From 718062ed6e7e6bb92e4be57b3b7bd7ac0c4a2579 Mon Sep 17 00:00:00 2001
From: lilvinz <lilvinz@nscit.com>
Date: Sun, 16 Sep 2012 18:19:27 +0200
Subject: [PATCH] pios_led: added support for active_high connected leds

---
 flight/PiOS/STM32F10x/pios_led.c | 20 ++++++++++++++++----
 flight/PiOS/STM32F4xx/pios_led.c | 20 ++++++++++++++++----
 flight/PiOS/inc/pios_led_priv.h  |  1 +
 3 files changed, 33 insertions(+), 8 deletions(-)

diff --git a/flight/PiOS/STM32F10x/pios_led.c b/flight/PiOS/STM32F10x/pios_led.c
index 30c6f1296..1714a9165 100644
--- a/flight/PiOS/STM32F10x/pios_led.c
+++ b/flight/PiOS/STM32F10x/pios_led.c
@@ -93,7 +93,10 @@ void PIOS_LED_On(uint32_t led_id)
 
 	const struct pios_led * led = &(led_cfg->leds[led_id]);
 
-	GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	if (led->active_high)
+		GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	else
+		GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
 }
 
 /**
@@ -111,7 +114,10 @@ void PIOS_LED_Off(uint32_t led_id)
 
 	const struct pios_led * led = &(led_cfg->leds[led_id]);
 
-	GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	if (led->active_high)
+		GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	else
+		GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
 }
 
 /**
@@ -130,9 +136,15 @@ void PIOS_LED_Toggle(uint32_t led_id)
 	const struct pios_led * led = &(led_cfg->leds[led_id]);
 
 	if (GPIO_ReadOutputDataBit(led->pin.gpio, led->pin.init.GPIO_Pin) == Bit_SET) {
-		PIOS_LED_On(led_id);
+		if (led->active_high)
+			PIOS_LED_Off(led_id);
+		else
+			PIOS_LED_On(led_id);
 	} else {
-		PIOS_LED_Off(led_id);
+		if (led->active_high)
+			PIOS_LED_On(led_id);
+		else
+			PIOS_LED_Off(led_id);
 	}
 }
 
diff --git a/flight/PiOS/STM32F4xx/pios_led.c b/flight/PiOS/STM32F4xx/pios_led.c
index c73d37198..5a8d25d33 100644
--- a/flight/PiOS/STM32F4xx/pios_led.c
+++ b/flight/PiOS/STM32F4xx/pios_led.c
@@ -77,7 +77,10 @@ void PIOS_LED_On(uint32_t led_id)
 	
 	const struct pios_led * led = &(led_cfg->leds[led_id]);
 	
-	GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	if (led->active_high)
+		GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	else
+		GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
 }
 
 /**
@@ -95,7 +98,10 @@ void PIOS_LED_Off(uint32_t led_id)
 	
 	const struct pios_led * led = &(led_cfg->leds[led_id]);
 	
-	GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	if (led->active_high)
+		GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	else
+		GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
 }
 
 /**
@@ -114,9 +120,15 @@ void PIOS_LED_Toggle(uint32_t led_id)
 	const struct pios_led * led = &(led_cfg->leds[led_id]);
 	
 	if (GPIO_ReadOutputDataBit(led->pin.gpio, led->pin.init.GPIO_Pin) == Bit_SET) {
-		PIOS_LED_On(led_id);
+		if (led->active_high)
+			PIOS_LED_Off(led_id);
+		else
+			PIOS_LED_On(led_id);
 	} else {
-		PIOS_LED_Off(led_id);
+		if (led->active_high)
+			PIOS_LED_On(led_id);
+		else
+			PIOS_LED_Off(led_id);
 	}
 }
 
diff --git a/flight/PiOS/inc/pios_led_priv.h b/flight/PiOS/inc/pios_led_priv.h
index 20f09eafc..36a1ee3f7 100644
--- a/flight/PiOS/inc/pios_led_priv.h
+++ b/flight/PiOS/inc/pios_led_priv.h
@@ -37,6 +37,7 @@
 struct pios_led {
 	struct stm32_gpio pin;
 	uint32_t remap;
+	bool active_high;
 };
 
 struct pios_led_cfg {