forked from Archive/PX4-Autopilot
some major changes
This commit is contained in:
Marco Bauer
parent
825012b029
commit
f0edb59d7e
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@ -39,7 +39,7 @@
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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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* To start the system monitor put in the next line after the blinkm start:
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* blinkm systemmonitor
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*
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*
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@ -66,11 +66,12 @@
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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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* The first 3 blinks indicates the status of the GPS-Signal (red):
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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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* If no GPS is found the first 3 blinks are white
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*
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* The fourth Blink indicates the Flightmode:
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* MANUAL : off
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@ -84,6 +85,9 @@
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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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* General Error (no uOrb Data)
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* Continuously blinking in white 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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@ -113,6 +117,12 @@
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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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static const float MAX_CELL_VOLTAGE = 4.3f;
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static const int LED_ONTIME = 100;
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static const int LED_OFFTIME = 100;
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static const int LED_BLINK = 1;
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static const int LED_NOBLINK = 0;
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class BlinkM : public device::I2C
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{
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public:
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@ -150,19 +160,14 @@ private:
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MORSE_CODE
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};
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enum systemDefines {
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enum ledColors {
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LED_OFF,
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LED_RED,
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LED_YELLOW,
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LED_PURPLE,
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LED_GREEN,
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LED_BLUE,
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LED_WHITE,
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LED_ONTIME=100,
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LED_OFFTIME=100,
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LED_NOBLINK=0,
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LED_BLINK=1,
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MAX_CELL_VOLTAGE=43
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LED_WHITE
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};
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work_s _work;
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@ -234,17 +239,6 @@ const char *BlinkM::script_names[] = {
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nullptr
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};
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/*
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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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bool BlinkM::systemstate_run = false;
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*/
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extern "C" __EXPORT int blinkm_main(int argc, char *argv[]);
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@ -277,12 +271,6 @@ BlinkM::init()
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return ret;
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}
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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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@ -293,26 +281,14 @@ 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 == false) {
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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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if(systemstate_run == false) {
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stop_script();
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//set_rgb(0,0,0);
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BlinkM::systemstate_run = true;
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set_rgb(0,0,0);
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systemstate_run = true;
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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 = false;
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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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stop_script();
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//set_rgb(0,0,0);
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systemstate_run = false;
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}
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return OK;
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@ -397,21 +373,19 @@ BlinkM::led()
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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_color[6] = { 0, 0, 0, 0, 0, 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_thread_runcount=0;
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static int led_interval = 1000;
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static int no_data_vehicle_status = 0;
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static int no_data_vehicle_gps_position = 0;
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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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if(!topic_initialized) {
