALL_OFF);
else
cnt=0;
break;
default:
break;
}
// Wait for the next cycle.
vTaskDelayUntil( &xLastWakeTime, pdMS_TO_TICKS(LEDS_DELAY));
cnt++;
}
}
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