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delete drv_gpio.h, modules/gpio_led, and fmu GPIO ioctls

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This commit is contained in:
Daniel Agar
2018-11-28 21:56:51 -05:00
committed by Lorenz Meier
parent c303e36ed0
commit d4e06e517a
67 changed files with 6 additions and 1213 deletions
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src/modules/gpio_led/CMakeLists.txt
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############################################################################
#
# 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 modules__gpio_led
MAIN gpio_led
COMPILE_FLAGS
SRCS
gpio_led.c
DEPENDS
)
src/modules/gpio_led/gpio_led.c
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/****************************************************************************
*
* 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 <px4_module.h>
#include <px4_log.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/battery_status.h>
#include <poll.h>
#include <drivers/drv_gpio.h>
#include <modules/px4iofirmware/protocol.h>
#define CYCLE_RATE_HZ 5
#define PIN_NAME "AUX OUT 1"
/* Minimum pin number */
#define GPIO_MIN_SERVO_PIN 1
/* Maximum */
#if defined(GPIO_SERVO_16)
# define GPIO_MAX_SERVO_PIN 16
#elif defined(GPIO_SERVO_15)
# define GPIO_MAX_SERVO_PIN 15
#elif defined(GPIO_SERVO_14)
# define GPIO_MAX_SERVO_PIN 14
#elif defined(GPIO_SERVO_13)
# define GPIO_MAX_SERVO_PIN 13
#elif defined(GPIO_SERVO_12)
# define GPIO_MAX_SERVO_PIN 12
#elif defined(GPIO_SERVO_11)
# define GPIO_MAX_SERVO_PIN 11
#elif defined(GPIO_SERVO_10)
# define GPIO_MAX_SERVO_PIN 10
#elif defined(GPIO_SERVO_9)
# define GPIO_MAX_SERVO_PIN 9
#elif defined(GPIO_SERVO_8)
# define GPIO_MAX_SERVO_PIN 8
#elif defined(GPIO_SERVO_7)
# define GPIO_MAX_SERVO_PIN 7
#elif defined(GPIO_SERVO_6)
# define GPIO_MAX_SERVO_PIN 6
#elif defined(GPIO_SERVO_5)
# define GPIO_MAX_SERVO_PIN 5
#elif defined(GPIO_SERVO_4)
# define GPIO_MAX_SERVO_PIN 4
#else
# error "Board must define GPIO_SERVO_1 and GPIO_SERVO_n where n is 4-16"
#endif
struct gpio_led_s {
struct work_s work;
int gpio_fd;
int pin;
struct vehicle_status_s vehicle_status;
struct battery_status_s battery_status;
int vehicle_status_sub;
int battery_status_sub;
bool led_state;
int counter;
};
static struct gpio_led_s *gpio_led_data;
static volatile enum {
Stopped = 0,
Running = 1,
Falied = 2,
Stopping = 3
} gpio_led_state = Stopped;
__EXPORT int gpio_led_main(int argc, char *argv[]);
void gpio_led_start(FAR void *arg);
void gpio_led_cycle(FAR void *arg);
static void print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
This module is responsible for drving a single LED on one of the FMU AUX pins.
It listens on the vehicle_status and battery_status topics and provides visual annunciation on the LED.
### Implementation
The module runs on the work queue. It schedules at a fixed frequency of 5 Hz
### Examples
It is started with:
$ gpio_led start
To drive an LED connected AUX1 pin.
