forked from Archive/PX4-Autopilot
merged systemstate into blinkm driver
This commit is contained in:
Marco Bauer
parent
2f94a7a2b7
commit
41cef1d6c5
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@ -35,9 +35,57 @@
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* @file blinkm.cpp
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*
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* Driver for the BlinkM LED controller connected via I2C.
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*
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* Connect the BlinkM to I2C3 and put the following line to the rc startup-script:
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* blinkm start
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*
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* To start the system monitor put in the next line after the blinm start:
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* blinkm systemmonitor
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*
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*
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* Description:
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* After startup, the Application checked how many lipo cells are connected to the System.
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* The recognized number off cells, will be blinked 5 times in purple color.
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* 2 Cells = 2 blinks
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* ...
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* 5 Cells = 5 blinks
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* Now the Application will show the actual selected Flightmode, GPS-Fix and Battery Warnings and Alerts.
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*
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* System disarmed:
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* The BlinkM should lit solid red.
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*
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* System armed:
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* One message is made of 4 Blinks and a pause in the same length as the 4 blinks.
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*
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* X-X-X-X-_-_-_-_-
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* -------------------------
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* G G G M
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* P P P O
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* S S S D
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* E
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*
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* (X = on, _=off)
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*
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* The first 3 Blinks indicates the status of the GPS-Signal:
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* 0-4 satellites = X-X-X-X-_-_-_-_-
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* 5 satellites = X-X-_-X-_-_-_-_-
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* 6 satellites = X-_-_-X-_-_-_-_-
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* >=7 satellites = _-_-_-X-_-_-_-_-
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*
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* The fourth Blink indicates the Flightmode:
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* MANUAL : off
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* STABILIZED : yellow
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* HOLD : blue
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* AUTO : green
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*
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* Battery Warning (low Battery Level):
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* Continuously blinking in yellow X-X-X-X-X-X-X-X
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*
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* Battery Alert (critical Battery Level)
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* Continuously blinking in red X-X-X-X-X-X-X-X
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*
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*/
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#include <nuttx/config.h>
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#include <drivers/device/i2c.h>
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@ -59,6 +107,12 @@
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#include <systemlib/perf_counter.h>
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#include <systemlib/err.h>
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#include <systemlib/systemlib.h>
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#include <poll.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_gps_position.h>
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class BlinkM : public device::I2C
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{
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public:
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@ -67,7 +121,7 @@ public:
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virtual int init();
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virtual int probe();
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virtual int setMode(int mode);
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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static const char *script_names[];
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@ -96,10 +150,20 @@ private:
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};
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work_s _work;
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static const unsigned _monitor_interval = 250;
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static void monitor_trampoline(void *arg);
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void monitor();
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static int led_color_1;
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static int led_color_2;
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static int led_color_3;
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static int led_color_4;
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static int led_color_5;
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static int led_color_6;
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static int led_blink;
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static int systemstate_run;
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void setLEDColor(int ledcolor);
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static void led_trampoline(void *arg);
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void led();
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int set_rgb(uint8_t r, uint8_t g, uint8_t b);
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@ -127,8 +191,7 @@ private:
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/* for now, we only support one BlinkM */
