forked from Archive/PX4-Autopilot
some changes in structure
This commit is contained in:
Marco Bauer
parent
8ec566d0cb
commit
edc3ae7b6c
3
Makefile
3
Makefile
|
|
@ -109,7 +109,8 @@ ifeq ($(SYSTYPE),Linux)
|
|||
SERIAL_PORTS ?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0"
|
||||
endif
|
||||
ifeq ($(SERIAL_PORTS),)
|
||||
SERIAL_PORTS = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
|
||||
#SERIAL_PORTS = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
|
||||
SERIAL_PORTS = "\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
|
||||
endif
|
||||
|
||||
upload: $(FIRMWARE_BUNDLE) $(UPLOADER)
|
||||
|
|
|
|||
|
|
@ -149,6 +149,21 @@ private:
|
|||
MORSE_CODE
|
||||
};
|
||||
|
||||
enum systemDefines {
|
||||
LED_OFF,
|
||||
LED_RED,
|
||||
LED_YELLOW,
|
||||
LED_PURPLE,
|
||||
LED_GREEN,
|
||||
LED_BLUE,
|
||||
LED_WHITE,
|
||||
LED_ONTIME=100,
|
||||
LED_OFFTIME=100,
|
||||
LED_NOBLINK=0,
|
||||
LED_BLINK=1,
|
||||
MAX_CELL_VOLTAGE=43
|
||||
};
|
||||
|
||||
work_s _work;
|
||||
|
||||
static int led_color_1;
|
||||
|
|
@ -159,7 +174,7 @@ private:
|
|||
static int led_color_6;
|
||||
static int led_blink;
|
||||
|
||||
static int systemstate_run;
|
||||
static bool systemstate_run;
|
||||
|
||||
void setLEDColor(int ledcolor);
|
||||
static void led_trampoline(void *arg);
|
||||
|
|
@ -218,19 +233,6 @@ const char *BlinkM::script_names[] = {
|
|||
nullptr
|
||||
};
|
||||
|
||||
#define MAX_CELL_VOLTAGE 43 /* cell voltage if full charged */
|
||||
|
||||
#define LED_OFF 0
|
||||
#define LED_RED 1
|
||||
#define LED_YELLOW 2
|
||||
#define LED_PURPLE 3
|
||||
#define LED_GREEN 4
|
||||
#define LED_BLUE 5
|
||||
#define LED_WHITE 6
|
||||
#define LED_ONTIME 100
|
||||
#define LED_OFFTIME 100
|
||||
#define LED_BLINK 1
|
||||
#define LED_NOBLINK 0
|
||||
|
||||
int BlinkM::led_color_1 = LED_OFF;
|
||||
int BlinkM::led_color_2 = LED_OFF;
|
||||
|
|
@ -240,7 +242,8 @@ int BlinkM::led_color_5 = LED_OFF;
|
|||
int BlinkM::led_color_6 = LED_OFF;
|
||||
int BlinkM::led_blink = LED_NOBLINK;
|
||||
|
||||
int BlinkM::systemstate_run = 0;
|
||||
bool BlinkM::systemstate_run = false;
|
||||
|
||||
|
||||
extern "C" __EXPORT int blinkm_main(int argc, char *argv[]);
|
||||
|
||||
|
|
@ -281,28 +284,26 @@ int
|
|||
BlinkM::setMode(int mode)
|
||||
{
|
||||
if(mode == 1) {
|
||||
if(BlinkM::systemstate_run == 0) {
|
||||
if(BlinkM::systemstate_run == false) {
|
||||
/* set some sensible defaults */
|
||||
set_fade_speed(255);
|
||||
|
||||
/* turn off by default */
|
||||
play_script(BLACK);
|
||||
set_fade_speed(255);
|
||||
stop_script();
|
||||
set_rgb(0,0,0);
|
||||
BlinkM::systemstate_run = 1;
|
||||
//set_rgb(0,0,0);
|
||||
BlinkM::systemstate_run = true;
|
||||
work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, 1);
|
||||
}
|
||||
} else {
|
||||
BlinkM::systemstate_run = 0;
|
||||
BlinkM::systemstate_run = false;
|
||||
usleep(1000000);
|
||||
/* set some sensible defaults */
|
||||
set_fade_speed(255);
|
||||
/* turn off by default */
|
||||
play_script(BLACK);
|
||||
set_fade_speed(255);
|
||||
stop_script();
|
||||
set_rgb(0,0,0);
|
||||
//set_rgb(0,0,0);
|
||||
}
|
||||
|
||||
return OK;
|
||||
|
|
@ -403,7 +404,6 @@ BlinkM::led()
|
|||
|
||||
int system_voltage = 0;
|
||||
int num_of_used_sats = 0;
|
||||
int poll_ret;
|
||||
|
||||
if(!topic_initialized) {
|
||||
vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status));
|
||||
|
|
@ -415,12 +415,6 @@ BlinkM::led()
|
|||
topic_initialized = true;
|
||||
}
|
||||
|
||||
pollfd fds[2];
|
||||
fds[0].fd = vehicle_status_sub_fd;
|
||||
fds[0].events = POLLIN;
|
||||
fds[1].fd = vehicle_gps_position_sub_fd;
|
||||
fds[1].events = POLLIN;
|
||||
|
||||
if(led_thread_ready == true) {
|
||||
if(!detected_cells_blinked) {
|
||||
if(num_of_cells > 0) {
|
||||
|
|
@ -523,28 +517,22 @@ BlinkM::led()
|
|||
BlinkM::setLEDColor(LED_OFF);
|
||||
}
|
||||
|
||||
//poll_ret = ::poll(&fds[0],1,1000);
|
||||
poll_ret = ::poll(fds, 2, 1000);
|
||||
|
||||
if (poll_ret == 0) {
|
||||
/* this means none of our providers is giving us data */
|
||||
printf("[blinkm_systemstate_sensor] Got no data within a second\n");
|
||||
} else if (poll_ret < 0) {
|
||||
/* this is seriously bad - should be an emergency */
|
||||
log("poll error %d", errno);
|
||||
usleep(1000000);
|
||||
} else {
|
||||
if (fds[0].revents & POLLIN) {
|
||||
/* obtained data for the first file descriptor */
|
||||
struct vehicle_status_s vehicle_status_raw;
|
||||
struct vehicle_gps_position_s vehicle_gps_position_raw;
|
||||
/* copy sensors raw data into local buffer */
|
||||
|
||||
/* vehicle_status */
|
||||
bool new_data;
|
||||
orb_check(vehicle_status_sub_fd, &new_data);
|
||||
|
||||
if (new_data) {
|
||||
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw);
|
||||
}
|
||||
|
||||
/* vehicle_gps_position */
|
||||
orb_check(vehicle_gps_position_sub_fd, &new_data);
|
||||
|
||||
if (new_data) {
|
||||
orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub_fd, &vehicle_gps_position_raw);
|
||||
}
|
||||
|
||||
/* get actual battery voltage */
|
||||
system_voltage = (int)vehicle_status_raw.voltage_battery*10;
|
||||
|
|
@ -653,8 +641,7 @@ BlinkM::led()
|
|||
vehicle_gps_position_raw.fix_type,
|
||||
vehicle_gps_position_raw.satellites_visible);
|
||||
*/
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
led_thread_runcount=1;
|
||||
led_thread_ready = true;
|
||||
|
|
@ -674,7 +661,7 @@ BlinkM::led()
|
|||
break;
|
||||
}
|
||||
|
||||
if(BlinkM::systemstate_run == 1) {
|
||||
if(BlinkM::systemstate_run == true) {
|
||||
/* re-queue ourselves to run again later */
|
||||
work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, led_interval);
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue