Merge pull request #151 from NosDE/master

BlinkM Driver with Systemstate

1 files changed, 419 insertions, 24 deletions

diff --git a/apps/drivers/blinkm/blinkm.cpp b/apps/drivers/blinkm/blinkm.cpp
index d589025cc..aeee80905 100644
--- a/apps/drivers/blinkm/blinkm.cpp
+++ b/apps/drivers/blinkm/blinkm.cpp
@@ -35,9 +35,61 @@
  * @file blinkm.cpp
  *
  * Driver for the BlinkM LED controller connected via I2C.
+ *
+ * Connect the BlinkM to I2C3 and put the following line to the rc startup-script:
+ * blinkm start
+ *
+ * To start the system monitor put in the next line after the blinkm start:
+ * blinkm systemmonitor
+ *
+ *
+ * Description:
+ * After startup, the Application checked how many lipo cells are connected to the System.
+ * The recognized number off cells, will be blinked 5 times in purple color.
+ * 2 Cells = 2 blinks
+ * ...
+ * 5 Cells = 5 blinks
+ * Now the Application will show the actual selected Flightmode, GPS-Fix and Battery Warnings and Alerts.
+ *
+ * System disarmed:
+ * The BlinkM should lit solid red.
+ *
+ * System armed:
+ * One message is made of 4 Blinks and a pause in the same length as the 4 blinks.
+ *
+ * X-X-X-X-_-_-_-_-
+ * -------------------------
+ * G G G M
+ * P P P O
+ * S S S D
+ *       E
+ *
+ * (X = on, _=off)
+ *
+ * The first 3 blinks indicates the status of the GPS-Signal (red):
+ * 0-4 satellites = X-X-X-X-_-_-_-_-
+ *   5 satellites = X-X-_-X-_-_-_-_-
+ *   6 satellites = X-_-_-X-_-_-_-_-
+ * >=7 satellites = _-_-_-X-_-_-_-_-
+ * If no GPS is found the first 3 blinks are white
+ *
+ * The fourth Blink indicates the Flightmode:
+ * MANUAL     : off
+ * STABILIZED : yellow
+ * HOLD		  : blue
+ * AUTO       : green
+ *
+ * Battery Warning (low Battery Level):
+ * Continuously blinking in yellow X-X-X-X-X-X-X-X
+ *
+ * Battery Alert (critical Battery Level)
+ * Continuously blinking in red X-X-X-X-X-X-X-X
+ *
+ * General Error (no uOrb Data)
+ * Continuously blinking in white X-X-X-X-X-X-X-X
+ *
  */
 
-
 #include <nuttx/config.h>
 
 #include <drivers/device/i2c.h>
@@ -59,15 +111,28 @@
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
+#include <systemlib/systemlib.h>
+#include <poll.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_gps_position.h>
+
+static const float MAX_CELL_VOLTAGE	= 4.3f;
+static const int LED_ONTIME = 100;
+static const int LED_OFFTIME = 100;
+static const int LED_BLINK = 1;
+static const int LED_NOBLINK = 0;
+
 class BlinkM : public device::I2C
 {
 public:
 	BlinkM(int bus);
 	~BlinkM();
 
+
 	virtual int		init();
 	virtual int		probe();
-
+	virtual int		setMode(int mode);
 	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
 
 	static const char	*script_names[];
@@ -95,11 +160,31 @@ private:
 		MORSE_CODE
 	};
 
+	enum ledColors {
+		LED_OFF,
+		LED_RED,
+		LED_YELLOW,
+		LED_PURPLE,
+		LED_GREEN,
+		LED_BLUE,
+		LED_WHITE
+	};
+
 	work_s			_work;
-	static const unsigned	_monitor_interval = 250;
 
-	static void		monitor_trampoline(void *arg);
-	void			monitor();
+	int led_color_1;
+	int led_color_2;
+	int led_color_3;
+	int led_color_4;
+	int led_color_5;
+	int led_color_6;
+	int led_blink;
+
+	bool systemstate_run;
+
+	void 			setLEDColor(int ledcolor);
+	static void		led_trampoline(void *arg);
+	void			led();
 
 	int			set_rgb(uint8_t r, uint8_t g, uint8_t b);
 
@@ -127,8 +212,7 @@ private:
 /* for now, we only support one BlinkM */
 namespace
 {
-BlinkM *g_blinkm;
-
+	BlinkM *g_blinkm;
 }
 
 /* list of script names, must match script ID numbers */
@@ -155,11 +239,21 @@ const char *BlinkM::script_names[] = {
 	nullptr
 };
 
