Merge branch 'master' into sdlog2

2026-05-21 01:37:36 +08:00 · 2013-06-01 13:34:49 +04:00
parent 1bf8f7b47e 27ee36b204
commit b344f23daf
7 changed files with 537 additions and 246 deletions
@@ -0,0 +1,191 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Anton Babushkin <anton.babushkin@me.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file gpio_led.c
+ *
+ * Status LED via GPIO driver.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <fcntl.h>
+#include <stdbool.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/clock.h>
+#include <systemlib/systemlib.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_status.h>
+#include <poll.h>
+#include <drivers/drv_gpio.h>
+
+struct gpio_led_s {
+	struct work_s work;
+	int gpio_fd;
+	int pin;
+	struct vehicle_status_s status;
+	int vehicle_status_sub;
+	bool led_state;
+	int counter;
+};
+
+static struct gpio_led_s gpio_led_data;
+
+__EXPORT int gpio_led_main(int argc, char *argv[]);
+
+void gpio_led_start(FAR void *arg);
+
+void gpio_led_cycle(FAR void *arg);
+
+int gpio_led_main(int argc, char *argv[])
+{
+	int pin = GPIO_EXT_1;
+
+	if (argc > 1) {
+		if (!strcmp(argv[1], "-p")) {
+			if (!strcmp(argv[2], "1")) {
+				pin = GPIO_EXT_1;
+
+			} else if (!strcmp(argv[2], "2")) {
+				pin = GPIO_EXT_2;
+
+			} else {
+				printf("[gpio_led] Unsupported pin: %s\n", argv[2]);
+				exit(1);
+			}
+		}
+	}
+
+	memset(&gpio_led_data, 0, sizeof(gpio_led_data));
+	gpio_led_data.pin = pin;
+	int ret = work_queue(LPWORK, &gpio_led_data.work, gpio_led_start, &gpio_led_data, 0);
+
+	if (ret != 0) {
+		printf("[gpio_led] Failed to queue work: %d\n", ret);
+		exit(1);
+	}
+
+	exit(0);
+}
+
+void gpio_led_start(FAR void *arg)
+{
+	FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
+
+	/* open GPIO device */
+	priv->gpio_fd = open(GPIO_DEVICE_PATH, 0);
+
+	if (priv->gpio_fd < 0) {
+		printf("[gpio_led] GPIO: open fail\n");
+		return;
+	}
+
+	/* configure GPIO pin */
+	ioctl(priv->gpio_fd, GPIO_SET_OUTPUT, priv->pin);
+
+	/* subscribe to vehicle status topic */
+	memset(&priv->status, 0, sizeof(priv->status));
+	priv->vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
+
+	/* add worker to queue */
+	int ret = work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, 0);
+
+	if (ret != 0) {
+		printf("[gpio_led] Failed to queue work: %d\n", ret);
+		return;
+	}
+
+	printf("[gpio_led] Started, using pin GPIO_EXT%i\n", priv->pin);
+}
+
+void gpio_led_cycle(FAR void *arg)
+{
+	FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
+
+	/* check for status updates*/
+	bool status_updated;
+	orb_check(priv->vehicle_status_sub, &status_updated);
+
+	if (status_updated)
+		orb_copy(ORB_ID(vehicle_status), priv->vehicle_status_sub, &priv->status);
+
+	/* select pattern for current status */
+	int pattern = 0;
+
+	if (priv->status.flag_system_armed) {
+		if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
+			pattern = 0x3f;	// ****** solid (armed)
+
+		} else {
+			pattern = 0x2A;	// *_*_*_ fast blink (armed, battery warning)
+		}
+
+	} else {
+		if (priv->status.state_machine == SYSTEM_STATE_PREFLIGHT) {
+			pattern = 0x00;	// ______ off (disarmed, preflight check)
+
+		} else if (priv->status.state_machine == SYSTEM_STATE_STANDBY &&
+			   priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
+			pattern = 0x38;	// ***___ slow blink (disarmed, ready)
+
+		} else {
+			pattern = 0x28;	// *_*___ slow double blink (disarmed, not good to arm)
+		}
+	}
+
+	/* blink pattern */
+	bool led_state_new = (pattern & (1 << priv->counter)) != 0;
+
+	if (led_state_new != priv->led_state) {
+		priv->led_state = led_state_new;
+
+		if (led_state_new) {
+			ioctl(priv->gpio_fd, GPIO_SET, priv->pin);
+
+		} else {
+			ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin);
+		}
+	}
+
+	priv->counter++;
+
+	if (priv->counter > 5)
+		priv->counter = 0;
+
+	/* repeat cycle at 5 Hz*/
+	work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, USEC2TICK(200000));
+}
@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (C) 2013 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.
+#
+############################################################################
+
+#
+# Status LED via GPIO driver
+#
+
+MODULE_COMMAND	= gpio_led
+SRCS			= gpio_led.c