NXP demo board config. -LH

boards/nxp/fmuk66-v3/init/rc.board_defaults

@@ -9,3 +9,11 @@ param set-default BAT1_A_PER_V 15.391030303
 rgbled_pwm start
 safety_button start
 
+# pre-arm stuff
+param set-default SYS_CTRL_ALLOC 1
+param set-default COM_PREARM_MODE 2
+
+# Cyphal stuff
+ifup can0
+cyphal start
+elm_lighting_module

boards/nxp/fmuk66-v3/nxp_demo.px4board

@@ -0,0 +1,12 @@
+CONFIG_DRIVERS_UAVCAN=n
+CONFIG_DRIVERS_CYPHAL=y
+CONFIG_CYPHAL_BMS_SUBSCRIBER=y
+CONFIG_CYPHAL_ESC_SUBSCRIBER=y
+CONFIG_CYPHAL_GNSS_SUBSCRIBER_0=y
+CONFIG_CYPHAL_GNSS_SUBSCRIBER_1=y
+CONFIG_CYPHAL_READINESS_PUBLISHER=y
+CONFIG_CYPHAL_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
+CONFIG_EXAMPLES_ELM_LIGHTING_MODULE=y
+CONFIG_EXAMPLES_LIGHTING_STATES_PUBLISHER=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
+CONFIG_MODULES_MICRORTPS_BRIDGE=y

boards/nxp/ucans32k146/init/rc.board_defaults

@@ -7,3 +7,4 @@ pwm_out mode_pwm1 start
 
 ifup can0
 cyphal start
+lighting_state_converter start

boards/nxp/ucans32k146/nxp_demo.px4board

@@ -0,0 +1,6 @@
+CONFIG_DRIVERS_LIGHTS_APA102=y
+CONFIG_DRIVERS_CYPHAL=y
+CONFIG_DRIVERS_UAVCANNODE_GPS_DEMO=n
+CONFIG_MODULES_LIGHTING_STATE_CONVERTER=y
+CONFIG_CYPHAL_NODE_CLIENT=y
+CONFIG_CYPHAL_UORB_LIGHTING_STATES_SUBSCRIBER=y

msg/CMakeLists.txt

@@ -104,6 +104,7 @@ set(msg_files
 	landing_gear.msg
 	landing_target_innovations.msg
 	landing_target_pose.msg
+	lighting_states.msg
 	led_control.msg
 	log_message.msg
 	logger_status.msg

msg/led_control.msg

@@ -13,6 +13,7 @@ uint8 COLOR_PURPLE = 5
 uint8 COLOR_AMBER = 6
 uint8 COLOR_CYAN = 7
 uint8 COLOR_WHITE = 8
+uint8 COLOR_DIM_RED = 9
 
 # LED modes definitions
 uint8 MODE_OFF = 0 # turn LED off
@@ -27,11 +28,11 @@ uint8 MODE_FLASH = 7 # two fast blinks (on/off) with timing as in MODE_BLINK_FAS
 uint8 MAX_PRIORITY = 2 # maxium priority (minimum is 0)
 
 
-uint8 led_mask # bitmask which LED(s) to control, set to 0xff for all
+uint16 led_mask # bitmask which LED(s) to control, set to 0xff for all
 uint8 color # see COLOR_*
 uint8 mode # see MODE_*
 uint8 num_blinks # how many times to blink (number of on-off cycles if mode is one of MODE_BLINK_*) . Set to 0 for infinite
                  # in MODE_FLASH it is the number of cycles. Max number of blinks: 122 and max number of flash cycles: 20
 uint8 priority # priority: higher priority events will override current lower priority events (see MAX_PRIORITY)
 
-uint8 ORB_QUEUE_LENGTH = 8      # needs to match BOARD_MAX_LEDS
+uint8 ORB_QUEUE_LENGTH = 16      # needs to match BOARD_MAX_LEDS

msg/led_control.msg.old

@@ -0,0 +1,37 @@
+# LED control: control a single or multiple LED's.
+# These are the externally visible LED's, not the board LED's
+
+uint64 timestamp		# time since system start (microseconds)
+
+# colors
+uint8 COLOR_OFF = 0 # this is only used in the drivers
+uint8 COLOR_RED = 1
+uint8 COLOR_GREEN = 2
+uint8 COLOR_BLUE = 3
+uint8 COLOR_YELLOW = 4
+uint8 COLOR_PURPLE = 5
+uint8 COLOR_AMBER = 6
+uint8 COLOR_CYAN = 7
+uint8 COLOR_WHITE = 8
+
+# LED modes definitions
+uint8 MODE_OFF = 0 # turn LED off
+uint8 MODE_ON = 1  # turn LED on
+uint8 MODE_DISABLED = 2  # disable this priority (switch to lower priority setting)
+uint8 MODE_BLINK_SLOW = 3
+uint8 MODE_BLINK_NORMAL = 4
+uint8 MODE_BLINK_FAST = 5
+uint8 MODE_BREATHE = 6 # continuously increase & decrease brightness (solid color if driver does not support it)
+uint8 MODE_FLASH = 7 # two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while
+
+uint8 MAX_PRIORITY = 2 # maxium priority (minimum is 0)
+
+
+uint8 led_mask # bitmask which LED(s) to control, set to 0xff for all
+uint8 color # see COLOR_*
+uint8 mode # see MODE_*
+uint8 num_blinks # how many times to blink (number of on-off cycles if mode is one of MODE_BLINK_*) . Set to 0 for infinite
+                 # in MODE_FLASH it is the number of cycles. Max number of blinks: 122 and max number of flash cycles: 20
+uint8 priority # priority: higher priority events will override current lower priority events (see MAX_PRIORITY)
+
+uint8 ORB_QUEUE_LENGTH = 8      # needs to match BOARD_MAX_LEDS

