diff options
author | Anton Babushkin <anton.babushkin@me.com> | 2013-05-09 22:41:09 +0400 |
---|---|---|
committer | Anton Babushkin <anton.babushkin@me.com> | 2013-05-09 22:41:09 +0400 |
commit | 9a9e41f7a2dc3ff545aa6d2e7072a9abef0b5a59 (patch) | |
tree | 7389637e61c2c466a063acf152349cbe4855766e /src/modules/gpio_led/gpio_led.c | |
parent | 0489595e7f34f4bacc1b63f31eed5e64fe55c7e6 (diff) | |
parent | 15aae728e5bba7ac255e2f0266d39c5e9d95fc6a (diff) | |
download | px4-firmware-9a9e41f7a2dc3ff545aa6d2e7072a9abef0b5a59.tar.gz px4-firmware-9a9e41f7a2dc3ff545aa6d2e7072a9abef0b5a59.tar.bz2 px4-firmware-9a9e41f7a2dc3ff545aa6d2e7072a9abef0b5a59.zip |
Merge branch 'master' into gpio_led
Diffstat (limited to 'src/modules/gpio_led/gpio_led.c')
-rw-r--r-- | src/modules/gpio_led/gpio_led.c | 159 |
1 files changed, 159 insertions, 0 deletions
diff --git a/src/modules/gpio_led/gpio_led.c b/src/modules/gpio_led/gpio_led.c new file mode 100644 index 000000000..b9b066d24 --- /dev/null +++ b/src/modules/gpio_led/gpio_led.c @@ -0,0 +1,159 @@ +/**************************************************************************** + * + * 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 <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; + struct vehicle_status_s status; + int vehicle_status_sub; + bool led_state; + int counter; +}; + +static struct gpio_led_s gpio_led; + +__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[]) +{ + memset(&gpio_led, 0, sizeof(gpio_led)); + int ret = work_queue(LPWORK, &gpio_led.work, gpio_led_start, &gpio_led, 0); + if (ret != 0) { + printf("[gpio_led] Failed to queue work: %d\n", ret); + exit(1); + } + exit(0); +} + +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) { + printf("[gpio_led] GPIO: open fail\n"); + return; + } + + /* configure GPIO pin */ + ioctl(priv->gpio_fd, GPIO_SET_OUTPUT, GPIO_EXT_1); + + /* 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) { + printf("[gpio_led] Failed to queue work: %d\n", ret); + return; + } + + printf("[gpio_led] Started\n"); +} + +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, GPIO_EXT_1); + } else { + ioctl(priv->gpio_fd, GPIO_CLEAR, GPIO_EXT_1); + } + } + + priv->counter++; + if (priv->counter > 5) + priv->counter = 0; + + /* repeat cycle at 5 Hz*/ + work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, USEC2TICK(200000)); +} |