Accelerometer-based velocity values are invalid after apogee

[fw/altos] / ao_panic.c

diff --git a/ao_panic.c b/ao_panic.c
index 0f8433dc03e9297a30dcefb7e4849fae26c72eb0..f6ecc380c9a0f0a27326dff9dcd321d4e1761514 100644 (file)
--- a/ao_panic.c
+++ b/ao_panic.c
@@ -17,8 +17,42 @@
 
 #include "ao.h"
 
+static void
+ao_panic_delay(uint8_t n)
+{
+       uint8_t i = 0, j = 0;
+
+       while (n--)
+               while (--j)
+                       while (--i)
+                               _asm nop _endasm;
+}
+
 void
 ao_panic(uint8_t reason)
 {
-       (void) reason;
+       uint8_t n;
+       
+       __critical for (;;) {
+               ao_panic_delay(20);
+               for (n = 0; n < 5; n++) {
+                       ao_led_on(AO_LED_RED);
+                       ao_beep(AO_BEEP_HIGH);
+                       ao_panic_delay(1);
+                       ao_led_off(AO_LED_RED);
+                       ao_beep(AO_BEEP_LOW);
+                       ao_panic_delay(1);
+               }
+               ao_beep(AO_BEEP_OFF);
+               ao_panic_delay(2);
+#pragma disable_warning 126
+               for (n = 0; n < reason; n++) {
+                       ao_led_on(AO_LED_RED);
+                       ao_beep(AO_BEEP_MID);
+                       ao_panic_delay(10);
+                       ao_led_off(AO_LED_RED);
+                       ao_beep(AO_BEEP_OFF);
+                       ao_panic_delay(10);
+               }
+       }
 }