msg/lighting_states.msg

@@ -0,0 +1,17 @@
+# LED States for El Mandadero and NXP Buggy3
+
+uint64 timestamp
+
+uint8 IDLE     = 0 # Dim Red
+uint8 BRAKE    = 1 # Bright Red
+uint8 REVERSE  = 2 # [Top] White
+uint8 TURN     = 3 # [Top] Flashing Yellow
+uint8 HAZARD   = 4 # Flashing Yellow
+uint8 NO_STATE = 255 # No state update
+
+# LED Panel IDs
+# 0 - Right Front
+# 1 - Left Front
+# 2 - Left Rear
+# 3 - Right Rear
+uint8[10] state

src/drivers/cyphal/PublicationManager.hpp

@@ -64,13 +64,18 @@
 #define CONFIG_CYPHAL_UORB_SENSOR_GPS_PUBLISHER 0
 #endif
 
+#ifndef CONFIG_CYPHAL_UORB_LIGHTING_STATES_PUBLISHER
+#define CONFIG_CYPHAL_UORB_LIGHTING_STATES_PUBLISHER 0
+#endif
+
 /* Preprocessor calculation of publisher count */
 
 #define UAVCAN_PUB_COUNT CONFIG_CYPHAL_GNSS_PUBLISHER + \
 	CONFIG_CYPHAL_ESC_CONTROLLER + \
 	CONFIG_CYPHAL_READINESS_PUBLISHER + \
 	CONFIG_CYPHAL_UORB_ACTUATOR_OUTPUTS_PUBLISHER + \
-	CONFIG_CYPHAL_UORB_SENSOR_GPS_PUBLISHER
+	CONFIG_CYPHAL_UORB_SENSOR_GPS_PUBLISHER + \
+	CONFIG_CYPHAL_UORB_LIGHTING_STATES_PUBLISHER
 
 #include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>
@@ -159,6 +164,16 @@ private:
 			"uorb.sensor_gps",
 			0
 		},
+#endif
+#if CONFIG_CYPHAL_UORB_LIGHTING_STATES_PUBLISHER
+		{
+			[](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanPublisher *
+			{
+				return new uORB_over_UAVCAN_Publisher<lighting_states_s>(handle, pmgr, ORB_ID(lighting_states));
+			},
+			"uorb.lighting_states",
+			0
+		},
 #endif
 	};
 };

src/drivers/cyphal/SubscriptionManager.hpp

@@ -61,13 +61,18 @@
 #define CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER 0
 #endif
 
+#ifndef CONFIG_CYPHAL_UORB_LIGHTING_STATES_SUBSCRIBER
+#define CONFIG_CYPHAL_UORB_LIGHTING_STATES_SUBSCRIBER 0
+#endif
+
 /* Preprocessor calculation of Subscribers count */
 
 #define UAVCAN_SUB_COUNT CONFIG_CYPHAL_ESC_SUBSCRIBER + \
 	CONFIG_CYPHAL_GNSS_SUBSCRIBER_0 + \
 	CONFIG_CYPHAL_GNSS_SUBSCRIBER_1 + \
 	CONFIG_CYPHAL_BMS_SUBSCRIBER + \
-	CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER
+	CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER + \
+	CONFIG_CYPHAL_UORB_LIGHTING_STATES_SUBSCRIBER
 
 #include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>
@@ -179,6 +184,16 @@ private:
 			"uorb.sensor_gps",
 			0
 		},
+#endif
+#if CONFIG_CYPHAL_UORB_LIGHTING_STATES_SUBSCRIBER
+		{
+			[](CanardInstance & handle, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
+			{
+				return new uORB_over_UAVCAN_Subscriber<lighting_states_s>(handle, pmgr, ORB_ID(lighting_states));
+			},
+			"uorb.lighting_states",
+			0
+		},
 #endif
 	};
 };

src/drivers/drv_apa102.h

@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 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 drv_apa102.h
+ *
+ * APA102 LED driver interface.
+ *
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+#include <systemlib/px4_macros.h>
+
+namespace apa102
+{
+class APA102LEDData
+{
+public:
+	enum eRGB {
+		eB = 0,
+		eR = 1,
+		eG = 2
+	};
+
+	typedef union {
+		uint8_t  grb[3];
+		uint32_t l;
+	} led_data_t;
+
+	led_data_t  data{};
+	APA102LEDData() {data.l = 0;}
+	APA102LEDData(APA102LEDData &r) {data.l = r.data.l;}
+
+	uint8_t &R() {return data.grb[eR];};
+	uint8_t &G() {return data.grb[eG];};
+	uint8_t &B() {return data.grb[eB];};
+};
+};

