/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file gpio_led.c
*
* Status LED via GPIO driver.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <stdbool.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <poll.h>
#include <drivers/drv_gpio.h>
struct gpio_led_s {
struct work_s work;
int gpio_fd;
int pin;
struct vehicle_status_s status;
int vehicle_status_sub;
bool led_state;
int counter;
};
static struct gpio_led_s gpio_led_data;
static bool gpio_led_started = false;
__EXPORT int gpio_led_main(int argc, char *argv[]);
void gpio_led_start(FAR void *arg);
void gpio_led_cycle(FAR void *arg);
int gpio_led_main(int argc, char *argv[])
{
int pin = GPIO_EXT_1;
if (argc < 2) {
errx(1, "no argument provided. Try 'start' or 'stop' [-p 1/2]");
} else {
/* START COMMAND HANDLING */
if (!strcmp(argv[1], "start")) {
if (argc > 2) {
if (!strcmp(argv[1], "-p")) {
if (!strcmp(argv[2], "1")) {
pin = GPIO_EXT_1;
} else if (!strcmp(argv[2], "2")) {
pin = GPIO_EXT_2;
} else {
warnx("[gpio_led] Unsupported pin: %s\n", argv[2]);
exit(1);
}
}
}
memset(&gpio_led_data, 0, sizeof(gpio_led_data));
gpio_led_data.pin = pin;
int ret = work_queue(LPWORK, &gpio_led_data.work, gpio_led_start, &gpio_led_data, 0);
if (ret != 0) {
warnx("[gpio_led] Failed to queue work: %d\n", ret);
exit(1);
} else {
gpio_led_started = true;
}
exit(0);
/* STOP COMMAND HANDLING */
} else if (!strcmp(argv[1], "stop")) {
gpio_led_started = false;
/* INVALID COMMAND */
} else {
errx(1, "unrecognized command '%s', only supporting 'start' or 'stop'", argv[1]);
}
}
}
void gpio_led_start(FAR void *arg)
{
FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
/* open GPIO device */
priv->gpio_fd = open(GPIO_DEVICE_PATH, 0);
if (priv->gpio_fd < 0) {
warnx("[gpio_led] GPIO: open fail\n");
return;
}
/* configure GPIO pin */
ioctl(priv->gpio_fd, GPIO_SET_OUTPUT, priv->pin);
/* subscribe to vehicle status topic */
memset(&priv->status, 0, sizeof(priv->status));
priv->vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
/* add worker to queue */
int ret = work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, 0);
if (ret != 0) {
warnx("[gpio_led] Failed to queue work: %d\n", ret);
return;
}
warnx("[gpio_led] Started, using pin GPIO_EXT%i\n", priv->pin);
}
void gpio_led_cycle(FAR void *arg)
{
FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
/* check for status updates*/
bool status_updated;
orb_check(priv->vehicle_status_sub, &status_updated);
if (status_updated)
orb_copy(ORB_ID(vehicle_status), priv->vehicle_status_sub, &priv->status);
/* select pattern for current status */
int pattern = 0;
if (priv->status.flag_system_armed) {
if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
pattern = 0x3f; // ****** solid (armed)
} else {
pattern = 0x2A; // *_*_*_ fast blink (armed, battery warning)
}
} else {
if (priv->status.state_machine == SYSTEM_STATE_PREFLIGHT) {
pattern = 0x00; // ______ off (disarmed, preflight check)
} else if (priv->status.state_machine == SYSTEM_STATE_STANDBY &&
priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
pattern = 0x38; // ***___ slow blink (disarmed, ready)
} else {
pattern = 0x28; // *_*___ slow double blink (disarmed, not good to arm)
}
}
/* blink pattern */
bool led_state_new = (pattern & (1 << priv->counter)) != 0;
if (led_state_new != priv->led_state) {
priv->led_state = led_state_new;
if (led_state_new) {
ioctl(priv->gpio_fd, GPIO_SET, priv->pin);
} else {
ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin);
}
}
priv->counter++;
if (priv->counter > 5)
priv->counter = 0;
/* repeat cycle at 5 Hz*/
if (gpio_led_started)
work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, USEC2TICK(200000));
}