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Status lights #28

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Status lights #28

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73f30fb
New status light implementation
IbixD97 Aug 10, 2024
48ba846
status light PWM generator code
Benjamin-A Aug 15, 2024
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60 changes: 32 additions & 28 deletions fail_safe_firmware/FS_MCU_Arduino_Nano/FS_MCU_Arduino_Nano.h
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Revert changes, this breaks the Fail safe and does not improve functionality

Original file line number Diff line number Diff line change
@@ -1,39 +1,43 @@
//DC input pins
const byte pin_arm_input = 14; //Pin A0: RX Arm
const byte pin_OtA_KS_input = 15; //Pin A1: RX Over the Air Kill Switch
const byte pin_HW_KS_input = 16; //Pin A2: HW Kill Switch
const byte pin_RX_timeout_input = 17; //Pin A3: RX timeout, if low then err
#define pin_arm_input 14 //Pin A0: RX Arm
#define pin_OtA_KS_input = 15 //Pin A1: RX Over the Air Kill Switch
#define pin_HW_KS_input = 16 //Pin A2: HW Kill Switch
#define pin_RX_timeout_input = 17 //Pin A3: RX timeout, if low then err

const byte pin_RX_operation_mode_input = 19; //Pin A5: Operation Mode -- Software/Manual RX
const byte pin_SW_KS_input = 20; //Pin A6: SW Kill Switch
const byte pin_SW_operation_mode_input = 21; //Pin A7: Software Operation Mode -- Manual/Autonomous
#define pin_RX_operation_mode_input = 19 //Pin A5: Operation Mode -- Software/Manual RX
#define pin_SW_KS_input = 20 //Pin A6: SW Kill Switch
#define pin_SW_operation_mode_input = 21 //Pin A7: Software Operation Mode -- Manual/Autonomous

//DC output pins
const byte pin_SW_fail_safe_status_output = 18; //Pin A4: SW Kill switch return

const byte pin_main_output = 2; //Pin D2: MCU fail safe system MAIN OUTPUT
const byte pin_LED_FS_locked_output = 3; //Pin D3: LED KS locked
const byte pin_status_light_Y_output = 4; //Pin D4: Status light Y
const byte pin_LED_RX_timeout_output = 5; //Pin D5: LED RX timeout
const byte pin_LED_armed_output = 6; //Pin D6: LED Armed
const byte pin_status_light_B_output = 7; //Pin D7: Status light B
const byte pin_status_light_G_output = 8; //Pin D8: Status light G
const byte pin_LED_SW_KS_status_output = 9; //Pin D9: LED SW KS
const byte pin_LED_HW_KS_status_output = 10; //Pin D10: LED HW KS
const byte pin_LED_OtA_KS_status_output = 11; //Pin D11: LED OtA KS
const byte pin_status_light_R_output = 12; //Pin D12: Status light R
#define pin_SW_fail_safe_status_output = 18 //Pin A4: SW Kill switch return
#define pin_main_output = 2 //Pin D2: MCU fail safe system MAIN OUTPUT
#define pin_LED_FS_locked_output = 3 //Pin D3: LED KS locked
#define pin_LED_RX_timeout_output = 5 //Pin D5: LED RX timeout
#define pin_LED_armed_output = 6 //Pin D6: LED Armed
#define pin_LED_SW_KS_status_output = 9 //Pin D9: LED SW KS
#define pin_LED_HW_KS_status_output = 10 //Pin D10: LED HW KS
#define pin_LED_OtA_KS_status_output = 11 //Pin D11: LED OtA KS


#define pin_LED_Y_output
#define pin_LED_G_output
#define pin_LED_R_output
#define FULL_BRIGHTNESS 255
#define DIMMED_BRIGHTNESS 255

//The SW inputs may send 3.3 V or less and therefore need to be read by the ADC
//The analog range 0V to 5V corresponds to the integer range 0 to 1023.
const int analog_logic_high_cutoff = 670;
#define analog_logic_high_cutoff = 670;

//Declare functions
void test_fail_safe_trigger(byte input_pin, byte LED_output_pin);
void set_main_output(bool main_output_value);
void status_lights();
void set_RGBY(bool R, bool G, bool B, bool Y);
void test_fail_safe_trigger(byte input_pin, byte LED_output_pin);
void set_main_output(bool main_output_value);
void status_lights();
void set_LED_RGY(byte red, byte green, byte yellow);
void default_pulsing_sequence();
void startup_sequence();

//Global Variables
bool armed;
bool fail_safe_locked;
bool all_systems_go;
bool armed;
bool fail_safe_locked;
bool all_systems_go;
98 changes: 52 additions & 46 deletions fail_safe_firmware/FS_MCU_Arduino_Nano/FS_MCU_Arduino_Nano.ino
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Revert changes, this breaks the Fail safe and does not improve functionality