src/drivers/extreme_switch/CMakeLists.txt

@@ -0,0 +1,45 @@
+############################################################################
+#
+#   Copyright (c) 2021 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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE drivers__extreme_switch
+	MAIN extreme_switch
+	COMPILE_FLAGS
+		#-DDEBUG_BUILD   # uncomment for PX4_DEBUG output
+		#-O0             # uncomment when debugging
+	SRCS
+		ExtremeSwitch.cpp
+		ExtremeSwitch.hpp
+	DEPENDS
+		px4_work_queue
+	)

src/drivers/extreme_switch/ExtremeSwitch.cpp

@@ -0,0 +1,222 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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.
+ *
+ ****************************************************************************/
+
+#include "ExtremeSwitch.hpp"
+
+ExtremeSwitch::ExtremeSwitch(int bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
+	SPI(DRV_DEVTYPE_UNUSED, MODULE_NAME, bus, device, spi_mode, bus_frequency),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1)
+{
+}
+
+ExtremeSwitch::~ExtremeSwitch()
+{
+	perf_free(_loop_perf);
+	perf_free(_loop_interval_perf);
+}
+
+int ExtremeSwitch::init()
+{
+	/* Let's not do this yet
+	// execute Run() on every sensor_accel publication
+	if (!_sensor_accel_sub.registerCallback()) {
+		PX4_ERR("sensor_accel callback registration failed");
+		return false;
+	}
+	*/
+
+	int ret = SPI::init();
+
+	if(ret != OK) {
+		printf("SPI::init() failed\n");
+		DEVICE_DEBUG("SPI Init Failed");
+		return -EIO;
+	}
+
+	// alternatively, Run on fixed interval
+	ScheduleOnInterval(10000_us); // 2000 us interval, 200 Hz rate
+
+	return PX4_OK;
+}
+
+void ExtremeSwitch::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		exit_and_cleanup();
+		return;
+	}
+
+	perf_begin(_loop_perf);
+	perf_count(_loop_interval_perf);
+	
+	uint8_t buf;
+	uint8_t rbuf;
+
+	printf("Starting loop\n\n");
+
+
+	printf("Transferring OCR register \n");
+	buf = 0b00000001;
+	transfer(&buf, &rbuf, sizeof(uint8_t));
+	printf("rbuf: 0x%X\n", rbuf);
+
+	px4_usleep(500000);
+
+	printf("Transferring ON command \n");
+	buf = 0b00010001;
+	transfer(&buf, &rbuf, sizeof(uint8_t));
+	printf("rbuf: 0x%X\n", rbuf);
+	
+	px4_usleep(100000);
+	
+	printf("Transferring OFF command \n");
+	buf = 0b00010000;
+	transfer(&buf, &rbuf, sizeof(uint8_t));
+	printf("rbuf: 0x%X\n", rbuf);
+
+	printf("Ending loop\n\n");
+
+	/*
+	 * Just send a few pulses to enable the switch
+	 * Wait a while between pulses
+	 */
+	/*
+	// Example
+	//  update vehicle_status to check arming state
+	if (_vehicle_status_sub.updated()) {
+		vehicle_status_s vehicle_status;
+
+		if (_vehicle_status_sub.copy(&vehicle_status)) {
+
+			const bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
+
+			if (armed && !_armed) {
+				PX4_WARN("vehicle armed due to %d", vehicle_status.latest_arming_reason);
+
+			} else if (!armed && _armed) {
+				PX4_INFO("vehicle disarmed due to %d", vehicle_status.latest_disarming_reason);
+			}
+
+			_armed = armed;
+		}
+	}
+
+
+	// Example
+	//  grab latest accelerometer data
+	if (_sensor_accel_sub.updated()) {
+		sensor_accel_s accel;
+
+		if (_sensor_accel_sub.copy(&accel)) {
+			// DO WORK
+
+			// access parameter value (SYS_AUTOSTART)
+			if (_param_sys_autostart.get() == 1234) {
+				// do something if SYS_AUTOSTART is 1234
+			}
+		}
+	}
+
+
+	// Example
+	//  publish some data
+	orb_test_s data{};
+	data.val = 314159;
+	data.timestamp = hrt_absolute_time();
+	_orb_test_pub.publish(data);
+	*/
+
+
+	perf_end(_loop_perf);
+}
+
+int ExtremeSwitch::task_spawn(int argc, char *argv[])
+{
+	ExtremeSwitch *instance = new ExtremeSwitch(1, 0x10000000, 1000000, SPIDEV_MODE1);
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init() == PX4_OK) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int ExtremeSwitch::print_status()
+{
+	perf_print_counter(_loop_perf);
+	perf_print_counter(_loop_interval_perf);
+	return 0;
+}
+
+int ExtremeSwitch::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int ExtremeSwitch::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Example of a simple module running out of a work queue.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("extreme_switch", "template");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int extreme_switch_main(int argc, char *argv[])
+{
+	return ExtremeSwitch::main(argc, argv);
+}

