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px4-firmware
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Code style fixed

This commit is contained in:
Anton Babushkin 2013-05-22 13:59:51 +04:00
parent 09ce3e2d0a
commit 6e8621269b
1 changed files with 19 additions and 3 deletions
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22
src/modules/gpio_led/gpio_led.c
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@ -53,8 +53,7 @@
#include <poll.h>
#include <drivers/drv_gpio.h>
struct gpio_led_s
{
struct gpio_led_s {
struct work_s work;
int gpio_fd;
int pin;
@ -75,12 +74,15 @@ void gpio_led_cycle(FAR void *arg);
int gpio_led_main(int argc, char *argv[])
{
int pin = GPIO_EXT_1;
if (argc > 1) {
if (!strcmp(argv[1], "-p")) {
if (!strcmp(argv[2], "1")) {
pin = GPIO_EXT_1;
} else if (!strcmp(argv[2], "2")) {
pin = GPIO_EXT_2;
} else {
printf("[gpio_led] Unsupported pin: %s\n", argv[2]);
exit(1);
@ -91,10 +93,12 @@ int gpio_led_main(int argc, char *argv[])
memset(&gpio_led_data, 0, sizeof(gpio_led_data));
gpio_led_data.pin = pin;
int ret = work_queue(LPWORK, &gpio_led_data.work, gpio_led_start, &gpio_led_data, 0);
if (ret != 0) {
printf("[gpio_led] Failed to queue work: %d\n", ret);
exit(1);
}
exit(0);
}
@ -104,6 +108,7 @@ void gpio_led_start(FAR void *arg)
/* open GPIO device */
priv->gpio_fd = open(GPIO_DEVICE_PATH, 0);
if (priv->gpio_fd < 0) {
printf("[gpio_led] GPIO: open fail\n");
return;
@ -118,6 +123,7 @@ void gpio_led_start(FAR void *arg)
/* add worker to queue */
int ret = work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, 0);
if (ret != 0) {
printf("[gpio_led] Failed to queue work: %d\n", ret);
return;
@ -133,23 +139,29 @@ void gpio_led_cycle(FAR void *arg)
/* check for status updates*/
bool status_updated;
orb_check(priv->vehicle_status_sub, &status_updated);
if (status_updated)
orb_copy(ORB_ID(vehicle_status), priv->vehicle_status_sub, &priv->status);
/* select pattern for current status */
int pattern = 0;
if (priv->status.flag_system_armed) {
if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
pattern = 0x3f; // ****** solid (armed)
} else {
pattern = 0x2A; // *_*_*_ fast blink (armed, battery warning)
}
} else {
if (priv->status.state_machine == SYSTEM_STATE_PREFLIGHT) {
pattern = 0x00; // ______ off (disarmed, preflight check)
} else if (priv->status.state_machine == SYSTEM_STATE_STANDBY &&
priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
pattern = 0x38; // ***___ slow blink (disarmed, ready)
} else {
pattern = 0x28; // *_*___ slow double blink (disarmed, not good to arm)
}
@ -157,16 +169,20 @@ void gpio_led_cycle(FAR void *arg)
/* blink pattern */
bool led_state_new = (pattern & (1 << priv->counter)) != 0;
if (led_state_new != priv->led_state) {
priv->led_state = led_state_new;
if (led_state_new) {
ioctl(priv->gpio_fd, GPIO_SET, priv->pin);
} else {
ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin);
}
}
priv->counter++;
if (priv->counter > 5)
priv->counter = 0;