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104 lines
3.2 KiB
C
104 lines
3.2 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file led.c
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*
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* Crazyflie LED backend.
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*/
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#include <px4_platform_common/px4_config.h>
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#include <stdbool.h>
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#include "stm32.h"
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#include "board_config.h"
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#include <arch/board/board.h>
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/*
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* Ideally we'd be able to get these from arm_internal.h,
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* but since we want to be able to disable the NuttX use
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* of leds for system indication at will and there is no
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* separate switch, we need to build independent of the
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* CONFIG_ARCH_LEDS configuration switch.
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*/
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__BEGIN_DECLS
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extern void led_init(void);
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extern void led_on(int led);
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extern void led_off(int led);
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extern void led_toggle(int led);
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__END_DECLS
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static uint32_t g_ledmap[] = {
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GPIO_LED_BLUE_L, // Indexed by LED_BLUE
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GPIO_LED_RED_R, // Indexed by LED_RED, LED_AMBER
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0, // Indexed by LED_SAFETY
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GPIO_LED_GREEN_R, // Indexed by LED_GREEN
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GPIO_LED_RED_L, // Indexed by LED_TX
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GPIO_LED_GREEN_L // Indexed by LED_RX
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};
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__EXPORT void led_init()
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{
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/* Configure LED1 GPIO for output */
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for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
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if (g_ledmap[l]) {
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px4_arch_configgpio(g_ledmap[l]);
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}
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}
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}
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__EXPORT void led_on(int led)
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{
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/* Pull down to switch on */
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px4_arch_gpiowrite(g_ledmap[led], g_ledmap[led] & GPIO_OUTPUT_SET ? true : false);
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}
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__EXPORT void led_off(int led)
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{
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/* Pull up to switch off */
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px4_arch_gpiowrite(g_ledmap[led], g_ledmap[led] & GPIO_OUTPUT_SET ? false : true);
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}
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__EXPORT void led_toggle(int led)
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{
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if (px4_arch_gpioread(g_ledmap[led])) {
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px4_arch_gpiowrite(g_ledmap[led], false);
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} else {
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px4_arch_gpiowrite(g_ledmap[led], true);
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}
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}
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