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AP_Periph: add node visual locate function #29844

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AP_Periph: add node visual locate function #29844

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20 changes: 17 additions & 3 deletions Tools/AP_Periph/AP_Periph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -416,15 +416,29 @@ void AP_Periph_FW::update()
node_stats.update();
#endif

static uint32_t last_led_ms;
uint32_t now = AP_HAL::millis();
if (now - last_led_ms > 1000) {
last_led_ms = now;

#ifdef HAL_GPIO_PIN_LED
static uint32_t last_led_ms;
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@peterbarker peterbarker Apr 30, 2025

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Could we drop this into a flash_led method, please?

static uint32_t next_led_ms = 1000;
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@peterbarker peterbarker Apr 30, 2025

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Suggested change
static uint32_t next_led_ms = 1000;
static uint32_t current_led_interval_ms = 1000;

if (now - last_led_ms > next_led_ms) {
last_led_ms = now;
if (!no_iface_finished_dna) {
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@peterbarker peterbarker Apr 30, 2025

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Doesn't this mean the code will be non-functional, depending on whether it has dna'd or not?

static uint8_t led_phase = 0;
if (debug_option_is_set(DebugOptions::FIND_NODE)) {
next_led_ms = (led_phase < 10) ? 100 : 500;
led_phase = (led_phase + 1) % 12;
} else {
next_led_ms = 1000;
}
palToggleLine(HAL_GPIO_PIN_LED);
}
}
#endif

static uint32_t last_1_s;
if (now - last_1_s > 1000) {
last_1_s = now;
#if 0
#if AP_PERIPH_GPS_ENABLED
hal.serial(0)->printf("GPS status: %u\n", (unsigned)gps.status());
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1 change: 1 addition & 0 deletions Tools/AP_Periph/AP_Periph.h
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Expand Up @@ -472,6 +472,7 @@ class AP_Periph_FW {
SHOW_STACK = 0,
AUTOREBOOT = 1,
ENABLE_STATS = 2,
FIND_NODE = 3,
};

// check if an option is set
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2 changes: 1 addition & 1 deletion Tools/AP_Periph/Parameters.cpp
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Expand Up @@ -201,7 +201,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
// @Param: DEBUG
// @DisplayName: Debug
// @Description: Debug
// @Bitmask: 0:Show free stack space, 1:Auto Reboot after 15sec, 2:Enable sending stats
// @Bitmask: 0:Show free stack space, 1:Auto Reboot after 15sec, 2:Enable sending stats, 3: Locate Node by LED flash pattern
// @User: Advanced
GSCALAR(debug, "DEBUG", 0),

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