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namespace
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{
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BlinkM *g_blinkm;
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BlinkM *g_blinkm;
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}
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/* list of script names, must match script ID numbers */
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@ -155,11 +218,36 @@ const char *BlinkM::script_names[] = {
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nullptr
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};
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#define MAX_CELL_VOLTAGE 43 /* cell voltage if full charged */
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#define LED_OFF 0
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#define LED_RED 1
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#define LED_YELLOW 2
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#define LED_PURPLE 3
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#define LED_GREEN 4
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#define LED_BLUE 5
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#define LED_WHITE 6
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#define LED_ONTIME 100
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#define LED_OFFTIME 100
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#define LED_BLINK 1
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#define LED_NOBLINK 0
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int BlinkM::led_color_1 = LED_OFF;
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int BlinkM::led_color_2 = LED_OFF;
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int BlinkM::led_color_3 = LED_OFF;
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int BlinkM::led_color_4 = LED_OFF;
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int BlinkM::led_color_5 = LED_OFF;
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int BlinkM::led_color_6 = LED_OFF;
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int BlinkM::led_blink = LED_NOBLINK;
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int BlinkM::systemstate_run = 0;
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extern "C" __EXPORT int blinkm_main(int argc, char *argv[]);
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BlinkM::BlinkM(int bus) :
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I2C("blinkm", BLINKM_DEVICE_PATH, bus, 0x09, 100000)
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{
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memset(&_work, 0, sizeof(_work));
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}
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BlinkM::~BlinkM()
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@ -170,7 +258,6 @@ int
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BlinkM::init()
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{
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int ret;
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ret = I2C::init();
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if (ret != OK) {
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@ -179,13 +266,44 @@ BlinkM::init()
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}
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/* set some sensible defaults */
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set_fade_speed(25);
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set_fade_speed(255);
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/* turn off by default */
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play_script(BLACK);
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set_fade_speed(255);
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stop_script();
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set_rgb(0,0,0);
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/* start the system monitor as a low-priority workqueue entry */
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work_queue(LPWORK, &_work, (worker_t)&BlinkM::monitor_trampoline, this, 1);
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return OK;
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}
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int
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BlinkM::setMode(int mode)
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{
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if(mode == 1) {
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if(BlinkM::systemstate_run == 0) {
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/* set some sensible defaults */
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set_fade_speed(255);
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/* turn off by default */
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play_script(BLACK);
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set_fade_speed(255);
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stop_script();
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set_rgb(0,0,0);
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BlinkM::systemstate_run = 1;
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work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, 1);
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}
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} else {
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BlinkM::systemstate_run = 0;
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usleep(1000000);
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/* set some sensible defaults */
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set_fade_speed(255);
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/* turn off by default */
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play_script(BLACK);
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set_fade_speed(255);
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stop_script();
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set_rgb(0,0,0);
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}
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return OK;
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}
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@ -249,21 +367,343 @@ BlinkM::ioctl(struct file *filp, int cmd, unsigned long arg)
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return ret;
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}
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void
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BlinkM::monitor_trampoline(void *arg)
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BlinkM::led_trampoline(void *arg)
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{
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BlinkM *bm = (BlinkM *)arg;
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bm->monitor();
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bm->led();
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}
