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Merge pull request #151 from NosDE/master
BlinkM Driver with Systemstate
This commit is contained in:
px4dev
commit
5c34da06bc
@ -35,9 +35,61 @@
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* @file blinkm.cpp
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*
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* Driver for the BlinkM LED controller connected via I2C.
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*
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* Connect the BlinkM to I2C3 and put the following line to the rc startup-script:
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* blinkm start
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*
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* To start the system monitor put in the next line after the blinkm start:
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* blinkm systemmonitor
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*
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*
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* Description:
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* After startup, the Application checked how many lipo cells are connected to the System.
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* The recognized number off cells, will be blinked 5 times in purple color.
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* 2 Cells = 2 blinks
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* ...
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* 5 Cells = 5 blinks
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* Now the Application will show the actual selected Flightmode, GPS-Fix and Battery Warnings and Alerts.
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*
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* System disarmed:
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* The BlinkM should lit solid red.
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*
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* System armed:
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* One message is made of 4 Blinks and a pause in the same length as the 4 blinks.
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*
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* X-X-X-X-_-_-_-_-
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* -------------------------
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* G G G M
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* P P P O
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* S S S D
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* E
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*
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* (X = on, _=off)
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*
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* The first 3 blinks indicates the status of the GPS-Signal (red):
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* 0-4 satellites = X-X-X-X-_-_-_-_-
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* 5 satellites = X-X-_-X-_-_-_-_-
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* 6 satellites = X-_-_-X-_-_-_-_-
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* >=7 satellites = _-_-_-X-_-_-_-_-
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* If no GPS is found the first 3 blinks are white
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*
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* The fourth Blink indicates the Flightmode:
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* MANUAL : off
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* STABILIZED : yellow
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* HOLD : blue
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* AUTO : green
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*
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* Battery Warning (low Battery Level):
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* Continuously blinking in yellow X-X-X-X-X-X-X-X
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*
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* Battery Alert (critical Battery Level)
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* Continuously blinking in red X-X-X-X-X-X-X-X
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*
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* General Error (no uOrb Data)
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* Continuously blinking in white X-X-X-X-X-X-X-X
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*
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*/
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#include <nuttx/config.h>
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#include <drivers/device/i2c.h>
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@ -59,15 +111,28 @@
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#include <systemlib/perf_counter.h>
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#include <systemlib/err.h>
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#include <systemlib/systemlib.h>
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#include <poll.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_gps_position.h>
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static const float MAX_CELL_VOLTAGE = 4.3f;
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static const int LED_ONTIME = 100;
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static const int LED_OFFTIME = 100;
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static const int LED_BLINK = 1;
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static const int LED_NOBLINK = 0;
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class BlinkM : public device::I2C
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{
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public:
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BlinkM(int bus);
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~BlinkM();
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virtual int init();
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virtual int probe();
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virtual int setMode(int mode);
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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static const char *script_names[];
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@ -95,11 +160,31 @@ private:
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MORSE_CODE
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};
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work_s _work;
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static const unsigned _monitor_interval = 250;
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enum ledColors {
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LED_OFF,
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LED_RED,
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LED_YELLOW,
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LED_PURPLE,
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LED_GREEN,
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LED_BLUE,
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LED_WHITE
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};
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static void monitor_trampoline(void *arg);
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void monitor();
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work_s _work;
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int led_color_1;
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int led_color_2;
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int led_color_3;
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int led_color_4;
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int led_color_5;
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int led_color_6;
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int led_blink;
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bool systemstate_run;
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void setLEDColor(int ledcolor);
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static void led_trampoline(void *arg);
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void led();
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int set_rgb(uint8_t r, uint8_t g, uint8_t b);
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@ -127,8 +212,7 @@ private:
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/* for now, we only support one BlinkM */
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namespace
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{
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BlinkM *g_blinkm;
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BlinkM *g_blinkm;
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}
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/* list of script names, must match script ID numbers */
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@ -155,11 +239,21 @@ const char *BlinkM::script_names[] = {
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nullptr
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};
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extern "C" __EXPORT int blinkm_main(int argc, char *argv[]);
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BlinkM::BlinkM(int bus) :
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I2C("blinkm", BLINKM_DEVICE_PATH, bus, 0x09, 100000)
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I2C("blinkm", BLINKM_DEVICE_PATH, bus, 0x09, 100000),
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led_color_1(LED_OFF),
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led_color_2(LED_OFF),
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led_color_3(LED_OFF),
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led_color_4(LED_OFF),
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led_color_5(LED_OFF),
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led_color_6(LED_OFF),
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led_blink(LED_NOBLINK),
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systemstate_run(false)
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{
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memset(&_work, 0, sizeof(_work));
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}
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BlinkM::~BlinkM()