src/drivers/extreme_switch/ExtremeSwitch.hpp

@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+
+#include <drivers/drv_hrt.h>
+#include <lib/perf/perf_counter.h>
+
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/sensor_accel.h>
+#include <uORB/topics/vehicle_status.h>
+
+#include <drivers/device/spi.h>
+
+using namespace time_literals;
+
+class ExtremeSwitch : public device::SPI, public px4::ScheduledWorkItem, public ModuleBase<ExtremeSwitch>
+{
+public:
+	ExtremeSwitch(int bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
+	~ExtremeSwitch() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	int init();
+
+	int print_status() override;
+
+private:
+	void Run() override;
+
+	/*
+	// Publications
+	uORB::Publication<orb_test_s> _orb_test_pub{ORB_ID(orb_test)};
+
+	// Subscriptions
+	uORB::SubscriptionCallbackWorkItem _sensor_accel_sub{this, ORB_ID(sensor_accel)};        // subscription that schedules ExtremeSwitch when updated
+	uORB::Subscription                 _vehicle_status_sub{ORB_ID(vehicle_status)};          // regular subscription for additional data
+	*/
+	
+
+	// Performance (perf) counters
+	perf_counter_t	_loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
+	perf_counter_t	_loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
+
+	// Parameters
+
+
+	bool _armed{false};
+};

src/drivers/extreme_switch/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_EXTREME_SWITCH
+	bool "extreme_switch"
+	default n
+	---help---
+		Enable support for extreme_switch

src/drivers/lights/apa102/CMakeLists.txt

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2021 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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE drivers__apa102
+	MAIN apa102
+	SRCS
+		apa102.cpp
+	DEPENDS
+		led
+	)

src/drivers/lights/apa102/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_LIGHTS_APA102
+	bool "apa102"
+	default n
+	---help---
+		Enable support for apa102

