px4fmu split safety button into new driver

src/drivers/safety_button/SafetyButton.hpp

@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <float.h>
+
+#include <circuit_breaker/circuit_breaker.h>
+#include <drivers/drv_hrt.h>
+#include <px4_config.h>
+#include <px4_getopt.h>
+#include <px4_log.h>
+#include <px4_module.h>
+#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/actuator_armed.h>
+#include <uORB/topics/safety.h>
+
+class SafetyButton : public ModuleBase<SafetyButton>, public px4::ScheduledWorkItem
+{
+public:
+	SafetyButton() : ScheduledWorkItem(px4::wq_configurations::hp_default) {}
+	virtual ~SafetyButton();
+
+	/** @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);
+
+	/** @see ModuleBase::print_status() */
+	int print_status() override;
+
+	void Run() override;
+
+	int Start();
+
+private:
+
+	void CheckButton();
+	void FlashButton();
+
+
+	uORB::Subscription		_armed_sub{ORB_ID(actuator_armed)};
+	uORB::Publication<safety_s>	_to_safety{ORB_ID(safety)};
+
+	uint8_t				_button_counter{0};
+	uint8_t				_blink_counter{0};
+	bool				_safety_off{false};		///< State of the safety button from the subscribed safety topic
+	bool				_safety_btn_off{false};		///< State of the safety button read from the HW button
+
+};