diff options
Diffstat (limited to 'apps/drivers/blinkm/blinkm.cpp')
| -rw-r--r-- | apps/drivers/blinkm/blinkm.cpp | 919 |
1 files changed, 0 insertions, 919 deletions
diff --git a/apps/drivers/blinkm/blinkm.cpp b/apps/drivers/blinkm/blinkm.cpp deleted file mode 100644 index 3fabfd9a5..000000000 --- a/apps/drivers/blinkm/blinkm.cpp +++ /dev/null @@ -1,919 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * 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 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 : amber - * STABILIZED : yellow - * HOLD : blue - * AUTO : green - * - * Battery Warning (low Battery Level): - * Continuously blinking in yellow X-X-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-X-X - * - * General Error (no uOrb Data) - * Continuously blinking in white X-X-X-X-X-X-X-X-X-X - * - */ - -#include <nuttx/config.h> - -#include <arch/board/board.h> -#include <drivers/device/i2c.h> - -#include <sys/types.h> -#include <stdint.h> -#include <string.h> -#include <stdlib.h> -#include <stdbool.h> -#include <fcntl.h> -#include <unistd.h> -#include <stdio.h> -#include <ctype.h> - -#include <drivers/drv_blinkm.h> - -#include <nuttx/wqueue.h> - -#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 = 120; -static const int LED_OFFTIME = 120; -static const int LED_BLINK = 1; -static const int LED_NOBLINK = 0; - -class BlinkM : public device::I2C -{ -public: - BlinkM(int bus, int blinkm); - virtual ~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 *const script_names[]; - -private: - enum ScriptID { - USER = 0, - RGB, - WHITE_FLASH, - RED_FLASH, - GREEN_FLASH, - BLUE_FLASH, - CYAN_FLASH, - MAGENTA_FLASH, - YELLOW_FLASH, - BLACK, - HUE_CYCLE, - MOOD_LIGHT, - VIRTUAL_CANDLE, - WATER_REFLECTIONS, - OLD_NEON, - THE_SEASONS, - THUNDERSTORM, - STOP_LIGHT, - MORSE_CODE - }; - - enum ledColors { - LED_OFF, - LED_RED, - LED_YELLOW, - LED_PURPLE, - LED_GREEN, - LED_BLUE, - LED_WHITE, - LED_AMBER - }; - - work_s _work; - - 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_color_7; - int led_color_8; - 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); - - int fade_rgb(uint8_t r, uint8_t g, uint8_t b); - int fade_hsb(uint8_t h, uint8_t s, uint8_t b); - - int fade_rgb_random(uint8_t r, uint8_t g, uint8_t b); - int fade_hsb_random(uint8_t h, uint8_t s, uint8_t b); - - int set_fade_speed(uint8_t s); - - int play_script(uint8_t script_id); - int play_script(const char *script_name); - int stop_script(); - - int write_script_line(uint8_t line, uint8_t ticks, uint8_t cmd, uint8_t arg1, uint8_t arg2, uint8_t arg3); - int read_script_line(uint8_t line, uint8_t &ticks, uint8_t cmd[4]); - int set_script(uint8_t length, uint8_t repeats); - - int get_rgb(uint8_t &r, uint8_t &g, uint8_t &b); - - int get_firmware_version(uint8_t version[2]); -}; - -/* for now, we only support one BlinkM */ -namespace -{ - BlinkM *g_blinkm; -} - -/* list of script names, must match script ID numbers */ -const char *const BlinkM::script_names[] = { - "USER", - "RGB", - "WHITE_FLASH", - "RED_FLASH", - "GREEN_FLASH", - "BLUE_FLASH", - "CYAN_FLASH", - "MAGENTA_FLASH", - "YELLOW_FLASH", - "BLACK", - "HUE_CYCLE", - "MOOD_LIGHT", - "VIRTUAL_CANDLE", - "WATER_REFLECTIONS", - "OLD_NEON", - "THE_SEASONS", - "THUNDERSTORM", - "STOP_LIGHT", - "MORSE_CODE", - nullptr -}; - - -extern "C" __EXPORT int blinkm_main(int argc, char *argv[]); - -BlinkM::BlinkM(int bus, int blinkm) : - I2C("blinkm", BLINKM_DEVICE_PATH, bus, blinkm, 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_color_7(LED_OFF), - led_color_8(LED_OFF), - led_blink(LED_NOBLINK), - systemstate_run(false) -{ - memset(&_work, 