+
 extern "C" __EXPORT int blinkm_main(int argc, char *argv[]);
 
 BlinkM::BlinkM(int bus) :
-	I2C("blinkm", BLINKM_DEVICE_PATH, bus, 0x09, 100000)
+	I2C("blinkm", BLINKM_DEVICE_PATH, bus, 0x09, 100000),
+	led_color_1(LED_OFF),
+	led_color_2(LED_OFF),
+	led_color_3(LED_OFF),
+	led_color_4(LED_OFF),
+	led_color_5(LED_OFF),
+	led_color_6(LED_OFF),
+	led_blink(LED_NOBLINK),
+	systemstate_run(false)
 {
+	memset(&_work, 0, sizeof(_work));
 }
 
 BlinkM::~BlinkM()
@@ -170,7 +264,6 @@ int
 BlinkM::init()
 {
 	int ret;
-
 	ret = I2C::init();
 
 	if (ret != OK) {
@@ -178,14 +271,25 @@ BlinkM::init()
 		return ret;
 	}
 
-	/* set some sensible defaults */
-	set_fade_speed(25);
+	stop_script();
+	set_rgb(0,0,0);
 
-	/* turn off by default */
-	play_script(BLACK);
+	return OK;
+}
 
-	/* start the system monitor as a low-priority workqueue entry */
-	work_queue(LPWORK, &_work, (worker_t)&BlinkM::monitor_trampoline, this, 1);
+int
+BlinkM::setMode(int mode)
+{
+	if(mode == 1) {
+		if(systemstate_run == false) {
+			stop_script();
+			set_rgb(0,0,0);
+			systemstate_run = true;
+			work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, 1);
+		}
+	} else {
+		systemstate_run = false;
+	}
 
 	return OK;
 }
@@ -249,21 +353,300 @@ BlinkM::ioctl(struct file *filp, int cmd, unsigned long arg)
 	return ret;
 }
 
+
 void
-BlinkM::monitor_trampoline(void *arg)
+BlinkM::led_trampoline(void *arg)
 {
 	BlinkM *bm = (BlinkM *)arg;
 
-	bm->monitor();
+	bm->led();
 }
 
+
+
 void
-BlinkM::monitor()
+BlinkM::led()
 {
-	/* check system state, possibly update LED to suit */
 