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@ -170,7 +264,6 @@ int
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BlinkM::init()
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{
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int ret;
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ret = I2C::init();
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if (ret != OK) {
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@ -178,14 +271,25 @@ BlinkM::init()
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return ret;
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}
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/* set some sensible defaults */
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set_fade_speed(25);
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stop_script();
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set_rgb(0,0,0);
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/* turn off by default */
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play_script(BLACK);
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return OK;
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}
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/* start the system monitor as a low-priority workqueue entry */
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work_queue(LPWORK, &_work, (worker_t)&BlinkM::monitor_trampoline, this, 1);
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int
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BlinkM::setMode(int mode)
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{
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if(mode == 1) {
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if(systemstate_run == false) {
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stop_script();
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set_rgb(0,0,0);
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systemstate_run = true;
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work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, 1);
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}
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} else {
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systemstate_run = false;
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}
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return OK;
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}
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@ -249,21 +353,300 @@ BlinkM::ioctl(struct file *filp, int cmd, unsigned long arg)
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return ret;
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}
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void
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BlinkM::monitor_trampoline(void *arg)
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BlinkM::led_trampoline(void *arg)
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{
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BlinkM *bm = (BlinkM *)arg;
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bm->monitor();
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bm->led();
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}
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void
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BlinkM::monitor()
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{
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/* check system state, possibly update LED to suit */
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/* re-queue ourselves to run again later */
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work_queue(LPWORK, &_work, (worker_t)&BlinkM::monitor_trampoline, this, _monitor_interval);
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void
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BlinkM::led()
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{
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static int vehicle_status_sub_fd;
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static int vehicle_gps_position_sub_fd;
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static int num_of_cells = 0;
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static int detected_cells_runcount = 0;
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static int t_led_color[6] = { 0, 0, 0, 0, 0, 0};
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static int t_led_blink = 0;
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static int led_thread_runcount=0;
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static int led_interval = 1000;
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static int no_data_vehicle_status = 0;
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static int no_data_vehicle_gps_position = 0;
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static bool topic_initialized = false;
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static bool detected_cells_blinked = false;
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static bool led_thread_ready = true;
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int num_of_used_sats = 0;
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if(!topic_initialized) {
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vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status));
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orb_set_interval(vehicle_status_sub_fd, 1000);
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vehicle_gps_position_sub_fd = orb_subscribe(ORB_ID(vehicle_gps_position));
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orb_set_interval(vehicle_gps_position_sub_fd, 1000);
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topic_initialized = true;
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}
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if(led_thread_ready == true) {
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if(!detected_cells_blinked) {
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if(num_of_cells > 0) {
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t_led_color[0] = LED_PURPLE;
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}
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if(num_of_cells > 1) {
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t_led_color[1] = LED_PURPLE;
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}
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if(num_of_cells > 2) {
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t_led_color[2] = LED_PURPLE;
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}
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if(num_of_cells > 3) {
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t_led_color[3] = LED_PURPLE;
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}
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if(num_of_cells > 4) {
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t_led_color[4] = LED_PURPLE;
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}
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t_led_color[5] = LED_OFF;
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t_led_blink = LED_BLINK;
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} else {
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t_led_color[0] = led_color_1;
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t_led_color[1] = led_color_2;
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t_led_color[2] = led_color_3;
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t_led_color[3] = led_color_4;
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t_led_color[4] = led_color_5;
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t_led_color[5] = led_color_6;
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t_led_blink = led_blink;
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}
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led_thread_ready = false;
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}
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if (led_thread_runcount & 1) {
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if (t_led_blink)
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setLEDColor(LED_OFF);
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led_interval = LED_OFFTIME;
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} else {
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setLEDColor(t_led_color[(led_thread_runcount / 2) % 6]);
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//led_interval = (led_thread_runcount & 1) : LED_ONTIME;
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led_interval = LED_ONTIME;
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}
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if (led_thread_runcount == 11) {
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/* obtained data for the first file descriptor */
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struct vehicle_status_s vehicle_status_raw;
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struct vehicle_gps_position_s vehicle_gps_position_raw;
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bool new_data_vehicle_status;
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bool new_data_vehicle_gps_position;
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orb_check(vehicle_status_sub_fd, &new_data_vehicle_status);
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if (new_data_vehicle_status) {
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orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw);
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no_data_vehicle_status = 0;
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} else {
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no_data_vehicle_status++;
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if(no_data_vehicle_status >= 3)
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no_data_vehicle_status = 3;
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}
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orb_check(vehicle_gps_position_sub_fd, &new_data_vehicle_gps_position);
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if (new_data_vehicle_gps_position) {
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orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub_fd, &vehicle_gps_position_raw);
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no_data_vehicle_gps_position = 0;
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} else {
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no_data_vehicle_gps_position++;