src/drivers/lights/apa102/apa102.cpp

@@ -0,0 +1,275 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 apa102.cpp
+ *
+ * Driver for the the apa102 class of RGB LED drivers.
+ * this driver is based on the PX4 led driver
+ *
+ */
+
+#include "apa102.hpp"
+
+// Constructor
+APA102::APA102(unsigned int number_of_packages, int bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
+	SPI(DRV_DEVTYPE_UNUSED, MODULE_NAME, bus, device, spi_mode, bus_frequency),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
+	_number_of_packages(number_of_packages)
+{
+}
+
+// Deconstructor
+APA102::~APA102()
+{
+	//TODO: deinit SPI bus
+	//apa102_deinit();
+}
+
+// Init
+// This runs after calling the constructor
+int APA102::init()
+{
+	// Init SPI bus
+	int ret = SPI::init();
+
+	if (ret != OK) {
+		printf("SPI::init() failed\n");
+		DEVICE_DEBUG("SPI init failed");
+		return -EIO;
+	}
+
+	// Fill buffer with zeros
+	for (uint8_t i = 0; i < (_number_of_packages * 4) + 8; i++) {
+		buf[i] = 0x00;
+	}
+
+	// APA102LEDData is just the data format for the BRG LED
+	_leds = new apa102::APA102LEDData [_number_of_packages];
+
+	if (_leds == nullptr) {
+		return PX4_ERROR;
+	}
+
+	ScheduleNow();
+	return OK;
+}
+
+//
+int APA102::task_spawn(int argc, char *argv[])
+{
+	int myoptind = 1;
+	int ch;
+	const char *myoptarg = nullptr;
+	unsigned int number_of_packages = BOARD_MAX_LEDS;
+
+	while ((ch = px4_getopt(argc, argv, "n:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'n':
+			number_of_packages = atoi(myoptarg) + 1;
+
+			if (number_of_packages > BOARD_MAX_LEDS) {
+				number_of_packages = BOARD_MAX_LEDS;
+				PX4_INFO("Number of packages can not exceed BOARD_MAX_LEDS");
+			}
+
+			break;
+
+		default:
+			print_usage("unrecognized option");
+			return 1;
+		}
+	}
+
+	printf("Number of packages: %d\n", number_of_packages);
+	APA102 *instance = new APA102(number_of_packages, 1, 0, 4000000, SPIDEV_MODE0);
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init() == PX4_OK) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+	return PX4_ERROR;
+}
+
+int APA102::print_status()
+{
+
+	PX4_INFO("Controlling %i LEDs", _number_of_packages);
+
+	return 0;
+}
+
+int APA102::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+This module is responsible for driving interfasing to the Neopixel Serial LED
+
+### Examples
+It is typically started with:
+$ apa102 -n 8
+To drive all available leds.
+)DESCR_STR");
+
+PRINT_MODULE_USAGE_NAME("newpixel", "driver");
+PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+return 0;
+}
+
+int APA102::custom_command(int argc, char *argv[])
+{
+   return print_usage("unrecognized option");
+}
+
+/**
+ * Main loop function
+ * This will run periodically by the scheduler
+ */
+void APA102::Run()
+{
+  if (should_exit()) {
+      ScheduleClear();
+      exit_and_cleanup();
+      return;
+    }
+
+    // Structure for uORB data
+	LedControlData led_control_data;
+
+	// Get LED data from uORB (led_control)
+	if (_led_controller.update(led_control_data) == 1) {
+
+		// Loop through each LED
+	    for (unsigned int led = 1; led < math::min(_number_of_packages, arraySize(led_control_data.leds)); led++) {
+
+	    	// Set brightness
+	        uint8_t brightness = led_control_data.leds[led].brightness;
+	        
+	        /* Brightness is not 0-255, it is 5 bit, so 0-31. 256/32=8 */
+	        brightness = brightness / 8;
+	        //printf("BRIGHTNESS: %d\n", brightness);
+	        //printf("arraySize(%d)\n", arraySize(led_control_data.leds));
+
+	        // Use data from uORB to set specific APA102LEDData fields
+	        switch (led_control_data.leds[led].color) {
+	          case led_control_s::COLOR_RED:
+	            _leds[led].R() = 255; _leds[led].G() = 0; _leds[led].B() = 0;
+	            break;
+
+	          case led_control_s::COLOR_DIM_RED:
+	            _leds[led].R() = 16; _leds[led].G() = 0; _leds[led].B() = 0;
+	            break;
+
+	          case led_control_s::COLOR_GREEN:
+	            _leds[led].R() = 0; _leds[led].G() = 255; _leds[led].B() = 0;
+	            break;
+
+	          case led_control_s::COLOR_BLUE:
+	            _leds[led].R() = 0; _leds[led].G() = 0; _leds[led].B() = 255;
+	            break;
+
+	          case led_control_s::COLOR_AMBER: //make it the same as yellow
+	          case led_control_s::COLOR_YELLOW:
+	            _leds[led].R() = 255; _leds[led].G() = 255; _leds[led].B() = 0;
+	            break;
+
+	          case led_control_s::COLOR_PURPLE:
+	            _leds[led].R() = 255; _leds[led].G() = 0; _leds[led].B() = 255;
+	            break;
+
+	          case led_control_s::COLOR_CYAN:
+	            _leds[led].R() = 0; _leds[led].G() = 255; _leds[led].B() = 255;
+	            break;
+
+	          case led_control_s::COLOR_WHITE:
+	            _leds[led].R() = 255; _leds[led].G() = 255; _leds[led].B() = 255;
+	            break;
+
+	          default: // led_control_s::COLOR_OFF
+	            _leds[led].R() = 0; _leds[led].G() = 0; _leds[led].B() = 0;
+	            break;
+	        } // end switch
+
+			/* APA102 Frame
+			 * 0x000000000 [start frame] (this is already done in init)
+			 * 0xE0 + [brightness]
+			 * 0xXXXXXX [bgr]
+			 * 0xFFFFFFFF [end frame]
+			 */
+
+			for(uint8_t i = 1; i < _number_of_packages; i++)
+			{
+				buf[4+(4*(i-1))] = 0b11100000 + brightness;
+				buf[5+(4*(i-1))] = _leds[i].B();
+				buf[6+(4*(i-1))] = _leds[i].G();
+				buf[7+(4*(i-1))] = _leds[i].R();
+			} // end FOR loop
+
+			// Fill with end frame
+			buf[8+(4*_number_of_packages)] = 0xFF;
+			buf[9+(4*_number_of_packages)] = 0xFF;
+			buf[10+(4*_number_of_packages)] = 0xFF;
+			buf[11+(4*_number_of_packages)] = 0xFF;
+
+		} // end FOR loop
+
+		transfer(buf, rbuf, (_number_of_packages * 4) + 8);
+
+	} // end IF statement
+
+	ScheduleDelayed(_led_controller.maximum_update_interval());
+} // end FUNCTION
+
+// Main function
+// This runs when calling the command on the command line
+extern "C" __EXPORT int apa102_main(int argc, char *argv[])
+{
+	// This calls task_spawn
+  return APA102::main(argc, argv);
+}

src/drivers/lights/apa102/apa102.hpp

@@ -0,0 +1,54 @@
+#include <string.h>
+#include <px4_platform_common/px4_config.h>
+
+#include <lib/led/led.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
+#include <drivers/drv_apa102.h>
+#include <drivers/device/spi.h>
+
+class APA102 : public device::SPI, public px4::ScheduledWorkItem, public ModuleBase<APA102>
+{
+public:
+	APA102(unsigned int number_of_packages, int bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
+	virtual ~APA102();
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	void Run() override;
+
+	/** @see ModuleBase::print_status() */
+	int print_status() override;
+
+
+	int			init();
+	int			status();
+
+private:
+	// We don't want to use BOARD_HAS_N_S_RGB_LED, SPI leds are external
+	unsigned int _number_of_packages;
+
+	uint8_t buf[(BOARD_MAX_LEDS * 4) + 8];
+	uint8_t rbuf[(BOARD_MAX_LEDS * 4) + 8];
+
+	// LedController is a driver that takes care of LEDs using the led_control ORB msg.
+	// Do we really want to use this?
+	LedController		_led_controller;
+
+	// ??
+	APA102(const APA102 &) = delete;
+	APA102 operator=(const APA102 &) = delete;
+
+	// What is this?
+	// _leds is the actual buffer I believe
+	apa102::APA102LEDData *_leds;
+};

