diff options
Diffstat (limited to 'apps/drivers/blinkm/blinkm.cpp')
-rw-r--r-- | apps/drivers/blinkm/blinkm.cpp | 443 |
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."); +} |