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if(no_data_vehicle_gps_position >= 3)
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no_data_vehicle_gps_position = 3;
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}
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/* get number of used satellites in navigation */
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num_of_used_sats = 0;
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for(int satloop=0; satloop<20; satloop++) {
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if(vehicle_gps_position_raw.satellite_used[satloop] == 1) {
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num_of_used_sats++;
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}
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}
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if(new_data_vehicle_status || no_data_vehicle_status < 3){
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if(num_of_cells == 0) {
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/* looking for lipo cells that are connected */
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printf("<blinkm> checking cells\n");
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for(num_of_cells = 2; num_of_cells < 7; num_of_cells++) {
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if(vehicle_status_raw.voltage_battery < num_of_cells * MAX_CELL_VOLTAGE) break;
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}
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printf("<blinkm> cells found:%u\n", num_of_cells);
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} else {
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if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_WARNING) {
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/* LED Pattern for battery low warning */
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led_color_1 = LED_YELLOW;
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led_color_2 = LED_YELLOW;
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led_color_3 = LED_YELLOW;
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led_color_4 = LED_YELLOW;
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led_color_5 = LED_YELLOW;
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led_color_6 = LED_YELLOW;
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led_blink = LED_BLINK;
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} else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_ALERT) {
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/* LED Pattern for battery critical alerting */
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led_color_1 = LED_RED;
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led_color_2 = LED_RED;
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led_color_3 = LED_RED;
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led_color_4 = LED_RED;
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led_color_5 = LED_RED;
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led_color_6 = LED_RED;
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led_blink = LED_BLINK;
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} else {
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/* no battery warnings here */
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if(vehicle_status_raw.flag_system_armed == false) {
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/* system not armed */
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led_color_1 = LED_RED;
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led_color_2 = LED_RED;
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led_color_3 = LED_RED;
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led_color_4 = LED_RED;
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led_color_5 = LED_RED;
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led_color_6 = LED_RED;
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led_blink = LED_NOBLINK;
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} else {
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/* armed system - initial led pattern */
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led_color_1 = LED_RED;
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led_color_2 = LED_RED;
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led_color_3 = LED_RED;
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led_color_4 = LED_OFF;
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led_color_5 = LED_OFF;
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led_color_6 = LED_OFF;
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led_blink = LED_BLINK;
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/* handle 4th led - flightmode indicator */
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switch((int)vehicle_status_raw.flight_mode) {
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case VEHICLE_FLIGHT_MODE_MANUAL:
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led_color_4 = LED_OFF;
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break;
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case VEHICLE_FLIGHT_MODE_STAB:
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led_color_4 = LED_YELLOW;
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break;
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case VEHICLE_FLIGHT_MODE_HOLD:
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led_color_4 = LED_BLUE;
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break;
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case VEHICLE_FLIGHT_MODE_AUTO:
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led_color_4 = LED_GREEN;
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break;
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}
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if(new_data_vehicle_gps_position || no_data_vehicle_gps_position < 3) {
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/* handling used sat´s */
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if(num_of_used_sats >= 7) {
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led_color_1 = LED_OFF;
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led_color_2 = LED_OFF;
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led_color_3 = LED_OFF;
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} else if(num_of_used_sats == 6) {
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led_color_2 = LED_OFF;
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led_color_3 = LED_OFF;
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} else if(num_of_used_sats == 5) {
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led_color_3 = LED_OFF;
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}
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} else {
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/* no vehicle_gps_position data */
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led_color_1 = LED_WHITE;
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led_color_2 = LED_WHITE;
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led_color_3 = LED_WHITE;
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}
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|
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}
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}
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}
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} else {
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/* LED Pattern for general Error - no vehicle_status can retrieved */
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led_color_1 = LED_WHITE;
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led_color_2 = LED_WHITE;
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led_color_3 = LED_WHITE;
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led_color_4 = LED_WHITE;
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led_color_5 = LED_WHITE;
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led_color_6 = LED_WHITE;
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led_blink = LED_BLINK;
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}
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/*
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printf( "<blinkm> Volt:%8.4f\tArmed:%4u\tMode:%4u\tCells:%4u\tNDVS:%4u\tNDSAT:%4u\tSats:%4u\tFix:%4u\tVisible:%4u\n",
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vehicle_status_raw.voltage_battery,
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vehicle_status_raw.flag_system_armed,
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vehicle_status_raw.flight_mode,
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num_of_cells,
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no_data_vehicle_status,
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no_data_vehicle_gps_position,
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num_of_used_sats,
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vehicle_gps_position_raw.fix_type,
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vehicle_gps_position_raw.satellites_visible);
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*/
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led_thread_runcount=0;
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led_thread_ready = true;
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led_interval = LED_OFFTIME;
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if(detected_cells_runcount < 4){
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detected_cells_runcount++;
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} else {
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detected_cells_blinked = true;
|
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}
|
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|
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} else {
|
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led_thread_runcount++;
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}
|
||||
|
||||
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();
|
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set_rgb(0,0,0);
|
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}
|
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}
|
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|
||||
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");
|
||||
}
|
||||
errx(1, "missing command, try 'start', 'systemstate', 'ledoff', 'list' or a script name.");
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user