src/examples/elm_lighting_module/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2015 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.
+#
+############################################################################
+px4_add_module(
+	MODULE examples__elm_lighting_module
+	MAIN elm_lighting_module
+	SRCS
+		elm_lighting_module.c
+	DEPENDS
+	)

src/examples/elm_lighting_module/Kconfig

@@ -0,0 +1,5 @@
+menuconfig EXAMPLES_ELM_LIGHTING_MODULE
+	bool "elm_lighting_module"
+	default n
+	---help---
+		Enable support for elm_lighting_module

src/examples/elm_lighting_module/elm_lighting_module.c

@@ -0,0 +1,180 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2019 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 elm_lighting_module.c
+ * Minimal application example for PX4 autopilot
+ *
+ * @author Landon Haugh <landon.haugh@nxp.com>
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/posix.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <poll.h>
+#include <string.h>
+#include <math.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/lighting_states.h>
+
+__EXPORT int elm_lighting_module_main(int argc, char *argv[]);
+
+int elm_lighting_module_main(int argc, char *argv[])
+{
+	PX4_INFO("Hello Sky!");
+
+	/* advertise lighting_states topic */
+	struct lighting_states_s lighting_states;
+	memset(&lighting_states, 255, sizeof(lighting_states));
+	orb_advert_t lighting_states_pub = orb_advertise(ORB_ID(lighting_states), &lighting_states);
+
+/*
+	for (int i = 0; i < 8; i++) {
+		lighting_states.state[i] = 255;
+	}
+*/
+    for(int i = 0; i < 200; i++) {
+        px4_usleep(2000000);
+
+        // Idle state
+        printf("Updating state to IDLE\n");
+        lighting_states.state[0] = 0;
+        lighting_states.state[1] = 0;
+        lighting_states.state[2] = 0;
+        lighting_states.state[3] = 0;
+        lighting_states.state[4] = 2;
+        lighting_states.state[5] = 2;
+        lighting_states.state[6] = 2;
+        lighting_states.state[7] = 2;
+        lighting_states.timestamp = hrt_absolute_time();
+        orb_publish(ORB_ID(lighting_states), lighting_states_pub, &lighting_states);
+        px4_usleep(2000000);
+        
+
+        // Braking state (NO OTHER STATES)
+        printf("Updating state to BRAKE\n");
+        lighting_states.state[0] = 1;
+        lighting_states.state[1] = 1;
+        lighting_states.state[2] = 1;
+        lighting_states.state[3] = 1;
+        lighting_states.state[4] = 2;
+        lighting_states.state[5] = 2;
+        lighting_states.state[6] = 2;
+        lighting_states.state[7] = 2;
+        lighting_states.timestamp = hrt_absolute_time();
+        orb_publish(ORB_ID(lighting_states), lighting_states_pub, &lighting_states);
+        px4_usleep(2000000); 
+        
+
+        // Idle state while reversing
+        printf("Updating state to IDLE/REVERSE\n");
+        lighting_states.state[0] = 0;
+        lighting_states.state[1] = 2;
+        lighting_states.state[2] = 0;
+        lighting_states.state[3] = 2;
+        lighting_states.state[4] = 2;
+        lighting_states.state[5] = 2;
+        lighting_states.state[6] = 2;
+        lighting_states.state[7] = 2;
+        lighting_states.timestamp = hrt_absolute_time();
+        orb_publish(ORB_ID(lighting_states), lighting_states_pub, &lighting_states);
+        px4_usleep(2000000);
+        
+
+        // Braking state while reversing
+        printf("Updating state to BRAKE/REVERSE\n");
+        lighting_states.state[0] = 1;
+        lighting_states.state[1] = 2;
+        lighting_states.state[2] = 1;
+        lighting_states.state[3] = 2;
+        lighting_states.state[4] = 2;
+        lighting_states.state[5] = 2;
+        lighting_states.state[6] = 2;
+        lighting_states.state[7] = 2;
+        lighting_states.timestamp = hrt_absolute_time();
+        orb_publish(ORB_ID(lighting_states), lighting_states_pub, &lighting_states);
+        px4_usleep(2000000);
+        
+
+        // Idle state while turning
+        printf("Updating state to IDLE/TURN\n");
+        lighting_states.state[0] = 0;
+        lighting_states.state[1] = 3;
+        lighting_states.state[2] = 0;
+        lighting_states.state[3] = 0;
+        lighting_states.state[4] = 2;
+        lighting_states.state[5] = 3;
+        lighting_states.state[6] = 2;
+        lighting_states.state[7] = 2;
+        lighting_states.timestamp = hrt_absolute_time();
+        orb_publish(ORB_ID(lighting_states), lighting_states_pub, &lighting_states);
+        px4_usleep(2000000);
+        
+
+        // Braking state while turning
+        printf("Updating state to BRAKE/TURN\n");
+        lighting_states.state[0] = 0;
+        lighting_states.state[1] = 0;
+        lighting_states.state[2] = 0;
+        lighting_states.state[3] = 3;
+        lighting_states.state[4] = 2;
+        lighting_states.state[5] = 2;
+        lighting_states.state[6] = 2;
+        lighting_states.state[7] = 3;
+        lighting_states.timestamp = hrt_absolute_time();
+        orb_publish(ORB_ID(lighting_states), lighting_states_pub, &lighting_states);
+        px4_usleep(2000000);
+        
+
+        // Return to Idle
+        printf("Updating state to IDLE\n");
+        lighting_states.state[0] = 0;
+        lighting_states.state[1] = 0;
+        lighting_states.state[2] = 0;
+        lighting_states.state[3] = 0;
+        lighting_states.state[4] = 2;
+        lighting_states.state[5] = 2;
+        lighting_states.state[6] = 2;
+        lighting_states.state[7] = 2;
+        lighting_states.timestamp = hrt_absolute_time();
+        orb_publish(ORB_ID(lighting_states), lighting_states_pub, &lighting_states);
+        px4_usleep(2000000);
+    }
+
+	PX4_INFO("exiting");
+
+	return 0;
+}