-	/* re-queue ourselves to run again later */
-	work_queue(LPWORK, &_work, (worker_t)&BlinkM::monitor_trampoline, this, _monitor_interval);
+	static int vehicle_status_sub_fd;
+	static int vehicle_gps_position_sub_fd;
+
+	static int num_of_cells = 0;
+	static int detected_cells_runcount = 0;
+
+	static int t_led_color[6] = { 0, 0, 0, 0, 0, 0};
+	static int t_led_blink = 0;
+	static int led_thread_runcount=0;
+	static int led_interval = 1000;
+
+	static int no_data_vehicle_status = 0;
+	static int no_data_vehicle_gps_position = 0;
+
+	static bool topic_initialized = false;
+	static bool detected_cells_blinked = false;
+	static bool led_thread_ready = true;
+
+	int num_of_used_sats = 0;
+
+	if(!topic_initialized) {
+		vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status));
+		orb_set_interval(vehicle_status_sub_fd, 1000);
+
+		vehicle_gps_position_sub_fd = orb_subscribe(ORB_ID(vehicle_gps_position));
+		orb_set_interval(vehicle_gps_position_sub_fd, 1000);
+
+		topic_initialized = true;
+	}
+
+	if(led_thread_ready == true) {
+		if(!detected_cells_blinked) {
+			if(num_of_cells > 0) {
+				t_led_color[0] = LED_PURPLE;
+			}
+			if(num_of_cells > 1) {
+				t_led_color[1] = LED_PURPLE;
+			}
+			if(num_of_cells > 2) {
+				t_led_color[2] = LED_PURPLE;
+			}
+			if(num_of_cells > 3) {
+				t_led_color[3] = LED_PURPLE;
+			}
+			if(num_of_cells > 4) {
+				t_led_color[4] = LED_PURPLE;
+			}
+			t_led_color[5] = LED_OFF;
+			t_led_blink = LED_BLINK;
+		} else {
+			t_led_color[0] = led_color_1;
+			t_led_color[1] = led_color_2;
+			t_led_color[2] = led_color_3;
+			t_led_color[3] = led_color_4;
+			t_led_color[4] = led_color_5;
+			t_led_color[5] = led_color_6;
+			t_led_blink = led_blink;
+		}
+		led_thread_ready = false;
+	}
+
+	if (led_thread_runcount & 1) {
+		if (t_led_blink)
+			setLEDColor(LED_OFF);
+		led_interval = LED_OFFTIME;
+	} else {
+		setLEDColor(t_led_color[(led_thread_runcount / 2) % 6]);
+		//led_interval = (led_thread_runcount & 1) : LED_ONTIME;
+		led_interval = LED_ONTIME;
+	}
+
+	if (led_thread_runcount == 11) {
+		/* obtained data for the first file descriptor */
+		struct vehicle_status_s vehicle_status_raw;
+		struct vehicle_gps_position_s vehicle_gps_position_raw;
+
+		bool new_data_vehicle_status;
+		bool new_data_vehicle_gps_position;
+
+		orb_check(vehicle_status_sub_fd, &new_data_vehicle_status);
+
+		if (new_data_vehicle_status) {
+			orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw);
+			no_data_vehicle_status = 0;
+		} else {
+			no_data_vehicle_status++;
+			if(no_data_vehicle_status >= 3)
+				no_data_vehicle_status = 3;
+		}
+
+		orb_check(vehicle_gps_position_sub_fd, &new_data_vehicle_gps_position);
+
+		if (new_data_vehicle_gps_position) {
+			orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub_fd, &vehicle_gps_position_raw);
+			no_data_vehicle_gps_position = 0;
+		} else {
+			no_data_vehicle_gps_position++;
+			if(no_data_vehicle_gps_position >= 3)
+				no_data_vehicle_gps_position = 3;
+		}
+
+
+
+		/* get number of used satellites in navigation */
+		num_of_used_sats = 0;
+		for(int satloop=0; satloop<20; satloop++) {
+			if(vehicle_gps_position_raw.satellite_used[satloop] == 1) {
+				num_of_used_sats++;
+			}
+		}
+
+		if(new_data_vehicle_status || no_data_vehicle_status < 3){
+			if(num_of_cells == 0) {
+				/* looking for lipo cells that are connected */
+				printf("<blinkm> checking cells\n");
+				for(num_of_cells = 2; num_of_cells < 7; num_of_cells++) {
+					if(vehicle_status_raw.voltage_battery < num_of_cells * MAX_CELL_VOLTAGE) break;
+				}
+				printf("<blinkm> cells found:%u\n", num_of_cells);
+
+			} else {
+				if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_WARNING) {
+					/* LED Pattern for battery low warning */
+					led_color_1 = LED_YELLOW;
+					led_color_2 = LED_YELLOW;
+					led_color_3 = LED_YELLOW;
+					led_color_4 = LED_YELLOW;
+					led_color_5 = LED_YELLOW;
+					led_color_6 = LED_YELLOW;
+					led_blink = LED_BLINK;
+
+				} else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_ALERT) {
+					/* LED Pattern for battery critical alerting */
+					led_color_1 = LED_RED;
+					led_color_2 = LED_RED;
+					led_color_3 = LED_RED;
+					led_color_4 = LED_RED;
+					led_color_5 = LED_RED;
+					led_color_6 = LED_RED;
+					led_blink = LED_BLINK;
+
+				} else {
+					/* no battery warnings here */
+
+					if(vehicle_status_raw.flag_system_armed == false) {
+						/* system not armed */
+						led_color_1 = LED_RED;
+						led_color_2 = LED_RED;
+						led_color_3 = LED_RED;
+						led_color_4 = LED_RED;
+						led_color_5 = LED_RED;
+						led_color_6 = LED_RED;
+						led_blink = LED_NOBLINK;
+
+					} else {
+						/* armed system - initial led pattern */
+						led_color_1 = LED_RED;
+						led_color_2 = LED_RED;
+						led_color_3 = LED_RED;
+						led_color_4 = LED_OFF;
+						led_color_5 = LED_OFF;
+						led_color_6 = LED_OFF;
+						led_blink = LED_BLINK;
+
+						/* handle 4th led - flightmode indicator */
+						switch((int)vehicle_status_raw.flight_mode) {
+							case VEHICLE_FLIGHT_MODE_MANUAL:
+								led_color_4 = LED_OFF;
+								break;
+
+							case VEHICLE_FLIGHT_MODE_STAB:
+								led_color_4 = LED_YELLOW;
+								break;
+
+							case VEHICLE_FLIGHT_MODE_HOLD:
+								led_color_4 = LED_BLUE;
+								break;
+
+							case VEHICLE_FLIGHT_MODE_AUTO:
+								led_color_4 = LED_GREEN;
+								break;
+						}
+
+						if(new_data_vehicle_gps_position || no_data_vehicle_gps_position < 3) {
+							/* handling used satīs */
+							if(num_of_used_sats >= 7) {
+								led_color_1 = LED_OFF;
+								led_color_2 = LED_OFF;
+								led_color_3 = LED_OFF;
+							} else if(num_of_used_sats == 6) {
+								led_color_2 = LED_OFF;
+								led_color_3 = LED_OFF;
+							} else if(num_of_used_sats == 5) {
+								led_color_3 = LED_OFF;
+							}
+
+						} else {
+							/* no vehicle_gps_position data */
+							led_color_1 = LED_WHITE;
+							led_color_2 = LED_WHITE;
+							led_color_3 = LED_WHITE;
+
+						}
+
+					}
+				}
+			}
+		} else {
+			/* LED Pattern for general Error - no vehicle_status can retrieved */
+			led_color_1 = LED_WHITE;
+			led_color_2 = LED_WHITE;
+			led_color_3 = LED_WHITE;
+			led_color_4 = LED_WHITE;
+			led_color_5 = LED_WHITE;
+			led_color_6 = LED_WHITE;
+			led_blink = LED_BLINK;
+
+		}
+
+		/*
+		printf( "<blinkm> Volt:%8.4f\tArmed:%4u\tMode:%4u\tCells:%4u\tNDVS:%4u\tNDSAT:%4u\tSats:%4u\tFix:%4u\tVisible:%4u\n",
+		vehicle_status_raw.voltage_battery,
+		vehicle_status_raw.flag_system_armed,
+		vehicle_status_raw.flight_mode,
+		num_of_cells,
+		no_data_vehicle_status,
+		no_data_vehicle_gps_position,
+		num_of_used_sats,
+		vehicle_gps_position_raw.fix_type,
+		vehicle_gps_position_raw.satellites_visible);
+		*/
+
+		led_thread_runcount=0;
+		led_thread_ready = true;
+		led_interval = LED_OFFTIME;
+
+		if(detected_cells_runcount < 4){
+			detected_cells_runcount++;
+		} else {
+			detected_cells_blinked = true;
+		}
+
+	} else {
+		led_thread_runcount++;
+	}
+
+	if(systemstate_run == true) {
+		/* re-queue ourselves to run again later */
+		work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, led_interval);
+	} else {
+		stop_script();
+		set_rgb(0,0,0);
+	}
+}
+
+void BlinkM::setLEDColor(int ledcolor) {
+	switch (ledcolor) {
+		case LED_OFF:	// off
+			set_rgb(0,0,0);
+			break;
+		case LED_RED:	// red
+			set_rgb(255,0,0);
+			break;
+		case LED_YELLOW:	// yellow
+			set_rgb(255,70,0);
+			break;
+		case LED_PURPLE:	// purple
+			set_rgb(255,0,255);
+			break;
+		case LED_GREEN:	// green
+			set_rgb(0,255,0);
+			break;
+		case LED_BLUE:	// blue
+			set_rgb(0,0,255);
+			break;
+		case LED_WHITE:	// white
+			set_rgb(255,255,255);
+			break;
+	}
 }
 
