Daniel Agar
6 years ago
committed by
Lorenz Meier
67 changed files with 6 additions and 1213 deletions
@ -1,77 +0,0 @@
@@ -1,77 +0,0 @@
|
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/****************************************************************************
|
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file drv_gpio.h |
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* |
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* Generic GPIO ioctl interface. |
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*/ |
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#ifndef _DRV_GPIO_H |
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#define _DRV_GPIO_H |
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#include <px4_config.h> |
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#include <sys/ioctl.h> |
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/**
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* Device paths for devices that support the GPIO ioctl protocol. |
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*/ |
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#define PX4FMU_DEVICE_PATH "/dev/px4fmu" |
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#define PX4IO_DEVICE_PATH "/dev/px4io" |
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/*
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* IOCTL definitions. |
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* |
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* For all ioctls, the (arg) argument is a bitmask of GPIOs to be affected |
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* by the operation, with the LSB being the lowest-numbered GPIO. |
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* |
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* Note that there may be board-specific relationships between GPIOs; |
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* applications using GPIOs should be aware of this. |
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*/ |
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#define _GPIOCBASE 0x2700 |
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#define GPIOC(_x) _IOC(_GPIOCBASE, _x) |
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/** reset all board GPIOs to their default state */ |
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#define GPIO_RESET GPIOC(0) |
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/** configure the board GPIOs in (arg) as outputs */ |
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#define GPIO_SET_OUTPUT GPIOC(1) |
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/** set the GPIOs in (arg) */ |
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#define GPIO_SET GPIOC(10) |
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/** clear the GPIOs in (arg) */ |
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#define GPIO_CLEAR GPIOC(11) |
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#endif /* _DRV_GPIO_H */ |
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@ -1,41 +0,0 @@
@@ -1,41 +0,0 @@
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############################################################################ |
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# |
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# Copyright (c) 2015 PX4 Development Team. All rights reserved. |
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# |
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# Redistribution and use in source and binary forms, with or without |
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# modification, are permitted provided that the following conditions |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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############################################################################ |
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px4_add_module( |
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MODULE modules__gpio_led |
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MAIN gpio_led |
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COMPILE_FLAGS |
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SRCS |
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gpio_led.c |
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DEPENDS |
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) |
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@ -1,355 +0,0 @@
@@ -1,355 +0,0 @@
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/****************************************************************************
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* |
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* Copyright (c) 2013 PX4 Development Team. All rights reserved. |
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* Author: Anton Babushkin <anton.babushkin@me.com> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file gpio_led.c |
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* |
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* Status LED via GPIO driver. |
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* |
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* @author Anton Babushkin <anton.babushkin@me.com> |
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*/ |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <string.h> |
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#include <fcntl.h> |
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#include <stdbool.h> |
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#include <px4_module.h> |
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#include <px4_log.h> |
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#include <nuttx/wqueue.h> |
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#include <nuttx/clock.h> |
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#include <systemlib/err.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/battery_status.h> |
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#include <poll.h> |
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#include <drivers/drv_gpio.h> |
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#include <modules/px4iofirmware/protocol.h> |
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#define CYCLE_RATE_HZ 5 |
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#define PIN_NAME "AUX OUT 1" |
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/* Minimum pin number */ |
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#define GPIO_MIN_SERVO_PIN 1 |
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/* Maximum */ |
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#if defined(GPIO_SERVO_16) |
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# define GPIO_MAX_SERVO_PIN 16 |
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#elif defined(GPIO_SERVO_15) |
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# define GPIO_MAX_SERVO_PIN 15 |
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#elif defined(GPIO_SERVO_14) |
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# define GPIO_MAX_SERVO_PIN 14 |
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#elif defined(GPIO_SERVO_13) |
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# define GPIO_MAX_SERVO_PIN 13 |
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#elif defined(GPIO_SERVO_12) |
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# define GPIO_MAX_SERVO_PIN 12 |
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#elif defined(GPIO_SERVO_11) |