Original file line number Diff line number Diff line change
Expand Up @@ -21,18 +21,19 @@ void setup() {
pinMode(pin_SW_fail_safe_status_output, OUTPUT);
pinMode(pin_main_output, OUTPUT);
pinMode(pin_LED_FS_locked_output, OUTPUT);
pinMode(pin_status_light_Y_output, OUTPUT);
pinMode(pin_LED_RX_timeout_output, OUTPUT);
pinMode(pin_LED_armed_output, OUTPUT);
pinMode(pin_status_light_B_output, OUTPUT);
pinMode(pin_status_light_G_output, OUTPUT);
pinMode(pin_LED_SW_KS_status_output, OUTPUT);
pinMode(pin_LED_HW_KS_status_output, OUTPUT);
pinMode(pin_LED_OtA_KS_status_output, OUTPUT);
pinMode(pin_status_light_R_output, OUTPUT);

//blackout of 24V-Status-Light
set_RGBY(LOW, LOW, LOW, LOW);
pinMode(pin_LED_R_output, output);
pinMode(pin_LED_G_output, output);
pinMode(pin_LED_Y_output, output);

digitalWrite(pin_LED_Y_output, LOW);
digitalWrite(pin_LED_G_output, LOW);
digitalWrite(pin_LED_R_output, LOW);

//test FS-PCB-LEDs
digitalWrite(pin_LED_FS_locked_output, HIGH);
Expand All @@ -53,28 +54,8 @@ void setup() {

//test 24V-Status-Light

set_RGBY(HIGH, LOW, LOW, LOW);
delay(1000); //1 Second solid "Red"
set_RGBY(LOW, LOW, LOW, LOW);
delay(333); //.333 Second blackout

set_RGBY(LOW, HIGH, LOW, LOW);
delay(1000); //1 Second solid "Green"
set_RGBY(LOW, LOW, LOW, LOW);
delay(333); //.333 Second blackout

set_RGBY(LOW, LOW, HIGH, LOW);
delay(1000); //1 Second solid "Blue"
set_RGBY(LOW, LOW, LOW, LOW);
delay(333); //.333 Second blackout

set_RGBY(LOW, LOW, LOW, HIGH);
delay(1000); //1 Second solid "Yellow"

set_RGBY(LOW, LOW, LOW, LOW);
delay(2000); //2 Second blackout

//Setup finished
startup_sequence();
set_LED_RGY(DIMMED_BRIGHTNESS, DIMMED_BRIGHTNESS, DIMMED_BRIGHTNESS);
}

void loop() {
Expand Down Expand Up @@ -175,50 +156,75 @@ void status_lights(){
if (all_systems_go && armed){
if(!digitalRead(pin_RX_operation_mode_input)){
//Manual
set_RGBY(LOW,LOW,HIGH,LOW); //use LOW,LOW,LOW,HIGH for competition
set_LED_RGY(0, 0, FULL_BRIGHTNESS);
}
else{
//SW controlled
if (analogRead(pin_SW_operation_mode_input)>analog_logic_high_cutoff){
//Software manual control (solid yellow)
set_RGBY(LOW,LOW,LOW,HIGH); //change to LOW,HIGH,LOW,LOW if using simplified SW mode
set_LED_RGY(0, 0, FULL_BRIGHTNESS);
}
else{
//Autonomous (solid green)
set_RGBY(LOW, HIGH, LOW, LOW);
set_LED_RGY(0, FULL_BRIGHTNESS, 0);
}
}
}
else if (all_systems_go && !armed){

if(!digitalRead(pin_RX_operation_mode_input)){
//Manual - unarmed (yellow-red flash)
set_RGBY(LOW,LOW,HIGH,HIGH); //use HIGH,LOW,HIGH,HIGH for competition
//Manual - unarmed
default_pulsing_sequence();
}
else{
//SW controlled - unarmed (yellow-red flash)
//SW controlled - unarmed
if (analogRead(pin_SW_operation_mode_input)>analog_logic_high_cutoff){
//Software manual control unarmed (yellow-red flash)
set_RGBY(HIGH,LOW,HIGH,HIGH); //change to LOW,HIGH,HIGH,LOW if using simplified SW mode
//Software manual control unarmed
default_pulsing_sequence();
}
else{
//Autonomous - unarmed (green-red flash)
set_RGBY(LOW, HIGH, HIGH, LOW);
//Autonomous - unarmed
default_pulsing_sequence();
}
}

