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gpio_led app added

This commit is contained in:
Anton Babushkin 2013-05-09 09:37:42 +04:00
parent 79bd1ed7f1
commit 09e60893df
3 changed files with 227 additions and 0 deletions
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42
apps/gpio_led/Makefile Normal file
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@ -0,0 +1,42 @@
############################################################################
#
# 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.
#
############################################################################
#
# Makefile to build gpio_led
#
APPNAME = gpio_led
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk

184
apps/gpio_led/gpio_led_main.c Normal file
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@ -0,0 +1,184 @@
/****************************************************************************
*
* 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
*
* Drive status LED via GPIO.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <stdbool.h>
#include <nuttx/sched.h>
#include <systemlib/systemlib.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <poll.h>
#include <drivers/drv_gpio.h>
static bool thread_should_exit = false;
static bool thread_running = false;
__EXPORT int gpio_led_main(int argc, char *argv[]);
static int gpio_led_thread_main(int argc, char *argv[]);
static void usage(const char *reason);
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: gpio_led {start|stop|status}\n\n");
exit(1);
}
int gpio_led_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("gpio_led already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
task_spawn("gpio_led",
SCHED_DEFAULT,
SCHED_PRIORITY_MIN,
2048,
gpio_led_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tgpio_led is running\n");
} else {
printf("\tgpio_led not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
int gpio_led_thread_main(int argc, char *argv[])
{
/* welcome user */
printf("[gpio_led] started\n");
int fd = open(GPIO_DEVICE_PATH, 0);
if (fd < 0) {
printf("[gpio_led] GPIO: open fail\n");
return ERROR;
}
/* set GPIO EXT 1 as output */
ioctl(fd, GPIO_SET_OUTPUT, GPIO_EXT_1);
ioctl(fd, GPIO_CLEAR, GPIO_EXT_1);
/* initialize values */
bool led_state = false;
int counter = 0;
/* subscribe to vehicle status topic */
struct vehicle_status_s status;
memset(&status, 0, sizeof(status));
int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
while (!thread_should_exit) {
bool status_updated;
orb_check((vehicle_status_sub), &status_updated);
if (status_updated)
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &status);
int pattern = 0;
if (status.flag_system_armed) {
if (status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
pattern = 0x3f; // ****** solid (armed)
} else {
pattern = 0x2A; // *_*_*_ fast blink (armed, battery warning)
}
} else {
if (status.state_machine == SYSTEM_STATE_PREFLIGHT) {
pattern = 0x00; // ______ off (disarmed, preflight check)
} else if (status.state_machine == SYSTEM_STATE_STANDBY && status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
pattern = 0x38; // ***___ slow blink (disarmed, ready)
} else {
pattern = 0x28; // *_*___ slow double blink (disarmed, not good to arm)
}
}
bool led_state_new = (pattern & (1 << counter)) != 0;
if (led_state_new != led_state) {
led_state = led_state_new;
if (led_state) {
ioctl(fd, GPIO_SET, GPIO_EXT_1);
} else {
ioctl(fd, GPIO_CLEAR, GPIO_EXT_1);
}
}
counter++;
if (counter > 5)
counter = 0;
usleep(333333); // sleep ~1/3s
}
ioctl(fd, GPIO_CLEAR, GPIO_EXT_1);
printf("[gpio_led] exiting\n");
return 0;
}

1
nuttx/configs/px4fmu/nsh/appconfig
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@ -103,6 +103,7 @@ CONFIGURED_APPS += fixedwing_pos_control
CONFIGURED_APPS += position_estimator
CONFIGURED_APPS += attitude_estimator_ekf
CONFIGURED_APPS += hott_telemetry
CONFIGURED_APPS += gpio_led
endif
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