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void
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BlinkM::monitor()
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{
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/* check system state, possibly update LED to suit */
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void
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BlinkM::led()
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{
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static int vehicle_status_sub_fd;
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static int vehicle_gps_position_sub_fd;
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static int num_of_cells = 0;
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static int detected_cells_runcount = 0;
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static int t_led_color_1 = 0;
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static int t_led_color_2 = 0;
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static int t_led_color_3 = 0;
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static int t_led_color_4 = 0;
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static int t_led_color_5 = 0;
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static int t_led_color_6 = 0;
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static int t_led_blink = 0;
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static int led_thread_runcount=1;
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static int led_interval = 1000;
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static bool topic_initialized = false;
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static bool detected_cells_blinked = false;
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static bool led_thread_ready = true;
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int system_voltage = 0;
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int num_of_used_sats = 0;
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int poll_ret;
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if(!topic_initialized) {
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vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status));
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orb_set_interval(vehicle_status_sub_fd, 1000);
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vehicle_gps_position_sub_fd = orb_subscribe(ORB_ID(vehicle_gps_position));
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orb_set_interval(vehicle_gps_position_sub_fd, 1000);
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topic_initialized = true;
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}
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pollfd fds[2];
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fds[0].fd = vehicle_status_sub_fd;
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fds[0].events = POLLIN;
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fds[1].fd = vehicle_gps_position_sub_fd;
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fds[1].events = POLLIN;
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if(led_thread_ready == true) {
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if(!detected_cells_blinked) {
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if(num_of_cells > 0) {
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t_led_color_1 = LED_PURPLE;
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}
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if(num_of_cells > 1) {
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t_led_color_2 = LED_PURPLE;
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}
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if(num_of_cells > 2) {
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t_led_color_3 = LED_PURPLE;
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}
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if(num_of_cells > 3) {
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t_led_color_4 = LED_PURPLE;
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}
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if(num_of_cells > 4) {
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t_led_color_5 = LED_PURPLE;
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}
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t_led_color_6 = LED_OFF;
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t_led_blink = LED_BLINK;
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} else {
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t_led_color_1 = BlinkM::led_color_1;
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t_led_color_2 = BlinkM::led_color_2;
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t_led_color_3 = BlinkM::led_color_3;
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t_led_color_4 = BlinkM::led_color_4;
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t_led_color_5 = BlinkM::led_color_5;
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t_led_color_6 = BlinkM::led_color_6;
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t_led_blink = BlinkM::led_blink;
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}
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led_thread_ready = false;
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}
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switch(led_thread_runcount) {
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case 1: // 1. LED on
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BlinkM::setLEDColor(t_led_color_1);
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led_thread_runcount++;
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led_interval = LED_ONTIME;
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break;
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case 2: // 1. LED off
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if(t_led_blink == LED_BLINK) {
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BlinkM::setLEDColor(LED_OFF);
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}
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led_thread_runcount++;
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led_interval = LED_OFFTIME;
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break;
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case 3: // 2. LED on
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BlinkM::setLEDColor(t_led_color_2);
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led_thread_runcount++;
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led_interval = LED_ONTIME;
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break;
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case 4: // 2. LED off
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if(t_led_blink == LED_BLINK) {
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BlinkM::setLEDColor(LED_OFF);
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}
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led_thread_runcount++;
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led_interval = LED_OFFTIME;
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break;
