emlid navio2: update RGB LED driver (move away from DriverFramework)

- delete unused linux gpio wrapper
2026-10-28 10:53:34 +08:00 · 2020-01-07 17:47:15 -05:00
parent ace1acca3c
commit f3cd5b19c8
12 changed files with 231 additions and 860 deletions
@@ -0,0 +1,174 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016-2020 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.
+ *
+ ****************************************************************************/
+
+#include "NavioRGBLed.hpp"
+
+NavioRGBLed::NavioRGBLed() :
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
+{
+};
+
+NavioRGBLed::~NavioRGBLed()
+{
+	ScheduleClear();
+
+	_ledR.off();
+	_ledG.off();
+	_ledB.off();
+}
+
+int NavioRGBLed::init()
+{
+	_ledR.off();
+	_ledG.off();
+	_ledB.off();
+
+	// kick off work queue
+	ScheduleNow();
+
+	return PX4_OK;
+}
+
+void NavioRGBLed::Run()
+{
+	LedControlData led_control_data{};
+
+	if (_led_controller.update(led_control_data) == 1) {
+		switch (led_control_data.leds[0].color) {
+		case led_control_s::COLOR_RED:
+			_ledR.on();
+			_ledG.off();
+			_ledB.off();
+			break;
+
+		case led_control_s::COLOR_GREEN:
+			_ledR.off();
+			_ledG.on();
+			_ledB.off();
+			break;
+
+		case led_control_s::COLOR_BLUE:
+			_ledR.off();
+			_ledG.off();
+			_ledB.on();
+			break;
+
+		case led_control_s::COLOR_AMBER: // make it the same as yellow
+		case led_control_s::COLOR_YELLOW:
+			_ledR.on();
+			_ledG.on();
+			_ledB.off();
+			break;
+
+		case led_control_s::COLOR_PURPLE:
+			_ledR.on();
+			_ledG.off();
+			_ledB.on();
+			break;
+
+		case led_control_s::COLOR_CYAN:
+			_ledR.off();
+			_ledG.on();
+			_ledB.on();
+			break;
+
+		case led_control_s::COLOR_WHITE:
+			_ledR.on();
+			_ledG.on();
+			_ledB.on();
+			break;
+
+		default: // led_control_s::COLOR_OFF
+			_ledR.off();
+			_ledG.off();
+			_ledB.off();
+			break;
+		}
+	}
+
+	/* re-queue ourselves to run again later */
+	ScheduleDelayed(_led_controller.maximum_update_interval());
+}
+
+int NavioRGBLed::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int NavioRGBLed::task_spawn(int argc, char *argv[])
+{
+	NavioRGBLed *instance = new NavioRGBLed();
+
+	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 NavioRGBLed::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Emlid Navio2 RGB LED driver.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("navio_rgbled", "driver");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int navio_rgbled_main(int argc, char *argv[])
+{
+	return NavioRGBLed::main(argc, argv);
+}