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# define GPIO_MAX_SERVO_PIN 11 |
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#elif defined(GPIO_SERVO_10) |
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# define GPIO_MAX_SERVO_PIN 10 |
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#elif defined(GPIO_SERVO_9) |
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# define GPIO_MAX_SERVO_PIN 9 |
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#elif defined(GPIO_SERVO_8) |
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# define GPIO_MAX_SERVO_PIN 8 |
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#elif defined(GPIO_SERVO_7) |
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# define GPIO_MAX_SERVO_PIN 7 |
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#elif defined(GPIO_SERVO_6) |
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# define GPIO_MAX_SERVO_PIN 6 |
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#elif defined(GPIO_SERVO_5) |
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# define GPIO_MAX_SERVO_PIN 5 |
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#elif defined(GPIO_SERVO_4) |
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# define GPIO_MAX_SERVO_PIN 4 |
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#else |
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# error "Board must define GPIO_SERVO_1 and GPIO_SERVO_n where n is 4-16" |
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#endif |
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struct gpio_led_s { |
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struct work_s work; |
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int gpio_fd; |
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int pin; |
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struct vehicle_status_s vehicle_status; |
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struct battery_status_s battery_status; |
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int vehicle_status_sub; |
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int battery_status_sub; |
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bool led_state; |
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int counter; |
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}; |
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static struct gpio_led_s *gpio_led_data; |
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static volatile enum { |
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Stopped = 0, |
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Running = 1, |
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Falied = 2, |
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Stopping = 3 |
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} gpio_led_state = Stopped; |
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__EXPORT int gpio_led_main(int argc, char *argv[]); |
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void gpio_led_start(FAR void *arg); |
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void gpio_led_cycle(FAR void *arg); |
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static void print_usage(const char *reason) |
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{ |
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if (reason) { |
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PX4_WARN("%s\n", reason); |
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} |
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PRINT_MODULE_DESCRIPTION( |
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R"DESCR_STR( |
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### Description |
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This module is responsible for drving a single LED on one of the FMU AUX pins. |
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It listens on the vehicle_status and battery_status topics and provides visual annunciation on the LED. |
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### Implementation |
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The module runs on the work queue. It schedules at a fixed frequency of 5 Hz |
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### Examples |
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It is started with: |
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$ gpio_led start |
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To drive an LED connected AUX1 pin. |
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OR with any of the avaliabel AUX pins |
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$ gpio_led start -p 5 |
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To drive an LED connected AUX5 pin. |
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)DESCR_STR"); |
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PRINT_MODULE_USAGE_NAME("gpio_led", "driver"); |
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PRINT_MODULE_USAGE_COMMAND_DESCR("start", "annunciation on AUX OUT pin"); |
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PRINT_MODULE_USAGE_PARAM_FLAG('p', "Use specified AUX OUT pin number (default: 1)", true); |
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PRINT_MODULE_USAGE_COMMAND("stop"); |
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} |
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int gpio_led_main(int argc, char *argv[]) |
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{ |
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if (argc < 2) { |
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print_usage(NULL); |
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exit(1); |
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} else { |
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if (!strcmp(argv[1], "start")) { |
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if (gpio_led_state != Stopped) { |
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PX4_WARN("already running"); |
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exit(1); |
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} |
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/* by default GPIO_SERVO_1 on FMUv2 */ |
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int pin = 1; |
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/* pin name to display */ |
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char pin_name[sizeof(PIN_NAME) + 2] = PIN_NAME; |
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if (argc > 2) { |
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if (!strcmp(argv[2], "-p")) { |
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unsigned int n = strtoul(argv[3], NULL, 10); |
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if (n >= GPIO_MIN_SERVO_PIN && n <= GPIO_MAX_SERVO_PIN) { |
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pin = 1 << (n - 1); |
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snprintf(pin_name, sizeof(pin_name), "AUX OUT %d", n); |
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} else { |
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PX4_ERR("unsupported pin: %s (valid values are %d-%d)", argv[3], GPIO_MIN_SERVO_PIN, GPIO_MAX_SERVO_PIN); |
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exit(1); |
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} |
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} |
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} |
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gpio_led_data = malloc(sizeof(struct gpio_led_s)); |
