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107 lines
3.3 KiB
107 lines
3.3 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2019 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 px4fmu2_led.c |
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* |
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* PX4FMU LED backend. |
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*/ |
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#include <px4_platform_common/px4_config.h> |
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#include <stdbool.h> |
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#include "chip.h" |
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#include "stm32_gpio.h" |
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#include "board_config.h" |
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#include <nuttx/board.h> |
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#include <arch/board/board.h> |
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/* |
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* Ideally we'd be able to get these from up_internal.h, |
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* but since we want to be able to disable the NuttX use |
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* of leds for system indication at will and there is no |
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* separate switch, we need to build independent of the |
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* CONFIG_ARCH_LEDS configuration switch. |
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*/ |
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__BEGIN_DECLS |
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extern void led_init(void); |
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extern void led_on(int led); |
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extern void led_off(int led); |
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extern void led_toggle(int led); |
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__END_DECLS |
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# define xlat(p) (p) |
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static uint32_t g_ledmap[] = { |
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GPIO_nLED_BLUE, // Indexed by LED_BLUE |
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GPIO_nLED_RED, // Indexed by LED_RED, LED_AMBER |
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0, // Indexed by LED_SAFETY (defaulted to an input) |
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GPIO_nLED_GREEN, // Indexed by LED_GREEN |
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}; |
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__EXPORT void led_init(void) |
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{ |
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/* Configure LED GPIOs for output */ |
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for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) { |
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stm32_configgpio(g_ledmap[l]); |
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} |
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} |
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static void phy_set_led(int led, bool state) |
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{ |
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/* Drive Low to switch on */ |
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stm32_gpiowrite(g_ledmap[led], !state); |
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} |
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static bool phy_get_led(int led) |
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{ |
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/* If Low it is on */ |
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return !stm32_gpioread(g_ledmap[led]); |
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} |
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__EXPORT void led_on(int led) |
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{ |
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phy_set_led(xlat(led), true); |
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} |
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__EXPORT void led_off(int led) |
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{ |
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phy_set_led(xlat(led), false); |
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} |
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__EXPORT void led_toggle(int led) |
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{ |
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phy_set_led(xlat(led), !phy_get_led(xlat(led))); |
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}
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