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Diffstat (limited to 'apps/systemcmds/led/led.c')
-rw-r--r-- | apps/systemcmds/led/led.c | 198 |
1 files changed, 198 insertions, 0 deletions
diff --git a/apps/systemcmds/led/led.c b/apps/systemcmds/led/led.c new file mode 100644 index 000000000..a6d73210a --- /dev/null +++ b/apps/systemcmds/led/led.c @@ -0,0 +1,198 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier <lm@inf.ethz.ch> + * + * 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 led.c + * Plain, stupid led outputs + */ + +#include <nuttx/config.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <stdbool.h> +#include <unistd.h> +#include <math.h> +#include <fcntl.h> +#include <errno.h> +#include <debug.h> +#include <termios.h> +#include <time.h> +#include <sys/prctl.h> +#include <arch/board/up_hrt.h> +#include <arch/board/drv_led.h> + +__EXPORT int led_main(int argc, char *argv[]); + + +static bool thread_should_exit = false; /**< Deamon exit flag */ +static bool thread_running = false; /**< Deamon status flag */ +static int led_task; /**< Handle of deamon task / thread */ +static int leds; + +static int led_init() +{ + leds = open("/dev/led", O_RDONLY | O_NONBLOCK); + + if (leds < 0) { + errx(1, "[led] LED: open fail\n"); + } + + if (ioctl(leds, LED_ON, LED_BLUE) || ioctl(leds, LED_ON, LED_AMBER)) { + errx(1, "[led] LED: ioctl fail\n"); + } + + return 0; +} + +static void led_deinit() +{ + close(leds); +} + +static int led_toggle(int led) +{ + static int last_blue = LED_ON; + static int last_amber = LED_ON; + + if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON; + + if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON; + + return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led); +} + +static int led_on(int led) +{ + return ioctl(leds, LED_ON, led); +} + +static int led_off(int led) +{ + return ioctl(leds, LED_OFF, led); +} + +/** + * Mainloop of led. + */ +int led_thread_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + fprintf(stderr, "usage: led {start|stop|status} [-d <UART>]\n\n"); + exit(1); +} + +/** + * The deamon app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + */ +int led_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("led already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + led_task = task_create("led", SCHED_PRIORITY_MAX - 15, 4096, led_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); + thread_running = true; + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tled is running\n"); + } else { + printf("\tled not started\n"); + } + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +int led_thread_main(int argc, char *argv[]) +{ + /* welcome user */ + printf("[led] Control started, taking over motors\n"); + + /* open leds */ + led_init(); + + unsigned int rate = 200; + + while (!thread_should_exit) { + /* swell blue led */ + + + /* 200 Hz base loop */ + usleep(1000000 / rate); + } + + /* close leds */ + led_deinit(); + + printf("[led] ending now...\n\n"); + fflush(stdout); + + thread_running = false; + + return OK; +} + |