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if (gpio_led_data == NULL) { |
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PX4_ERR("failed to allocate memory!"); |
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exit(1); |
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} else { |
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memset(gpio_led_data, 0, sizeof(struct gpio_led_s)); |
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gpio_led_data->pin = pin; |
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int ret = work_queue(LPWORK, &(gpio_led_data->work), gpio_led_start, gpio_led_data, 0); |
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if (ret != 0) { |
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PX4_ERR("failed to queue work: %d", ret); |
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goto out; |
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} else { |
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usleep(1000000/CYCLE_RATE_HZ); |
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if (gpio_led_state != Running) { |
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gpio_led_state = Stopped; |
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goto out; |
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} |
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PX4_INFO("start, using pin: %s", pin_name); |
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exit(0); |
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} |
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} |
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} else if (!strcmp(argv[1], "stop")) { |
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if (gpio_led_state == Running) { |
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gpio_led_state = Stopping; |
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while(gpio_led_state != Stopped) { |
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usleep(1000000/CYCLE_RATE_HZ); |
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} |
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PX4_INFO("stopped"); |
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free (gpio_led_data); |
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gpio_led_data = NULL; |
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exit(0); |
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} else { |
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PX4_WARN("not running"); |
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exit(1); |
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} |
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} else { |
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print_usage("unrecognized command"); |
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exit(1); |
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} |
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} |
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out: |
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free (gpio_led_data); |
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gpio_led_data = NULL; |
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exit(1); |
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} |
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void gpio_led_start(FAR void *arg) |
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{ |
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FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg; |
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char *gpio_dev = PX4FMU_DEVICE_PATH; |
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/* open GPIO device */ |
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priv->gpio_fd = open(gpio_dev, 0); |
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if (priv->gpio_fd < 0) { |
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PX4_ERR("gpio_led: GPIO device \"%s\" open fail\n", gpio_dev); |
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gpio_led_state = Falied; |
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return; |
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} |
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/* configure GPIO pin */ |
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ioctl(priv->gpio_fd, GPIO_SET_OUTPUT, priv->pin); |
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/* initialize vehicle status structure */ |
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memset(&priv->vehicle_status, 0, sizeof(priv->vehicle_status)); |
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/* initialize battery status structure */ |
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memset(&priv->battery_status, 0, sizeof(priv->battery_status)); |
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/* subscribe to vehicle status topic */ |
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priv->vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); |
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/* subscribe to battery status topic */ |
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priv->battery_status_sub = orb_subscribe(ORB_ID(battery_status)); |
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/* add worker to queue */ |
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int ret = work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, 0); |
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if (ret != 0) { |
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PX4_ERR("gpio_led: failed to queue work: %d\n", ret); |
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close(priv->gpio_fd); |
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gpio_led_state = Falied; |
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return; |
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} |
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gpio_led_state = Running; |
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} |
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void gpio_led_cycle(FAR void *arg) |
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{ |
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FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg; |
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/* check for vehicle status updates*/ |
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bool updated; |
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orb_check(priv->vehicle_status_sub, &updated); |
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if (updated) { |
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orb_copy(ORB_ID(vehicle_status), priv->vehicle_status_sub, &priv->vehicle_status); |
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} |
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orb_check(priv->battery_status_sub, &updated); |
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if (updated) { |
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orb_copy(ORB_ID(battery_status), priv->battery_status_sub, &priv->battery_status); |
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} |
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/* select pattern for current vehiclestatus */ |
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int pattern = 0; |
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if (priv->vehicle_status.arming_state == VEHICLE_STATUS_ARMING_STATE_ARMED) { |
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if (priv->battery_status.warning == BATTERY_STATUS_BATTERY_WARNING_NONE |