OR with any of the avaliabel AUX pins
$ gpio_led start -p 5
To drive an LED connected AUX5 pin.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("gpio_led", "driver");
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "annunciation on AUX OUT pin");
PRINT_MODULE_USAGE_PARAM_FLAG('p', "Use specified AUX OUT pin number (default: 1)", true);
PRINT_MODULE_USAGE_COMMAND("stop");
}
int gpio_led_main(int argc, char *argv[])
{
if (argc < 2) {
print_usage(NULL);
exit(1);
} else {
if (!strcmp(argv[1], "start")) {
if (gpio_led_state != Stopped) {
PX4_WARN("already running");
exit(1);
}
/* by default GPIO_SERVO_1 on FMUv2 */
int pin = 1;
/* pin name to display */
char pin_name[sizeof(PIN_NAME) + 2] = PIN_NAME;
if (argc > 2) {
if (!strcmp(argv[2], "-p")) {
unsigned int n = strtoul(argv[3], NULL, 10);
if (n >= GPIO_MIN_SERVO_PIN && n <= GPIO_MAX_SERVO_PIN) {
pin = 1 << (n - 1);
snprintf(pin_name, sizeof(pin_name), "AUX OUT %d", n);
} else {
PX4_ERR("unsupported pin: %s (valid values are %d-%d)", argv[3], GPIO_MIN_SERVO_PIN, GPIO_MAX_SERVO_PIN);
exit(1);
}
}
}
gpio_led_data = malloc(sizeof(struct gpio_led_s));
if (gpio_led_data == NULL) {
PX4_ERR("failed to allocate memory!");
exit(1);
} else {
memset(gpio_led_data, 0, sizeof(struct gpio_led_s));
gpio_led_data->pin = pin;
int ret = work_queue(LPWORK, &(gpio_led_data->work), gpio_led_start, gpio_led_data, 0);
if (ret != 0) {
PX4_ERR("failed to queue work: %d", ret);
goto out;
} else {
usleep(1000000/CYCLE_RATE_HZ);
if (gpio_led_state != Running) {
gpio_led_state = Stopped;
goto out;
}
PX4_INFO("start, using pin: %s", pin_name);
exit(0);
}
}
} else if (!strcmp(argv[1], "stop")) {
if (gpio_led_state == Running) {
gpio_led_state = Stopping;
while(gpio_led_state != Stopped) {
usleep(1000000/CYCLE_RATE_HZ);
}
PX4_INFO("stopped");
free (gpio_led_data);
gpio_led_data = NULL;
exit(0);
} else {
PX4_WARN("not running");
exit(1);
}
} else {
print_usage("unrecognized command");
exit(1);
}
}
out:
free (gpio_led_data);
gpio_led_data = NULL;
exit(1);
}
void gpio_led_start(FAR void *arg)
{
FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
char *gpio_dev = PX4FMU_DEVICE_PATH;
/* open GPIO device */
priv->gpio_fd = open(gpio_dev, 0);
if (priv->gpio_fd < 0) {
PX4_ERR("gpio_led: GPIO device \"%s\" open fail\n", gpio_dev);
gpio_led_state = Falied;
return;
}
/* configure GPIO pin */
ioctl(priv->gpio_fd, GPIO_SET_OUTPUT, priv->pin);
/* initialize vehicle status structure */
memset(&priv->vehicle_status, 0, sizeof(priv->vehicle_status));
/* initialize battery status structure */
memset(&priv->battery_status, 0, sizeof(priv->battery_status));
/* subscribe to vehicle status topic */
priv->vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
/* subscribe to battery status topic */
priv->battery_status_sub = orb_subscribe(ORB_ID(battery_status));
/* add worker to queue */
int ret = work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, 0);
if (ret != 0) {
PX4_ERR("gpio_led: failed to queue work: %d\n", ret);
close(priv->gpio_fd);
gpio_led_state = Falied;
return;
}
gpio_led_state = Running;
}
void gpio_led_cycle(FAR void *arg)
{
FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
/* check for vehicle status updates*/
bool updated;
orb_check(priv->vehicle_status_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_status), priv->vehicle_status_sub, &priv->vehicle_status);
}
orb_check(priv->battery_status_sub, &updated);
if (updated) {
orb_copy(ORB_ID(battery_status), priv->battery_status_sub, &priv->battery_status);
}
/* select pattern for current vehiclestatus */
int pattern = 0;
if (priv->vehicle_status.arming_state == VEHICLE_STATUS_ARMING_STATE_ARMED) {
if (priv->battery_status.warning == BATTERY_STATUS_BATTERY_WARNING_NONE
&& !priv->vehicle_status.failsafe) {
pattern = 0x3f; // ****** solid (armed)
} else {
pattern = 0x3e; // *****_ slow blink (armed, battery low or failsafe)
}
} else if (priv->vehicle_status.arming_state == VEHICLE_STATUS_ARMING_STATE_STANDBY) {
pattern = 0x38; // ***___ slow blink (disarmed, ready)
} else if (priv->vehicle_status.arming_state == VEHICLE_STATUS_ARMING_STATE_STANDBY_ERROR) {
pattern = 0x28; // *_*___ slow double blink (disarmed, error)
}
/* 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 */
if (gpio_led_state == Running) {
work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, USEC2TICK(1000000/CYCLE_RATE_HZ));
} else {
/* switch off LED on stop */
ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin);
orb_unsubscribe(priv->vehicle_status_sub);
orb_unsubscribe(priv->battery_status_sub);
close(priv->gpio_fd);
gpio_led_state = Stopped;
}
}