Adding px4esc-v1 board and bootloader

2026-06-27 03:40:36 +08:00 · 2016-12-12 03:45:23 -10:00
parent bba8371b0f
commit 24e8c213ee
54 changed files with 7534 additions and 0 deletions
@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *   Author: Pavel Kirienko <pavel.kirienko@gmail.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.
+ *
+ ****************************************************************************/
+
+#include <systemlib/systemlib.h>
+#include "indication_controller.hpp"
+#include <uavcan/equipment/indication/LightsCommand.hpp>
+#include "led.hpp"
+
+namespace
+{
+unsigned self_light_index = 0;
+
+void cb_light_command(const uavcan::ReceivedDataStructure<uavcan::equipment::indication::LightsCommand> &msg)
+{
+	uavcan::uint32_t red = 0;
+	uavcan::uint32_t green = 0;
+	uavcan::uint32_t blue = 0;
+
+	for (auto &cmd : msg.commands) {
+		if (cmd.light_id == self_light_index) {
+			using uavcan::equipment::indication::RGB565;
+
+			red = uavcan::uint32_t(float(cmd.color.red) *
+					       (255.0F / float(RGB565::FieldTypes::red::max())) + 0.5F);
+
+			green = uavcan::uint32_t(float(cmd.color.green) *
+						 (255.0F / float(RGB565::FieldTypes::green::max())) + 0.5F);
+
+			blue = uavcan::uint32_t(float(cmd.color.blue) *
+						(255.0F / float(RGB565::FieldTypes::blue::max())) + 0.5F);
+
+			red   = uavcan::min<uavcan::uint32_t>(red, 0xFFU);
+			green = uavcan::min<uavcan::uint32_t>(green, 0xFFU);
+			blue  = uavcan::min<uavcan::uint32_t>(blue, 0xFFU);
+		}
+	}
+}
+}
+
+int init_indication_controller(uavcan::INode &node)
+{
+	static uavcan::Subscriber<uavcan::equipment::indication::LightsCommand> sub_light(node);
+
+	self_light_index = 0;
+
+	int res = 0;
+
+	res = sub_light.start(cb_light_command);
+
+	if (res != 0) {
+		return res;
+	}
+
+	return 0;
+}