src/modules/lighting_state_converter/CMakeLists.txt

@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2018 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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__lighting_state_converter
+	MAIN lighting_state_converter
+	SRCS
+		lighting_state_converter.cpp
+	)
+

src/modules/lighting_state_converter/Kconfig

@@ -0,0 +1,5 @@
+menuconfig MODULES_LIGHTING_STATE_CONVERTER
+	bool "lighting_state_converter"
+	default n
+	---help---
+		Enable support for lighting_state_converter

src/modules/lighting_state_converter/lighting_state_converter.cpp

@@ -0,0 +1,271 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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.
+ *
+ ****************************************************************************/
+
+#include "lighting_state_converter.h"
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/posix.h>
+
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/sensor_combined.h>
+
+
+int LightingStateConverter::print_status()
+{
+	PX4_INFO("Running");
+	// TODO: print additional runtime information about the state of the module
+
+	return 0;
+}
+
+int LightingStateConverter::custom_command(int argc, char *argv[])
+{
+	/*
+	if (!is_running()) {
+		print_usage("not running");
+		return 1;
+	}
+
+	// additional custom commands can be handled like this:
+	if (!strcmp(argv[0], "do-something")) {
+		get_instance()->do_something();
+		return 0;
+	}
+	 */
+
+	return print_usage("unknown command");
+}
+
+
+int LightingStateConverter::task_spawn(int argc, char *argv[])
+{
+	_task_id = px4_task_spawn_cmd("module",
+				      SCHED_DEFAULT,
+				      SCHED_PRIORITY_DEFAULT,
+				      1024,
+				      (px4_main_t)&run_trampoline,
+				      (char *const *)argv);
+
+	if (_task_id < 0) {
+		_task_id = -1;
+		return -errno;
+	}
+
+	return 0;
+}
+
+LightingStateConverter *LightingStateConverter::instantiate(int argc, char *argv[])
+{
+	int example_param = 0;
+	bool example_flag = false;
+	bool error_flag = false;
+
+	int myoptind = 1;
+	int ch;
+	const char *myoptarg = nullptr;
+
+	// parse CLI arguments
+	while ((ch = px4_getopt(argc, argv, "p:f", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'p':
+			example_param = (int)strtol(myoptarg, nullptr, 10);
+			break;
+
+		case 'f':
+			example_flag = true;
+			break;
+
+		case '?':
+			error_flag = true;
+			break;
+
+		default:
+			PX4_WARN("unrecognized flag");
+			error_flag = true;
+			break;
+		}
+	}
+
+	if (error_flag) {
+		return nullptr;
+	}
+
+	LightingStateConverter *instance = new LightingStateConverter(example_param, example_flag);
+
+	if (instance == nullptr) {
+		PX4_ERR("alloc failed");
+	}
+
+	return instance;
+}
+
+LightingStateConverter::LightingStateConverter(int example_param, bool example_flag)
+	: ModuleParams(nullptr)
+{
+}
+
+void LightingStateConverter::run()
+{
+	// Example: run the loop synchronized to the sensor_combined topic publication
+	int lighting_states_sub = orb_subscribe(ORB_ID(lighting_states));
+
+	px4_pollfd_struct_t fds[1];
+	fds[0].fd = lighting_states_sub;
+	fds[0].events = POLLIN;
+
+	// initialize parameters
+	parameters_update(true);
+
+	_lighting_id_no = _param_lighting_id_no.get();
+
+	while (!should_exit()) {
+
+		// wait for up to 1000ms for data
+		int pret = px4_poll(fds, (sizeof(fds) / sizeof(fds[0])), 1000);
+
+		if (pret == 0) {
+			// Timeout: let the loop run anyway, don't do `continue` here
+			//PX4_ERR("Timeout on poll");
+
+		} else if (pret < 0) {
+			// this is undesirable but not much we can do
+			PX4_ERR("poll error %d, %d", pret, errno);
+			px4_usleep(50000);
+			continue;
+
+		} else if (fds[0].revents & POLLIN) {
+
+			struct lighting_states_s lighting_states;
+			orb_copy(ORB_ID(lighting_states), lighting_states_sub, &lighting_states);
+			// TODO: do something with the data...
+
+			printf("Received state data. Contents: \n");
+			for(int i = 0; i < 10; i++) {
+				printf("ID: %d State: %d\n", i, lighting_states.state[i]);
+			}
+
+			for (int i = (_lighting_id_no - 1)*2; i < (_lighting_id_no*2); i++) {
+				printf("_lighting_id_no: %d\n", i);
+				if (lighting_states.state[i] != 255) {
+					led_control_s led_control;