 int
@@ -413,7 +796,6 @@ BlinkM::get_rgb(uint8_t &r, uint8_t &g, uint8_t &b)
 	return ret;
 }
 
-
 int
 BlinkM::get_firmware_version(uint8_t version[2])
 {
@@ -443,9 +825,21 @@ blinkm_main(int argc, char *argv[])
 		exit(0);
 	}
 
+
 	if (g_blinkm == nullptr)
 		errx(1, "not started");
 
+	if (!strcmp(argv[1], "systemstate")) {
+		g_blinkm->setMode(1);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "ledoff")) {
+		g_blinkm->setMode(0);
+		exit(0);
+	}
+
+
 	if (!strcmp(argv[1], "list")) {
 		for (unsigned i = 0; BlinkM::script_names[i] != nullptr; i++)
 			fprintf(stderr, "    %s\n", BlinkM::script_names[i]);
@@ -458,8 +852,9 @@ blinkm_main(int argc, char *argv[])
 	if (fd < 0)
 		err(1, "can't open BlinkM device");
 
+	g_blinkm->setMode(0);
 	if (ioctl(fd, BLINKM_PLAY_SCRIPT_NAMED, (unsigned long)argv[1]) == OK)
 		exit(0);
 
-	errx(1, "missing command, try 'start', 'list' or a script name");
-}
\ No newline at end of file
+	errx(1, "missing command, try 'start', 'systemstate', 'ledoff', 'list' or a script name.");
+}