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case 5: // 3. LED on
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BlinkM::setLEDColor(t_led_color_3);
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led_thread_runcount++;
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led_interval = LED_ONTIME;
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break;
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case 6: // 3. LED off
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if(t_led_blink == LED_BLINK) {
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BlinkM::setLEDColor(LED_OFF);
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}
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led_thread_runcount++;
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led_interval = LED_OFFTIME;
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break;
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case 7: // 4. LED on
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BlinkM::setLEDColor(t_led_color_4);
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led_thread_runcount++;
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led_interval = LED_ONTIME;
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break;
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case 8: // 4. LED off
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if(t_led_blink == LED_BLINK) {
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BlinkM::setLEDColor(LED_OFF);
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}
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led_thread_runcount++;
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led_interval = LED_OFFTIME;
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break;
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case 9: // 5. LED on
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BlinkM::setLEDColor(t_led_color_5);
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led_thread_runcount++;
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led_interval = LED_ONTIME;
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break;
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case 10: // 5. LED off
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if(t_led_blink == LED_BLINK) {
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BlinkM::setLEDColor(LED_OFF);
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}
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led_thread_runcount++;
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led_interval = LED_OFFTIME;
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break;
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case 11: // 6. LED on
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BlinkM::setLEDColor(t_led_color_6);
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led_thread_runcount++;
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led_interval = LED_ONTIME;
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break;
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case 12: // 6. LED off
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if(t_led_blink == LED_BLINK) {
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BlinkM::setLEDColor(LED_OFF);
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}
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//poll_ret = ::poll(&fds[0],1,1000);
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poll_ret = ::poll(fds, 2, 1000);
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if (poll_ret == 0) {
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/* this means none of our providers is giving us data */
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printf("[blinkm_systemstate_sensor] Got no data within a second\n");
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} else if (poll_ret < 0) {
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/* this is seriously bad - should be an emergency */
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log("poll error %d", errno);
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usleep(1000000);
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} else {
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if (fds[0].revents & POLLIN) {
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/* obtained data for the first file descriptor */
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struct vehicle_status_s vehicle_status_raw;
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struct vehicle_gps_position_s vehicle_gps_position_raw;
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/* copy sensors raw data into local buffer */
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/* vehicle_status */
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orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw);
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/* vehicle_gps_position */
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orb_copy(ORB_ID(vehicle_gps_position), vehicle_status_sub_fd, &vehicle_gps_position_raw);
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/* get actual battery voltage */
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system_voltage = (int)vehicle_status_raw.voltage_battery*10;
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/* get number of used satellites in navigation */
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num_of_used_sats = 0;
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for(int satloop=0; satloop<20; satloop++) {
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if(vehicle_gps_position_raw.satellite_used[satloop] == 1) {
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num_of_used_sats++;
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}
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}
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if(num_of_cells == 0) {
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/* looking for lipo cells that are connected */
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printf("<blinkm> checking cells\n");
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for(num_of_cells = 2; num_of_cells < 7; num_of_cells++) {
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if(system_voltage < num_of_cells * MAX_CELL_VOLTAGE) break;
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}
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printf("<blinkm> cells found:%u\n", num_of_cells);
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} else {
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if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_WARNING) {
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/* LED Pattern for battery low warning */
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BlinkM::led_color_1 = LED_YELLOW;
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BlinkM::led_color_2 = LED_YELLOW;
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BlinkM::led_color_3 = LED_YELLOW;
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BlinkM::led_color_4 = LED_YELLOW;
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BlinkM::led_color_5 = LED_YELLOW;