+					if(i == (_lighting_id_no - 1)*2) led_control.led_mask = 0b0000011110000010;
+					if(i == (_lighting_id_no*2)-1) led_control.led_mask = 0b0000000001111100;
+
+					if (lighting_states.state[i] == 0) {
+						led_control.color = led_control_s::COLOR_DIM_RED;
+						led_control.mode = led_control_s::MODE_ON;
+					}
+
+					if (lighting_states.state[i] == 1) {
+						led_control.color = led_control_s::COLOR_RED;
+						led_control.mode = led_control_s::MODE_ON;
+					}
+
+					if (lighting_states.state[i] == 2) {
+						led_control.color = led_control_s::COLOR_WHITE;
+						led_control.mode = led_control_s::MODE_ON;
+					}
+
+					if (lighting_states.state[i] == 3) {
+						led_control.color = led_control_s::COLOR_YELLOW;
+						led_control.mode = led_control_s::MODE_BLINK_NORMAL;
+						led_control.num_blinks = 0;
+					}
+
+					if (lighting_states.state[i] == 4) {
+						led_control.color = led_control_s::COLOR_YELLOW;
+						led_control.mode = led_control_s::MODE_BREATHE;
+						led_control.num_blinks = 0;
+					}
+
+					led_control.timestamp = hrt_absolute_time();
+					_led_control_pub.publish(led_control);
+				}
+			}
+		}
+
+		parameters_update();
+	}
+
+	orb_unsubscribe(lighting_states_sub);
+}
+
+void LightingStateConverter::parameters_update(bool force)
+{
+	// check for parameter updates
+	if (_parameter_update_sub.updated() || force) {
+		// clear update
+		parameter_update_s update;
+		_parameter_update_sub.copy(&update);
+
+		// update parameters from storage
+		updateParams();
+	}
+}
+
+int LightingStateConverter::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Section that describes the provided module functionality.
+
+This is a template for a module running as a task in the background with start/stop/status functionality.
+
+### Implementation
+Section describing the high-level implementation of this module.
+
+### Examples
+CLI usage example:
+$ module start -f -p 42
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("module", "template");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAM_FLAG('f', "Optional example flag", true);
+	PRINT_MODULE_USAGE_PARAM_INT('p', 0, 0, 1000, "Optional example parameter", true);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+int lighting_state_converter_main(int argc, char *argv[])
+{
+	return LightingStateConverter::main(argc, argv);
+}

src/modules/lighting_state_converter/lighting_state_converter.h

@@ -0,0 +1,97 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <uORB/Publication.hpp>
+#include <uORB/SubscriptionInterval.hpp>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/lighting_states.h>
+#include <uORB/topics/led_control.h>
+
+using namespace time_literals;
+
+extern "C" __EXPORT int lighting_state_converter_main(int argc, char *argv[]);
+
+
+class LightingStateConverter : public ModuleBase<LightingStateConverter>, public ModuleParams
+{
+public:
+	LightingStateConverter(int example_param, bool example_flag);
+
+	virtual ~LightingStateConverter() = default;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static LightingStateConverter *instantiate(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	/** @see ModuleBase::run() */
+	void run() override;
+
+	/** @see ModuleBase::print_status() */
+	int print_status() override;
+
+private:
+
+	/**
+	 * Check for parameter changes and update them if needed.
+	 * @param parameter_update_sub uorb subscription to parameter_update
+	 * @param force for a parameter update
+	 */
+	void parameters_update(bool force = false);
+
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::LIGHTING_ID_NO>) _param_lighting_id_no   /**< example parameter */
+	)
+
+	int _lighting_id_no;
+
+	// Subscriptions
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
+	uORB::Publication<led_control_s> _led_control_pub{ORB_ID(led_control)};
+	uORB::Subscription _lighting_states_sub{ORB_ID(lighting_states)};
+
+};
+

src/modules/lighting_state_converter/parameters.c

@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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.
+ *
+ ****************************************************************************/
+
+/**
+* Lighting ID number.
+*
+* @boolean
+* @reboot_required false
+* @group id
+*/
+PARAM_DEFINE_INT32(LIGHTING_ID_NO, 1);