Added led support to FMUv2

makefiles/config_px4fmu-v2_default.mk

@@ -14,6 +14,7 @@ MODULES		+= drivers/device
 MODULES		+= drivers/stm32
 MODULES		+= drivers/stm32/adc
 MODULES		+= drivers/stm32/tone_alarm
+MODULES		+= drivers/led
 MODULES		+= drivers/px4fmu
 MODULES		+= drivers/px4io
 MODULES		+= drivers/boards/px4fmuv2

src/drivers/boards/px4fmu/px4fmu_init.c

@@ -194,7 +194,7 @@ __EXPORT int nsh_archinitialize(void)
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_AMBER);
-	led_on(LED_BLUE);
+	led_off(LED_BLUE);
 
 
 	/* Configure SPI-based devices */

src/drivers/boards/px4fmuv2/module.mk

@@ -6,4 +6,5 @@ SRCS		 = px4fmu_can.c \
 		   px4fmu_init.c \
 		   px4fmu_pwm_servo.c \
 		   px4fmu_spi.c \
-		   px4fmu_usb.c
+		   px4fmu_usb.c \
+		   px4fmu2_led.c

src/drivers/boards/px4fmuv2/px4fmu2_led.c

@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu2_led.c
+ *
+ * PX4FMU LED backend.
+ */
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+
+#include "stm32.h"
+#include "px4fmu_internal.h"
+
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from up_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init();
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+__EXPORT void led_init()
+{
+	/* Configure LED1 GPIO for output */
+
+	stm32_configgpio(GPIO_LED1);
+}
+
+__EXPORT void led_on(int led)
+{
+	if (led == 0)
+	{
+		/* Pull down to switch on */
+		stm32_gpiowrite(GPIO_LED1, false);
+	}
+}
+
+__EXPORT void led_off(int led)
+{
+	if (led == 0)
+	{
+		/* Pull up to switch off */
+		stm32_gpiowrite(GPIO_LED1, true);
+	}
+}

src/drivers/boards/px4fmuv2/px4fmu_init.c

@@ -192,9 +192,8 @@ __EXPORT int nsh_archinitialize(void)
 		       (hrt_callout)stm32_serial_dma_poll,
 		       NULL);
 
-	// initial LED state
-	// XXX need to make this work again
-//	drv_led_start();
+	/* initial LED state */
+	drv_led_start();
 	up_ledoff(LED_AMBER);
 
 	/* Configure SPI-based devices */