gpio_led app added

apps/gpio_led/Makefile

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2013 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.
+#
+############################################################################
+
+#
+# Makefile to build gpio_led
+#
+
+APPNAME		 = gpio_led
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+
+include $(APPDIR)/mk/app.mk

apps/gpio_led/gpio_led_main.c

@@ -0,0 +1,184 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Anton Babushkin <anton.babushkin@me.com>
+ *
+ * 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 gpio_led.c
+ *
+ * Drive status LED via GPIO.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <fcntl.h>
+#include <stdbool.h>
+#include <nuttx/sched.h>
+#include <systemlib/systemlib.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_status.h>
+#include <poll.h>
+#include <drivers/drv_gpio.h>
+
+static bool thread_should_exit = false;
+static bool thread_running = false;
+
+__EXPORT int gpio_led_main(int argc, char *argv[]);
+
+static int gpio_led_thread_main(int argc, char *argv[]);
+
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+	fprintf(stderr, "usage: gpio_led {start|stop|status}\n\n");
+	exit(1);
+}
+
+int gpio_led_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("gpio_led already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		task_spawn("gpio_led",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MIN,
+					 2048,
+					 gpio_led_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			printf("\tgpio_led is running\n");
+		} else {
+			printf("\tgpio_led not started\n");
+		}
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+int gpio_led_thread_main(int argc, char *argv[])
+{
+	/* welcome user */
+	printf("[gpio_led] started\n");
+
+	int fd = open(GPIO_DEVICE_PATH, 0);
+	if (fd < 0) {
+		printf("[gpio_led] GPIO: open fail\n");
+		return ERROR;
+	}
+
+	/* set GPIO EXT 1 as output */
+	ioctl(fd, GPIO_SET_OUTPUT, GPIO_EXT_1);
+
+	ioctl(fd, GPIO_CLEAR, GPIO_EXT_1);
+
+	/* initialize values */
+	bool led_state = false;
+	int counter = 0;
+
+	/* subscribe to vehicle status topic */
+	struct vehicle_status_s status;
+	memset(&status, 0, sizeof(status));
+	int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
+
+	while (!thread_should_exit) {
+		bool status_updated;
+		orb_check((vehicle_status_sub), &status_updated);
+		if (status_updated)
+			orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &status);
+
+		int pattern = 0;
+		if (status.flag_system_armed) {
+			if (status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
+				pattern = 0x3f;	// ****** solid (armed)
+			} else {
+				pattern = 0x2A;	// *_*_*_ fast blink (armed, battery warning)
+			}
+		} else {
+			if (status.state_machine == SYSTEM_STATE_PREFLIGHT) {
+				pattern = 0x00;	// ______ off (disarmed, preflight check)
+			} else if (status.state_machine == SYSTEM_STATE_STANDBY && status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
+				pattern = 0x38;	// ***___ slow blink (disarmed, ready)
+			} else {
+				pattern = 0x28;	// *_*___ slow double blink (disarmed, not good to arm)
+			}
+		}
+
+		bool led_state_new = (pattern & (1 << counter)) != 0;
+		if (led_state_new != led_state) {
+			led_state = led_state_new;
+			if (led_state) {
+				ioctl(fd, GPIO_SET, GPIO_EXT_1);
+			} else {
+				ioctl(fd, GPIO_CLEAR, GPIO_EXT_1);
+			}
+		}
+
+		counter++;
+		if (counter > 5)
+			counter = 0;
+
+		usleep(333333);	// sleep ~1/3s
+	}
+
+	ioctl(fd, GPIO_CLEAR, GPIO_EXT_1);
+
+	printf("[gpio_led] exiting\n");
+
+	return 0;
+}

nuttx/configs/px4fmu/nsh/appconfig

@@ -103,6 +103,7 @@ CONFIGURED_APPS += fixedwing_pos_control
 CONFIGURED_APPS += position_estimator
 CONFIGURED_APPS += attitude_estimator_ekf
 CONFIGURED_APPS += hott_telemetry
+CONFIGURED_APPS += gpio_led
 endif
 
 # Hacking tools