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&& !priv->vehicle_status.failsafe) { |
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pattern = 0x3f; // ****** solid (armed)
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} else { |
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pattern = 0x3e; // *****_ slow blink (armed, battery low or failsafe)
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} |
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} else if (priv->vehicle_status.arming_state == VEHICLE_STATUS_ARMING_STATE_STANDBY) { |
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pattern = 0x38; // ***___ slow blink (disarmed, ready)
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} else if (priv->vehicle_status.arming_state == VEHICLE_STATUS_ARMING_STATE_STANDBY_ERROR) { |
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pattern = 0x28; // *_*___ slow double blink (disarmed, error)
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} |
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/* blink pattern */ |
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bool led_state_new = (pattern & (1 << priv->counter)) != 0; |
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if (led_state_new != priv->led_state) { |
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priv->led_state = led_state_new; |
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if (led_state_new) { |
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ioctl(priv->gpio_fd, GPIO_SET, priv->pin); |
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|
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} else { |
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ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin); |
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} |
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} |
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priv->counter++; |
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if (priv->counter > 5) { |
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priv->counter = 0; |
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} |
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/* repeat cycle at 5 Hz */ |
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if (gpio_led_state == Running) { |
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work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, USEC2TICK(1000000/CYCLE_RATE_HZ)); |
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|
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} else { |
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/* switch off LED on stop */ |
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ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin); |
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orb_unsubscribe(priv->vehicle_status_sub); |
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orb_unsubscribe(priv->battery_status_sub); |
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close(priv->gpio_fd); |
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gpio_led_state = Stopped; |
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} |
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} |
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@ -1,119 +0,0 @@
@@ -1,119 +0,0 @@
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/****************************************************************************
|
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* px4/sensors/test_gpio.c |
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* |
||||
* 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 NuttX 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. |
||||
* |
||||
****************************************************************************/ |
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|
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/****************************************************************************
|
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* Included Files |
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****************************************************************************/ |
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|
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#include <px4_config.h> |
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#include <px4_posix.h> |
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|
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#include <sys/types.h> |
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|
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <unistd.h> |
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#include <fcntl.h> |
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#include <errno.h> |
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|
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|
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#include "tests_main.h" |
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|
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#include <drivers/drv_gpio.h> |
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|
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|
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/****************************************************************************
|
||||
* Pre-processor Definitions |
||||
****************************************************************************/ |
||||
|
||||
/****************************************************************************
|
||||
* Private Types |
||||
****************************************************************************/ |
||||
|
||||
/****************************************************************************
|
||||
* Private Function Prototypes |
||||
****************************************************************************/ |
||||
|
||||
/****************************************************************************
|
||||
* Private Data |
||||
****************************************************************************/ |
||||
|
||||
/****************************************************************************
|
||||
* Public Data |
||||
****************************************************************************/ |
||||
|
||||
/****************************************************************************
|
||||
* Private Functions |
||||
****************************************************************************/ |
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions |
||||
****************************************************************************/ |
||||
|
||||
/****************************************************************************
|
||||
* Name: test_gpio |
||||
****************************************************************************/ |
||||
|
||||
int test_gpio(int argc, char *argv[]) |
||||
{ |
||||
int ret = 0; |
||||
|
||||
#if defined(BOARD_USES_PX4IO) |
||||
|
||||
int fd = px4_open(PX4IO_DEVICE_PATH, 0); |
||||
|
||||
if (fd < 0) { |
||||
PX4_ERR("GPIO: open fail"); |
||||
return ERROR; |
||||
} |
||||
|
||||
/* set all GPIOs to default state */ |
||||
px4_ioctl(fd, GPIO_RESET, ~0); |
||||
|
||||
|
||||
/* XXX need to add some GPIO waving stuff here */ |
||||
|
||||
|
||||
/* Go back to default */ |
||||
px4_ioctl(fd, GPIO_RESET, ~0); |
||||
|
||||
px4_close(fd); |
||||
PX4_INFO("GPIO test successful."); |
||||
|
||||
#endif |
||||
|
||||
|
||||
return ret; |
||||
} |
||||
Loading…
Reference in new issue