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BlinkM::led_color_6 = LED_YELLOW;
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BlinkM::led_blink = LED_BLINK;
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} else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_ALERT) {
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/* LED Pattern for battery critical alerting */
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BlinkM::led_color_1 = LED_RED;
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BlinkM::led_color_2 = LED_RED;
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BlinkM::led_color_3 = LED_RED;
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BlinkM::led_color_4 = LED_RED;
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BlinkM::led_color_5 = LED_RED;
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BlinkM::led_color_6 = LED_RED;
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BlinkM::led_blink = LED_BLINK;
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} else {
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/* no battery warnings here */
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if(vehicle_status_raw.flag_system_armed == false) {
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/* system not armed */
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BlinkM::led_color_1 = LED_RED;
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BlinkM::led_color_2 = LED_RED;
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BlinkM::led_color_3 = LED_RED;
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BlinkM::led_color_4 = LED_RED;
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BlinkM::led_color_5 = LED_RED;
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BlinkM::led_color_6 = LED_RED;
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BlinkM::led_blink = LED_NOBLINK;
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} else {
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/* armed system - initial led pattern */
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BlinkM::led_color_1 = LED_RED;
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BlinkM::led_color_2 = LED_RED;
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BlinkM::led_color_3 = LED_RED;
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BlinkM::led_color_4 = LED_OFF;
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BlinkM::led_color_5 = LED_OFF;
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BlinkM::led_color_6 = LED_OFF;
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BlinkM::led_blink = LED_BLINK;
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/* handle 4th led - flightmode indicator */
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switch((int)vehicle_status_raw.flight_mode) {
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case VEHICLE_FLIGHT_MODE_MANUAL:
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BlinkM::led_color_4 = LED_OFF;
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break;
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case VEHICLE_FLIGHT_MODE_STAB:
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BlinkM::led_color_4 = LED_YELLOW;
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break;
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case VEHICLE_FLIGHT_MODE_HOLD:
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BlinkM::led_color_4 = LED_BLUE;
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break;
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|
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case VEHICLE_FLIGHT_MODE_AUTO:
|
||||
BlinkM::led_color_4 = LED_GREEN;
|
||||
break;
|
||||
}
|
||||
|
||||
/* handling used sat´s */
|
||||
if(num_of_used_sats >= 7) {
|
||||
BlinkM::led_color_1 = LED_OFF;
|
||||
BlinkM::led_color_2 = LED_OFF;
|
||||
BlinkM::led_color_3 = LED_OFF;
|
||||
} else if(num_of_used_sats == 6) {
|
||||
BlinkM::led_color_2 = LED_OFF;
|
||||
BlinkM::led_color_3 = LED_OFF;
|
||||
} else if(num_of_used_sats == 5) {
|
||||
BlinkM::led_color_3 = LED_OFF;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
printf( "<blinkm> Volt:%8.4f\tArmed:%4u\tMode:%4u\tCells:%4u\tBattWarn:%4u\tSats:%4u\tFix:%4u\tVisible:%4u\n",
|
||||
vehicle_status_raw.voltage_battery,
|
||||
vehicle_status_raw.flag_system_armed,
|
||||
vehicle_status_raw.flight_mode,
|
||||
num_of_cells,
|
||||
vehicle_status_raw.battery_warning,
|
||||
num_of_used_sats,
|
||||
vehicle_gps_position_raw.fix_type,
|
||||
vehicle_gps_position_raw.satellites_visible);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
led_thread_runcount=1;
|
||||
led_thread_ready = true;
|
||||
led_interval = LED_OFFTIME;
|
||||
|
||||
if(detected_cells_runcount < 5){
|
||||
detected_cells_runcount++;
|
||||
} else {
|
||||
detected_cells_blinked = true;
|
||||
}
|
||||
|
||||
break;
|
||||
default:
|
||||
led_thread_runcount=1;
|
||||
t_led_blink = 0;
|
||||
led_thread_ready = true;
|
||||
break;
|
||||
}
|
||||
|
||||
if(BlinkM::systemstate_run == 1) {
|
||||
/* re-queue ourselves to run again later */
|
||||
work_queue(LPWORK, &_work, (worker_t)&BlinkM::monitor_trampoline, this, _monitor_interval);
|
||||
work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, led_interval);
|
||||
}
|
||||
}
|
||||
|
||||
void BlinkM::setLEDColor(int ledcolor) {
|
||||
switch (ledcolor) {
|
||||
case LED_OFF: // off
|
||||
BlinkM::set_rgb(0,0,0);
|
||||
break;
|
||||
case LED_RED: // red
|
||||
BlinkM::set_rgb(255,0,0);
|
||||
break;
|
||||
case LED_YELLOW: // yellow
|
||||
BlinkM::set_rgb(255,70,0);
|
||||
break;
|
||||
case LED_PURPLE: // purple
|
||||
BlinkM::set_rgb(255,0,255);
|
||||
break;
|
||||
case LED_GREEN: // green
|
||||
BlinkM::set_rgb(0,255,0);
|
||||
break;
|
||||
case LED_BLUE: // blue
|
||||
BlinkM::set_rgb(0,0,255);
|
||||
break;
|
||||
case LED_WHITE: // white
|
||||
BlinkM::set_rgb(255,255,255);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
int
|
||||
|
|
@ -413,7 +853,6 @@ BlinkM::get_rgb(uint8_t &r, uint8_t &g, uint8_t &b)
|
|||
return ret;
|
||||
}
|
||||
|
||||
|
||||
int
|
||||
BlinkM::get_firmware_version(uint8_t version[2])
|
||||
{
|
||||
|
|
@ -443,9 +882,21 @@ blinkm_main(int argc, char *argv[])
|
|||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
if (g_blinkm == nullptr)
|
||||
errx(1, "not started");
|
||||
|
||||
if (!strcmp(argv[1], "systemstate")) {
|
||||
g_blinkm->setMode(1);
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "ledoff")) {
|
||||
g_blinkm->setMode(0);
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
if (!strcmp(argv[1], "list")) {
|
||||
for (unsigned i = 0; BlinkM::script_names[i] != nullptr; i++)
|
||||
fprintf(stderr, " %s\n", BlinkM::script_names[i]);
|
||||
|
|
@ -458,8 +909,9 @@ blinkm_main(int argc, char *argv[])
|
|||
if (fd < 0)
|
||||
err(1, "can't open BlinkM device");
|
||||
|
||||
g_blinkm->setMode(0);
|
||||
if (ioctl(fd, BLINKM_PLAY_SCRIPT_NAMED, (unsigned long)argv[1]) == OK)
|
||||
exit(0);
|
||||
|
||||
errx(1, "missing command, try 'start', 'list' or a script name");
|
||||
errx(1, "missing command, try 'start', 'systemstate', 'ledoff', 'list' or a script name.");
|
||||
}
|
||||
Loading…
Reference in New Issue