}

else{
//KS triggered
set_RGBY(HIGH, LOW, LOW, LOW);
set_LED_RGY(FULL_BRIGHTNESS, 0, 0);
}
}

void set_RGBY(bool R, bool G, bool B, bool Y){
//due to incorrectly selected Mosfet, states are inverted
digitalWrite(pin_status_light_R_output, R); //RED status pin
digitalWrite(pin_status_light_G_output, G); //GREEN status pin
digitalWrite(pin_status_light_B_output, B); //BLUE status pin
digitalWrite(pin_status_light_Y_output, Y); //YELLOW status pin
}
void startup_sequence() {
set_LED_RGY(DIMMED_BRIGHTNESS, 0, 0);
delay(1000);
set_LED_RGY(0, DIMMED_BRIGHTNESS, 0);
delay(1000);
set_LED_RGY(0, 0, DIMMED_BRIGHTNESS);
delay(1000);
set_LED_RGY(0, 0, 0);
delay(1000);
}

void default_pulsing_sequence() {
for(int i = 0; i < 50; i += 5) {
analogWrite(pin_LED_R_output, i);
analogWrite(pin_LED_G_output, i);
analogWrite(pin_LED_Y_output, i);
delay(30);
}
for(int i = 50; i >= 0; i -= 5) {
analogWrite(pin_LED_R_output, i);
analogWrite(pin_LED_G_output, i);
analogWrite(pin_LED_Y_output, i);
delay(30);
}
}

void set_LED_RGY(byte red, byte green, byte yellow) {
analogWrite(pin_LED_R_output, red); // Set Red PWM
analogWrite(pin_LED_G_output, green); // Set Green PWM
analogWrite(pin_LED_Y_output, yellow); // Set Yellow PWM
}

8 changes: 8 additions & 0 deletions status_light_MCU_Arduino_Nano/status_light_MCU_Arduino_Nano.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,8 @@
#include <Wire.h>


//define pin numbers
#define PIN_RED 11
#define PIN_YELLOW 10
#define PIN_GREEN 9
#define LED_PIN 13 // Onboard LED pin
88 changes: 88 additions & 0 deletions status_light_MCU_Arduino_Nano/status_light_MCU_Arduino_Nano.ino
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Original file line number Diff line number Diff line change
@@ -0,0 +1,88 @@
#include "freyaStatusLightArduinoCode.h"

//define variables
int redValue = 26; // Default value
int yellowValue = 26; // Default value
int greenValue = 26; // Default value

int header = 0;

enum State { RUNNING, SIGNALLOSS };
State currentState = RUNNING;
const int timeout = 1500;
unsigned long currentTime;
unsigned long lastMessageTime = millis();

void receiveEvent(int howMany) {
lastMessageTime = millis();
// Blink the LED to indicate that data was received
digitalWrite(LED_PIN, HIGH); // Turn on LED (indicate end of reception)

if (howMany >= 4) { // Expecting 3 bytes
header = Wire.read();
redValue = Wire.read();
yellowValue = Wire.read();
greenValue = Wire.read();
}
// Return to RUNNING state if in SIGNALLOSS state
if (currentState == SIGNALLOSS) {
currentState = RUNNING;
digitalWrite(LED_PIN, LOW); // Turn off LED in RUNNING state
}
}


void setup() {
// Initialize the PWM pins as outputs
pinMode(PIN_RED, OUTPUT);
pinMode(PIN_YELLOW, OUTPUT);
pinMode(PIN_GREEN, OUTPUT);

// Set the default PWM values
analogWrite(PIN_RED, redValue);
analogWrite(PIN_YELLOW, yellowValue);
analogWrite(PIN_GREEN, greenValue);

// Initialize the I2C bus as a slave device with address 8
Wire.begin(8);

// Register the receive event
Wire.onReceive(receiveEvent);

// Store current time for signal loss detection
currentTime = millis();

// Turn on the onboard LED to indicate that the code is running
pinMode(LED_PIN, OUTPUT);
digitalWrite(LED_PIN, LOW);
}

void loop() {

switch (currentState) {
case RUNNING:
// Update the PWM signals on the pins
analogWrite(PIN_RED, redValue);
analogWrite(PIN_YELLOW, yellowValue);
analogWrite(PIN_GREEN, greenValue);
// Check for timeout
currentTime = millis();
if (currentTime - lastMessageTime > timeout) {
currentState = SIGNALLOSS;
}
break;

case SIGNALLOSS:
analogWrite(PIN_RED, 5);
analogWrite(PIN_YELLOW, 5);
analogWrite(PIN_GREEN, 5);
delay(200);
analogWrite(PIN_RED, 0);
analogWrite(PIN_YELLOW, 0);
analogWrite(PIN_GREEN, 0);
delay(190);
break;
delay(10);
}
}