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@ -427,277 +401,250 @@ BlinkM::led()
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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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t_led_color[0] = 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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t_led_color[1] = 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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t_led_color[2] = 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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t_led_color[3] = 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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t_led_color[4] = LED_PURPLE;
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}
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t_led_color_6 = LED_OFF;
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t_led_color[5] = 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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t_led_color[0] = led_color_1;
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t_led_color[1] = led_color_2;
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t_led_color[2] = led_color_3;
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t_led_color[3] = led_color_4;
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t_led_color[4] = led_color_5;
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t_led_color[5] = led_color_6;
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t_led_blink = 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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/* 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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bool new_data;
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orb_check(vehicle_status_sub_fd, &new_data);
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if (new_data) {
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orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw);
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}
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orb_check(vehicle_gps_position_sub_fd, &new_data);
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if (new_data) {
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orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub_fd, &vehicle_gps_position_raw);
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}
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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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case VEHICLE_FLIGHT_MODE_AUTO:
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BlinkM::led_color_4 = LED_GREEN;
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break;
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}
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/* handling used sat´s */
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if(num_of_used_sats >= 7) {
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BlinkM::led_color_1 = LED_OFF;
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BlinkM::led_color_2 = LED_OFF;
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BlinkM::led_color_3 = LED_OFF;
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} else if(num_of_used_sats == 6) {
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BlinkM::led_color_2 = LED_OFF;
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BlinkM::led_color_3 = LED_OFF;
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} else if(num_of_used_sats == 5) {
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BlinkM::led_color_3 = LED_OFF;
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}
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}
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}
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}
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/*
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printf( "<blinkm> Volt:%8.4f\tArmed:%4u\tMode:%4u\tCells:%4u\tBattWarn:%4u\tSats:%4u\tFix:%4u\tVisible:%4u\n",
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vehicle_status_raw.voltage_battery,
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vehicle_status_raw.flag_system_armed,
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vehicle_status_raw.flight_mode,
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num_of_cells,
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vehicle_status_raw.battery_warning,
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num_of_used_sats,
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vehicle_gps_position_raw.fix_type,
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vehicle_gps_position_raw.satellites_visible);
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*/
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led_thread_runcount=1;
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led_thread_ready = true;
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led_interval = LED_OFFTIME;
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if(detected_cells_runcount < 5){
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detected_cells_runcount++;
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} else {
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detected_cells_blinked = true;
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}
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break;
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default:
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led_thread_runcount=1;
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t_led_blink = 0;
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led_thread_ready = true;
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break;
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if (led_thread_runcount & 1) {
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if (t_led_blink)
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setLEDColor(LED_OFF);
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led_interval = LED_OFFTIME;
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} else {
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setLEDColor(t_led_color[(led_thread_runcount / 2) % 6]);
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//led_interval = (led_thread_runcount & 1) : LED_ONTIME;
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led_interval = LED_ONTIME;
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}
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if(BlinkM::systemstate_run == true) {
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if (led_thread_runcount == 11) {