0, sizeof(_work)); -} - -BlinkM::~BlinkM() -{ -} - -int -BlinkM::init() -{ - int ret; - ret = I2C::init(); - - if (ret != OK) { - warnx("I2C init failed"); - return ret; - } - - stop_script(); - set_rgb(0,0,0); - - return OK; -} - -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; -} - -int -BlinkM::probe() -{ - uint8_t version[2]; - int ret; - - ret = get_firmware_version(version); - - if (ret == OK) - log("found BlinkM firmware version %c%c", version[1], version[0]); - - return ret; -} - -int -BlinkM::ioctl(struct file *filp, int cmd, unsigned long arg) -{ - int ret = ENOTTY; - - switch (cmd) { - case BLINKM_PLAY_SCRIPT_NAMED: - if (arg == 0) { - ret = EINVAL; - break; - } - ret = play_script((const char *)arg); - break; - - case BLINKM_PLAY_SCRIPT: - ret = play_script(arg); - break; - - case BLINKM_SET_USER_SCRIPT: { - if (arg == 0) { - ret = EINVAL; - break; - } - - unsigned lines = 0; - const uint8_t *script = (const uint8_t *)arg; - - while ((lines < 50) && (script[1] != 0)) { - ret = write_script_line(lines, script[0], script[1], script[2], script[3], script[4]); - if (ret != OK) - break; - script += 5; - } - if (ret == OK) - ret = set_script(lines, 0); - break; - } - - default: - break; - } - - return ret; -} - - -void -BlinkM::led_trampoline(void *arg) -{ - BlinkM *bm = (BlinkM *)arg; - - bm->led(); -} - - - -void -BlinkM::led() -{ - - 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[8] = { 0, 0, 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_color[6] = LED_OFF; - t_led_color[7] = 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_color[6] = led_color_7; - t_led_color[7] = led_color_8; - 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) % 8]); - //led_interval = (led_thread_runcount & 1) : LED_ONTIME; - led_interval = LED_ONTIME; - } - - if (led_thread_runcount == 15) { - /* obtained data for the first file descriptor */ - struct vehicle_status_s vehicle_status_raw; - struct vehicle_gps_position_s vehicle_gps_position_raw; - - memset(&vehicle_status_raw, 0, sizeof(vehicle_status_raw)); - memset(&vehicle_gps_position_raw, 0, sizeof(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++) { - for(int satloop=0; satloop<sizeof(vehicle_gps_position_raw.satellite_used); 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:%d\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_color_7 = LED_YELLOW; - led_color_8 = 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_color_7 = LED_RED; - led_color_8 = 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_color_7 = LED_RED; - led_color_8 = 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_color_7 = LED_OFF; - led_color_8 = 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_AMBER; - 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_color_7 = LED_WHITE; - led_color_8 = 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; - case LED_AMBER: // amber - set_rgb(255,20,0); - break; - } -} - -int -BlinkM::set_rgb(uint8_t r, uint8_t g, uint8_t b) -{ - const uint8_t msg[4] = { 'n', r, g, b }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::fade_rgb(uint8_t r, uint8_t g, uint8_t b) -{ - const uint8_t msg[4] = { 'c', r, g, b }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::fade_hsb(uint8_t h, uint8_t s, uint8_t b) -{ - const uint8_t msg[4] = { 'h', h, s, b }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::fade_rgb_random(uint8_t r, uint8_t g, uint8_t b) -{ - const uint8_t msg[4] = { 'C', r, g, b }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::fade_hsb_random(uint8_t h, uint8_t s, uint8_t b) -{ - const uint8_t msg[4] = { 'H', h, s, b }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::set_fade_speed(uint8_t s) -{ - const uint8_t msg[2] = { 'f', s }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::play_script(uint8_t script_id) -{ - const uint8_t msg[4] = { 'p', script_id, 0, 0 }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::play_script(const char *script_name) -{ - /* handle HTML colour encoding */ - if (isxdigit(script_name[0]) && (strlen(script_name) == 6)) { - char code[3]; - uint8_t r, g, b; - - code[2] = '\0'; - - code[0] = script_name[1]; - code[1] = script_name[2]; - r = strtol(code, 0, 16); - code[0] = script_name[3]; - code[1] = script_name[4]; - g = strtol(code, 0, 16); - code[0] = script_name[5]; - code[1] = script_name[6]; - b = strtol(code, 0, 16); - - stop_script(); - return set_rgb(r, g, b); - } - - for (unsigned i = 0; script_names[i] != nullptr; i++) - if (!strcasecmp(script_name, script_names[i])) - return play_script(i); - - return -1; -} - -int -BlinkM::stop_script() -{ - const uint8_t msg[1] = { 'o' }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::write_script_line(uint8_t line, uint8_t ticks, uint8_t cmd, uint8_t arg1, uint8_t arg2, uint8_t arg3) -{ - const uint8_t msg[8] = { 'W', 0, line, ticks, cmd, arg1, arg2, arg3 }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::read_script_line(uint8_t line, uint8_t &ticks, uint8_t cmd[4]) -{ - const uint8_t msg[3] = { 'R', 0, line }; - uint8_t result[5]; - - int ret = transfer(msg, sizeof(msg), result, sizeof(result)); - - if (ret == OK) { - ticks = result[0]; - cmd[0] = result[1]; - cmd[1] = result[2]; - cmd[2] = result[3]; - cmd[3] = result[4]; - } - - return ret; -} - -int -BlinkM::set_script(uint8_t len, uint8_t repeats) -{ - const uint8_t msg[4] = { 'L', 0, len, repeats }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::get_rgb(uint8_t &r, uint8_t &g, uint8_t &b) -{ - const uint8_t msg = 'g'; - uint8_t result[3]; - - int ret = transfer(&msg, sizeof(msg), result, sizeof(result)); - - if (ret == OK) { - r = result[0]; - g = result[1]; - b = result[2]; - } - - return ret; -} - -int -BlinkM::get_firmware_version(uint8_t version[2]) -{ - const uint8_t msg = 'Z'; - - return transfer(&msg, sizeof(msg), version, 2); -} - -void blinkm_usage() { - fprintf(stderr, "missing command: try 'start', 'systemstate', 'ledoff', 'list' or a script name {options}\n"); - fprintf(stderr, "options:\n"); - fprintf(stderr, "\t-b --bus i2cbus (3)\n"); - fprintf(stderr, "\t-a --blinkmaddr blinkmaddr (9)\n"); -} - -int -blinkm_main(int argc, char *argv[]) -{ - - int i2cdevice = PX4_I2C_BUS_EXPANSION; - int blinkmadr = 9; - - int x; - - for (x = 1; x < argc; x++) { - if (strcmp(argv[x], "-b") == 0 || strcmp(argv[x], "--bus") == 0) { - if (argc > x + 1) { - i2cdevice = atoi(argv[x + 1]); - } - } - - if (strcmp(argv[x], "-a") == 0 || strcmp(argv[x], "--blinkmaddr") == 0) { - if (argc > x + 1) { - blinkmadr = atoi(argv[x + 1]); - } - } - - } - - if (!strcmp(argv[1], "start")) { - if (g_blinkm != nullptr) - errx(1, "already started"); - - g_blinkm = new BlinkM(i2cdevice, blinkmadr); - - if (g_blinkm == nullptr) - errx(1, "new failed"); - - if (OK != g_blinkm->init()) { - delete g_blinkm; - g_blinkm = nullptr; - errx(1, "init failed"); - } - - exit(0); - } - - - if (g_blinkm == nullptr) { - fprintf(stderr, "not started\n"); - blinkm_usage(); - exit(0); - } - - 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]); - fprintf(stderr, " <html color number>\n"); - exit(0); - } - - /* things that require access to the device */ - int fd = open(BLINKM_DEVICE_PATH, 0); - 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); - - blinkm_usage(); - exit(0); -} |