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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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bool new_data_vehicle_status;
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bool new_data_vehicle_gps_position;
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orb_check(vehicle_status_sub_fd, &new_data_vehicle_status);
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if (new_data_vehicle_status) {
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orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw);
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no_data_vehicle_status = 0;
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} else {
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no_data_vehicle_status++;
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if(no_data_vehicle_status >= 3)
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no_data_vehicle_status = 3;
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}
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orb_check(vehicle_gps_position_sub_fd, &new_data_vehicle_gps_position);
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if (new_data_vehicle_gps_position) {
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orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub_fd, &vehicle_gps_position_raw);
|
||||
no_data_vehicle_gps_position = 0;
|
||||
} else {
|
||||
no_data_vehicle_gps_position++;
|
||||
if(no_data_vehicle_gps_position >= 3)
|
||||
no_data_vehicle_gps_position = 3;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* get number of used satellites in navigation */
|
||||
num_of_used_sats = 0;
|
||||
for(int satloop=0; satloop<20; satloop++) {
|
||||
if(vehicle_gps_position_raw.satellite_used[satloop] == 1) {
|
||||
num_of_used_sats++;
|
||||
}
|
||||
}
|
||||
|
||||
if(new_data_vehicle_status || no_data_vehicle_status < 3){
|
||||
if(num_of_cells == 0) {
|
||||
/* looking for lipo cells that are connected */
|
||||
printf("<blinkm> checking cells\n");
|
||||
for(num_of_cells = 2; num_of_cells < 7; num_of_cells++) {
|
||||
if(vehicle_status_raw.voltage_battery < num_of_cells * MAX_CELL_VOLTAGE) break;
|
||||
}
|
||||
printf("<blinkm> cells found:%u\n", num_of_cells);
|
||||
|
||||
} else {
|
||||
if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_WARNING) {
|
||||
/* LED Pattern for battery low warning */
|
||||
led_color_1 = LED_YELLOW;
|
||||
led_color_2 = LED_YELLOW;
|
||||
led_color_3 = LED_YELLOW;
|
||||
led_color_4 = LED_YELLOW;
|
||||
led_color_5 = LED_YELLOW;
|
||||
led_color_6 = LED_YELLOW;
|
||||
led_blink = LED_BLINK;
|
||||
|
||||
} else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_ALERT) {
|
||||
/* LED Pattern for battery critical alerting */
|
||||
led_color_1 = LED_RED;
|
||||
led_color_2 = LED_RED;
|
||||
led_color_3 = LED_RED;
|
||||
led_color_4 = LED_RED;
|
||||
led_color_5 = LED_RED;
|
||||
led_color_6 = LED_RED;
|
||||
led_blink = LED_BLINK;
|
||||
|
||||
} else {
|
||||
/* no battery warnings here */
|
||||
|
||||
if(vehicle_status_raw.flag_system_armed == false) {
|
||||
/* system not armed */
|
||||
led_color_1 = LED_RED;
|
||||
led_color_2 = LED_RED;
|
||||
led_color_3 = LED_RED;
|
||||
led_color_4 = LED_RED;
|
||||
led_color_5 = LED_RED;
|
||||
led_color_6 = LED_RED;
|
||||
led_blink = LED_NOBLINK;
|
||||
|
||||
} else {
|
||||
/* armed system - initial led pattern */
|
||||
led_color_1 = LED_RED;
|
||||
led_color_2 = LED_RED;
|
||||
led_color_3 = LED_RED;
|
||||
led_color_4 = LED_OFF;
|
||||
led_color_5 = LED_OFF;
|
||||
led_color_6 = LED_OFF;
|
||||
led_blink = LED_BLINK;
|
||||
|
||||
/* handle 4th led - flightmode indicator */
|
||||
switch((int)vehicle_status_raw.flight_mode) {
|
||||
case VEHICLE_FLIGHT_MODE_MANUAL:
|
||||
led_color_4 = LED_OFF;
|
||||
break;
|
||||
|
||||
case VEHICLE_FLIGHT_MODE_STAB:
|
||||
led_color_4 = LED_YELLOW;
|
||||
break;
|
||||
|
||||
case VEHICLE_FLIGHT_MODE_HOLD:
|
||||
led_color_4 = LED_BLUE;
|
||||
break;
|
||||
|
||||
case VEHICLE_FLIGHT_MODE_AUTO:
|
||||
led_color_4 = LED_GREEN;
|
||||
break;
|
||||
}
|
||||
|
||||
if(new_data_vehicle_gps_position || no_data_vehicle_gps_position < 3) {
|
||||
/* handling used sat´s */
|
||||
if(num_of_used_sats >= 7) {
|
||||
led_color_1 = LED_OFF;
|
||||
led_color_2 = LED_OFF;
|
||||
led_color_3 = LED_OFF;
|
||||
} else if(num_of_used_sats == 6) {
|
||||
led_color_2 = LED_OFF;
|
||||
led_color_3 = LED_OFF;
|
||||
} else if(num_of_used_sats == 5) {
|
||||
led_color_3 = LED_OFF;
|
||||
}
|
||||
|
||||
} else {
|
||||
/* no vehicle_gps_position data */
|
||||
led_color_1 = LED_WHITE;
|
||||
led_color_2 = LED_WHITE;
|
||||
led_color_3 = LED_WHITE;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
} else {
|
||||
/* LED Pattern for general Error - no vehicle_status can retrieved */
|
||||
led_color_1 = LED_WHITE;
|
||||
led_color_2 = LED_WHITE;
|
||||
led_color_3 = LED_WHITE;
|
||||
led_color_4 = LED_WHITE;
|
||||
led_color_5 = LED_WHITE;
|
||||
led_color_6 = LED_WHITE;
|
||||
led_blink = LED_BLINK;
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
printf( "<blinkm> Volt:%8.4f\tArmed:%4u\tMode:%4u\tCells:%4u\tNDVS:%4u\tNDSAT:%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,
|
||||
no_data_vehicle_status,
|
||||
no_data_vehicle_gps_position,
|
||||
num_of_used_sats,
|
||||
vehicle_gps_position_raw.fix_type,
|
||||
vehicle_gps_position_raw.satellites_visible);
|
||||
*/
|
||||
|
||||
led_thread_runcount=0;
|
||||
led_thread_ready = true;
|
||||
led_interval = LED_OFFTIME;
|
||||
|
||||
if(detected_cells_runcount < 4){
|
||||
detected_cells_runcount++;
|
||||
} else {
|
||||
detected_cells_blinked = true;
|
||||
}
|
||||
|
||||
} else {
|
||||
led_thread_runcount++;
|
||||
}
|
||||
|
||||
if(systemstate_run == true) {
|
||||
/* re-queue ourselves to run again later */
|
||||
work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, led_interval);
|
||||
} else {
|
||||
stop_script();
|
||||
set_rgb(0,0,0);
|
||||
}
|
||||
}
|
||||
|
||||
void BlinkM::setLEDColor(int ledcolor) {
|
||||
switch (ledcolor) {
|
||||
case LED_OFF: // off
|
||||
BlinkM::set_rgb(0,0,0);
|
||||
set_rgb(0,0,0);
|
||||
break;
|
||||
case LED_RED: // red
|
||||
BlinkM::set_rgb(255,0,0);
|
||||
set_rgb(255,0,0);
|
||||
break;
|
||||
case LED_YELLOW: // yellow
|
||||
BlinkM::set_rgb(255,70,0);
|
||||
set_rgb(255,70,0);
|
||||
break;
|
||||
case LED_PURPLE: // purple
|
||||
BlinkM::set_rgb(255,0,255);
|
||||
set_rgb(255,0,255);
|
||||
break;
|
||||
case LED_GREEN: // green
|
||||
BlinkM::set_rgb(0,255,0);
|
||||
set_rgb(0,255,0);
|
||||
break;
|
||||
case LED_BLUE: // blue
|
||||
BlinkM::set_rgb(0,0,255);
|
||||
set_rgb(0,0,255);
|
||||
break;
|
||||
case LED_WHITE: // white
|
||||
BlinkM::set_rgb(255,255,255);
|
||||
set_rgb(255,255,255);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue