rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-20 10:54:14 +01:00
Code Issues Releases Activity

leds: use boot-time config for PiOS LED layer

Browse Source 
LEDs are now configured based on a board-specific initialization
in PIOS_BOARD_Init().

LEDs are now named:
  PIOS_LED_HEARTBEAT
  PIOS_LED_ALARM
This commit is contained in:
Stacey Sheldon 2012-01-22 18:22:59 -05:00
parent 64202ce092
commit 6bb4f0c61d
30 changed files with 548 additions and 237 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
flight/AHRS/ahrs.c
View File

@ -447,9 +447,9 @@ void print_ahrs_raw()
valid_data_buffer = PIOS_ADC_GetRawBuffer();
if (total_conversion_blocks != previous_conversion + 1)
PIOS_LED_On(LED1); // not keeping up
PIOS_LED_On(PIOS_LED_HEARTBEAT); // not keeping up
else
PIOS_LED_Off(LED1);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
previous_conversion = total_conversion_blocks;
@ -463,9 +463,9 @@ void print_ahrs_raw()
PIOS_ADC_NUM_PINS *
sizeof(valid_data_buffer[0]));
if (result == 0)
PIOS_LED_Off(LED1);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
else {
PIOS_LED_On(LED1);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
}
}
#endif
@ -490,7 +490,7 @@ void print_ahrs_raw()
// wait for new raw samples
while (previous_conversion == total_conversion_blocks);
if ((previous_conversion + 1) != total_conversion_blocks)
PIOS_LED_On(LED1); // we are not keeping up
PIOS_LED_On(PIOS_LED_HEARTBEAT); // we are not keeping up
previous_conversion = total_conversion_blocks;
// fetch the buffer address for the new samples
@ -534,9 +534,9 @@ void print_ahrs_raw()
result += PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, (uint8_t *)gyro_z, over_sampling * sizeof(gyro_z[0]));
if (result != 0)
PIOS_LED_On(LED1); // all data not sent
PIOS_LED_On(PIOS_LED_HEARTBEAT); // all data not sent
else
PIOS_LED_Off(LED1);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
}
#endif
@ -616,7 +616,7 @@ for all data to be up to date before doing anything*/
// Alive signal
if (((total_conversion_blocks % 100) & 0xFFFE) == 0)
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
// Delay for valid data

31
flight/AHRS/pios_board.c
View File

@ -25,6 +25,29 @@
#include <pios.h>
#if defined(PIOS_INCLUDE_LED)
#include <pios_led_priv.h>
static const struct pios_led pios_leds[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
};
static const struct pios_led_cfg pios_led_cfg = {
.leds = pios_leds,
.num_leds = NELEMENTS(pios_leds),
};
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>
@ -365,7 +388,13 @@ void PIOS_Board_Init(void) {
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
PIOS_LED_On(LED1);
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_On(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
/* Delay system */
PIOS_DELAY_Init();

4
flight/Bootloaders/AHRS/ahrs_slave_test.c
View File

@ -16,7 +16,7 @@ bool WriteData(uint32_t offset, uint8_t *buffer, uint32_t size) {
PIOS_COM_SendFormattedString(PIOS_COM_AUX, "Wrote %d bytes to %d\r\n",
size, offset);
memcpy(buf, buffer, size);
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
return (true);
}
@ -28,7 +28,7 @@ bool ReadData(uint32_t offset, uint8_t *buffer, uint32_t size) {
PIOS_COM_SendFormattedString(PIOS_COM_AUX, "Read %d bytes from %d\r\n",
size, offset);
memcpy(buffer, buf, size);
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
return (true);
}

24
flight/Bootloaders/AHRS/main.c
View File

@ -79,12 +79,7 @@ int main() {
break;
}
}
//while(TRUE)
// {
// PIOS_LED_Toggle(LED1);
// PIOS_DELAY_WaitmS(1000);
// }
//GO_dfu = TRUE;
PIOS_IAP_Init();
GO_dfu = GO_dfu | PIOS_IAP_CheckRequest();// OR with app boot request
if (GO_dfu == FALSE) {
@ -97,7 +92,7 @@ int main() {
PIOS_Board_Init();
boot_status = idle;
Fw_crc = PIOS_BL_HELPER_CRC_Memory_Calc();
PIOS_LED_On(LED1);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
while (1) {
process_spi_request();
}
@ -150,7 +145,7 @@ void process_spi_request(void) {
Fw_crc = PIOS_BL_HELPER_CRC_Memory_Calc();
lfsm_user_set_tx_v0(&user_tx_v0);
boot_status = idle;
PIOS_LED_Off(LED1);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
break;
case OPAHRS_MSG_V0_REQ_RESET:
@ -158,7 +153,6 @@ void process_spi_request(void) {
PIOS_SYS_Reset();
break;
case OPAHRS_MSG_V0_REQ_VERSIONS:
//PIOS_LED_On(LED1);
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_VERSIONS);
user_tx_v0.payload.user.v.rsp.versions.bl_version = BOOTLOADER_VERSION;
user_tx_v0.payload.user.v.rsp.versions.hw_version = (BOARD_TYPE << 8)
@ -191,7 +185,7 @@ void process_spi_request(void) {
lfsm_user_set_tx_v0(&user_tx_v0);
break;
case OPAHRS_MSG_V0_REQ_FWUP_DATA:
PIOS_LED_On(LED1);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
if (!(user_rx_v0.payload.user.v.req.fwup_data.adress
< bdinfo->fw_base)) {
@ -209,7 +203,7 @@ void process_spi_request(void) {
} else {
boot_status = outside_dev_capabilities;
}
PIOS_LED_Off(LED1);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
lfsm_user_set_tx_v0(&user_tx_v0);
break;
@ -227,10 +221,10 @@ void process_spi_request(void) {
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
lfsm_user_set_tx_v0(&user_tx_v0);
PIOS_LED_On(LED1);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
if (PIOS_BL_HELPER_FLASH_Start() == TRUE) {
boot_status = started;
PIOS_LED_Off(LED1);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
} else {
boot_status = start_failed;
break;
@ -254,15 +248,13 @@ void process_spi_request(void) {
void jump_to_app() {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
PIOS_LED_On(LED1);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
FLASH_Lock();
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
//_SetCNTR(0); // clear interrupt mask
//_SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
Jump_To_Application = (pFunction) JumpAddress;

27
flight/Bootloaders/AHRS/pios_board.c
View File

@ -25,6 +25,29 @@
#include <pios.h>
#if defined(PIOS_INCLUDE_LED)
#include <pios_led_priv.h>
static const struct pios_led pios_leds[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
};
static const struct pios_led_cfg pios_led_cfg = {
.leds = pios_leds,
.num_leds = NELEMENTS(pios_leds),
};
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>
@ -138,6 +161,10 @@ void PIOS_Board_Init() {
return;
}
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
/* Set up the SPI interface to the OP board */
if (PIOS_SPI_Init(&pios_spi_op_id, &pios_spi_op_cfg)) {
PIOS_DEBUG_Assert(0);

16
flight/Bootloaders/BootloaderUpdater/main.c
View File

@ -50,14 +50,14 @@ int main() {
PIOS_SYS_Init();
PIOS_Board_Init();
PIOS_LED_On(LED1);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
PIOS_DELAY_WaitmS(3000);
PIOS_LED_Off(LED1);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
/// Self overwrite check
uint32_t base_address = SCB->VTOR;
if ((0x08000000 + embedded_image_size) > base_address)
error(LED1);
error(PIOS_LED_HEARTBEAT);
///
FLASH_Unlock();
@ -82,7 +82,7 @@ int main() {
}
if (fail == true)
error(LED1);
error(PIOS_LED_HEARTBEAT);
///
@ -90,7 +90,7 @@ int main() {
/// Bootloader programing
for (uint32_t offset = 0; offset < embedded_image_size/sizeof(uint32_t); ++offset) {
bool result = false;
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
for (uint8_t retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
if (result == false) {
result = (FLASH_ProgramWord(0x08000000 + (offset * 4), embedded_image_start[offset])
@ -98,13 +98,13 @@ int main() {
}
}
if (result == false)
error(LED1);
error(PIOS_LED_HEARTBEAT);
}
///
for (uint8_t x = 0; x < 3; ++x) {
PIOS_LED_On(LED1);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
PIOS_DELAY_WaitmS(1000);
PIOS_LED_Off(LED1);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
PIOS_DELAY_WaitmS(1000);
}

19
flight/Bootloaders/CopterControl/main.c
View File

@ -69,7 +69,6 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
uint8_t processRX();
void jump_to_app();
#define BLUE LED1
int main() {
PIOS_SYS_Init();
if (BSL_HOLD_STATE == 0)
@ -112,7 +111,7 @@ int main() {
case DFUidle:
period1 = 5000;
sweep_steps1 = 100;
PIOS_LED_Off(BLUE);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
case uploading:
@ -124,12 +123,12 @@ int main() {
case downloading:
period1 = 2500;
sweep_steps1 = 50;
PIOS_LED_Off(BLUE);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
case BLidle:
period1 = 0;
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
default://error
@ -141,19 +140,19 @@ int main() {
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, stopwatch))
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
else
PIOS_LED_Off(BLUE);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
} else
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, stopwatch))
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
else
PIOS_LED_Off(BLUE);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
} else
PIOS_LED_Off(BLUE);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
if (stopwatch > 50 * 1000 * 1000)
stopwatch = 0;

29
flight/Bootloaders/CopterControl/pios_board.c
View File

@ -25,7 +25,28 @@
#include <pios.h>
// ***********************************************************************************
#if defined(PIOS_INCLUDE_LED)
#include <pios_led_priv.h>
static const struct pios_led pios_leds[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
};
static const struct pios_led_cfg pios_led_cfg = {
.leds = pios_leds,
.num_leds = NELEMENTS(pios_leds),
};
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_COM_MSG)
@ -33,8 +54,6 @@
#endif /* PIOS_INCLUDE_COM_MSG */
// ***********************************************************************************
#if defined(PIOS_INCLUDE_USB)
#include "pios_usb_priv.h"
@ -90,6 +109,10 @@ void PIOS_Board_Init(void) {
/* Initialize the PiOS library */
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();

20
flight/Bootloaders/OpenPilot/main.c
View File

@ -98,8 +98,6 @@ uint8_t processRX();
void jump_to_app();
uint32_t sspTimeSource();
#define BLUE LED1
#define RED LED2
#define LED_PWM_TIMER TIM6
int main() {
PIOS_SYS_Init();
@ -159,7 +157,7 @@ int main() {
case DFUidle:
period1 = 50;
sweep_steps1 = 100;
PIOS_LED_Off(RED);
PIOS_LED_Off(PIOS_LED_ALARM);
period2 = 0;
break;
case uploading:
@ -171,12 +169,12 @@ int main() {
case downloading:
period1 = 25;
sweep_steps1 = 50;
PIOS_LED_Off(RED);
PIOS_LED_Off(PIOS_LED_ALARM);
period2 = 0;
break;
case BLidle:
period1 = 0;
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
default://error
@ -188,19 +186,19 @@ int main() {
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, STOPWATCH_ValueGet(LED_PWM_TIMER)))
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
else
PIOS_LED_Off(BLUE);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
} else
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, STOPWATCH_ValueGet(LED_PWM_TIMER)))
PIOS_LED_On(RED);
PIOS_LED_On(PIOS_LED_ALARM);
else
PIOS_LED_Off(RED);
PIOS_LED_Off(PIOS_LED_ALARM);
} else
PIOS_LED_Off(RED);
PIOS_LED_Off(PIOS_LED_ALARM);
if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
STOPWATCH_Reset(LED_PWM_TIMER);

37
flight/Bootloaders/OpenPilot/pios_board.c
View File

@ -29,6 +29,39 @@
//#include <openpilot.h>
//#include <uavobjectsinit.h>
#if defined(PIOS_INCLUDE_LED)
#include <pios_led_priv.h>
static const struct pios_led pios_leds[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
[PIOS_LED_ALARM] = {
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
};
static const struct pios_led_cfg pios_led_cfg = {
.leds = pios_leds,
.num_leds = NELEMENTS(pios_leds),
};
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>
@ -273,6 +306,10 @@ void PIOS_Board_Init(void) {
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();

20
flight/Bootloaders/PipXtreme/main.c
View File

@ -69,8 +69,6 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
uint8_t processRX();
void jump_to_app();
#define BLUE LED1
#define RED LED4
int main() {
PIOS_SYS_Init();
if (BSL_HOLD_STATE == 0)
@ -113,7 +111,7 @@ int main() {
case DFUidle:
period1 = 5000;
sweep_steps1 = 100;
PIOS_LED_Off(RED);
PIOS_LED_Off(PIOS_LED_ALARM);
period2 = 0;
break;
case uploading:
@ -125,12 +123,12 @@ int main() {
case downloading:
period1 = 2500;
sweep_steps1 = 50;
PIOS_LED_Off(RED);
PIOS_LED_Off(PIOS_LED_ALARM);
period2 = 0;
break;
case BLidle:
period1 = 0;
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
default://error
@ -142,19 +140,19 @@ int main() {
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, stopwatch))
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
else
PIOS_LED_Off(BLUE);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
} else
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, stopwatch))
PIOS_LED_On(RED);
PIOS_LED_On(PIOS_LED_ALARM);
else
PIOS_LED_Off(RED);
PIOS_LED_Off(PIOS_LED_ALARM);
} else
PIOS_LED_Off(RED);
PIOS_LED_Off(PIOS_LED_ALARM);
if (stopwatch > 50 * 1000 * 1000)
stopwatch = 0;

55
flight/Bootloaders/PipXtreme/pios_board.c
View File

@ -25,7 +25,58 @@
#include <pios.h>
// ***********************************************************************************
#if defined(PIOS_INCLUDE_LED)
#include <pios_led_priv.h>
static const struct pios_led pios_leds[] = {
[PIOS_LED_USB] = {
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
[PIOS_LED_LINK] = {
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_5,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
[PIOS_LED_RX] = {
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
[PIOS_LED_TX] = {
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
};
static const struct pios_led_cfg pios_led_cfg = {
.leds = pios_leds,
.num_leds = NELEMENTS(pios_leds),
};
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_COM_MSG)
@ -33,8 +84,6 @@
#endif /* PIOS_INCLUDE_COM_MSG */
// ***********************************************************************************
#if defined(PIOS_INCLUDE_USB)
#include "pios_usb_priv.h"

11
flight/CopterControl/System/coptercontrol.c
View File

@ -72,7 +72,9 @@ int main()
#ifdef ERASE_FLASH
PIOS_Flash_W25X_EraseChip();
PIOS_LED_Off(LED1);
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
while (1) ;
#endif
@ -88,13 +90,14 @@ int main()
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some indication to user that something bad just happened */
PIOS_LED_Off(LED1);
while (1) {
PIOS_LED_Toggle(LED1);
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
PIOS_DELAY_WaitmS(100);
}
return 0;
return 0;
}
/**

37
flight/CopterControl/System/pios_board.c
View File

@ -34,6 +34,29 @@
#include <manualcontrolsettings.h>
#include <gcsreceiver.h>
#if defined(PIOS_INCLUDE_LED)
#include <pios_led_priv.h>
static const struct pios_led pios_leds[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
};
static const struct pios_led_cfg pios_led_cfg = {
.leds = pios_leds,
.num_leds = NELEMENTS(pios_leds),
};
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>
@ -1058,6 +1081,15 @@ void PIOS_Board_Init(void) {
EventDispatcherInitialize();
UAVObjInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
HwSettingsInitialize();
#ifndef ERASE_FLASH
@ -1080,11 +1112,6 @@ void PIOS_Board_Init(void) {
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
}
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
/* Initialize the task monitor library */
TaskMonitorInitialize();

16
flight/INS/ins.c
View File

@ -94,18 +94,18 @@ void blink(int led, int times)
void test_accel()
{
if(PIOS_BMA180_Test())
blink(LED1, 1);
blink(PIOS_LED_HEARTBEAT, 1);
else
blink(LED2, 1);
blink(PIOS_LED_ALARM, 1);
}
#if defined (PIOS_INCLUDE_HMC5883)
void test_mag()
{
if(PIOS_HMC5883_Test())
blink(LED1, 2);
blink(PIOS_LED_HEARTBEAT, 2);
else
blink(LED2, 2);
blink(PIOS_LED_ALARM, 2);
}
#endif
@ -113,9 +113,9 @@ void test_mag()
void test_pressure()
{
if(PIOS_BMP085_Test())
blink(LED1, 3);
blink(PIOS_LED_HEARTBEAT, 3);
else
blink(LED2, 3);
blink(PIOS_LED_ALARM, 3);
}
#endif
@ -123,9 +123,9 @@ void test_pressure()
void test_imu()
{
if(PIOS_IMU3000_Test())
blink(LED1, 4);
blink(PIOS_LED_HEARTBEAT, 4);
else
blink(LED2, 4);
blink(PIOS_LED_ALARM, 4);
}
#endif

37
flight/INS/pios_board.c
View File

@ -31,6 +31,39 @@
#include <pios.h>
#if defined(PIOS_INCLUDE_LED)
#include <pios_led_priv.h>
static const struct pios_led pios_leds[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
[PIOS_LED_ALARM] = {
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
};
static const struct pios_led_cfg pios_led_cfg = {
.leds = pios_leds,
.num_leds = NELEMENTS(pios_leds),
};
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>
@ -520,6 +553,10 @@ void PIOS_Board_Init(void) {
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
/* Delay system */
PIOS_DELAY_Init();

13
flight/Modules/FirmwareIAP/firmwareiap.c
View File

@ -230,11 +230,14 @@ static uint32_t get_time(void)
* Executed by event dispatcher callback to reset INS before resetting OP
*/
static void resetTask(UAVObjEvent * ev)
{
PIOS_LED_Toggle(LED1);
#if (PIOS_LED_NUM > 1)
PIOS_LED_Toggle(LED2);
#endif
{
#if defined (PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
#if defined (PIOS_LED_ALARM)
PIOS_LED_Toggle(PIOS_LED_ALARM);
#endif /* PIOS_LED_ALARM */
if((portTickType) (xTaskGetTickCount() - lastResetSysTime) > RESET_DELAY / portTICK_RATE_MS) {
lastResetSysTime = xTaskGetTickCount();

12
flight/Modules/System/systemmod.c
View File

@ -177,16 +177,18 @@ static void systemTask(void *parameters)
#endif
// Flash the heartbeat LED
PIOS_LED_Toggle(LED1);
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
// Turn on the error LED if an alarm is set
#if (PIOS_LED_NUM > 1)
#if defined (PIOS_LED_ALARM)
if (AlarmsHasWarnings()) {
PIOS_LED_On(LED2);
PIOS_LED_On(PIOS_LED_ALARM);
} else {
PIOS_LED_Off(LED2);
PIOS_LED_Off(PIOS_LED_ALARM);
}
#endif
#endif /* PIOS_LED_ALARM */
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);

13
flight/OpenPilot/System/openpilot.c
View File

@ -110,13 +110,12 @@ int main()
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some indication to user that something bad just happened */
PIOS_LED_Off(LED1); \
for(;;) { \
PIOS_LED_Toggle(LED1); \
PIOS_DELAY_WaitmS(100); \
};
return 0;
while (1) {
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
PIOS_DELAY_WaitmS(100);
}
}

47
flight/OpenPilot/System/pios_board.c
View File

@ -36,6 +36,39 @@
//#define I2C_DEBUG_PIN 0
//#define USART_GPS_DEBUG_PIN 1
#if defined(PIOS_INCLUDE_LED)
#include <pios_led_priv.h>
static const struct pios_led pios_leds[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
[PIOS_LED_ALARM] = {
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
};
static const struct pios_led_cfg pios_led_cfg = {
.leds = pios_leds,
.num_leds = NELEMENTS(pios_leds),
};
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>
@ -1128,6 +1161,15 @@ void PIOS_Board_Init(void) {
EventDispatcherInitialize();
UAVObjInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
HwSettingsInitialize();
PIOS_WDG_Init();
@ -1146,11 +1188,6 @@ void PIOS_Board_Init(void) {
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
}
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
/* Initialize the task monitor library */
TaskMonitorInitialize();

8
flight/PiOS/Boards/STM32103CB_AHRS.h
View File

@ -71,13 +71,7 @@ TIM8 | | | |
//------------------------
// PIOS_LED
//------------------------
#define PIOS_LED_LED1_GPIO_PORT GPIOA
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
#define PIOS_LED_NUM 1
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT }
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK }
#define PIOS_LED_HEARTBEAT 0
//-------------------------
// System Settings

8
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -83,13 +83,7 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
//------------------------
// PIOS_LED
//------------------------
#define PIOS_LED_LED1_GPIO_PORT GPIOA
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_6
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
#define PIOS_LED_NUM 1
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT }
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK }
#define PIOS_LED_HEARTBEAT 0
//-------------------------
// System Settings

49
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
View File

@ -80,42 +80,29 @@ TIM4 | STOPWATCH |
// *****************************************************************
// PIOS_LED
#define PIOS_LED_LED1_GPIO_PORT GPIOA // USB Activity LED
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
#define PIOS_LED_USB 0
#define PIOS_LED_LINK 1
#define PIOS_LED_RX 2
#define PIOS_LED_TX 3
#define PIOS_LED_LED2_GPIO_PORT GPIOB // LINK LED
#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_5
#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOB
#define PIOS_LED_HEARTBEAT PIOS_LED_USB
#define PIOS_LED_ALARM PIOS_LED_TX
#define PIOS_LED_LED3_GPIO_PORT GPIOB // RX LED
#define PIOS_LED_LED3_GPIO_PIN GPIO_Pin_6
#define PIOS_LED_LED3_GPIO_CLK RCC_APB2Periph_GPIOB
#define USB_LED_ON PIOS_LED_On(PIOS_LED_USB)
#define USB_LED_OFF PIOS_LED_Off(PIOS_LED_USB)
#define USB_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_USB)
#define PIOS_LED_LED4_GPIO_PORT GPIOB // TX LED
#define PIOS_LED_LED4_GPIO_PIN GPIO_Pin_7
#define PIOS_LED_LED4_GPIO_CLK RCC_APB2Periph_GPIOB
#define LINK_LED_ON PIOS_LED_On(PIOS_LED_LINK)
#define LINK_LED_OFF PIOS_LED_Off(PIOS_LED_LINK)
#define LINK_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_LINK)
#define PIOS_LED_NUM 4
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT, PIOS_LED_LED3_GPIO_PORT, PIOS_LED_LED4_GPIO_PORT }
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN, PIOS_LED_LED3_GPIO_PIN, PIOS_LED_LED4_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK, PIOS_LED_LED3_GPIO_CLK, PIOS_LED_LED4_GPIO_CLK }
#define RX_LED_ON PIOS_LED_On(PIOS_LED_RX)
#define RX_LED_OFF PIOS_LED_Off(PIOS_LED_RX)
#define RX_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_RX)
#define USB_LED_ON PIOS_LED_On(LED1)
#define USB_LED_OFF PIOS_LED_Off(LED1)
#define USB_LED_TOGGLE PIOS_LED_Toggle(LED1)
#define LINK_LED_ON PIOS_LED_On(LED2)
#define LINK_LED_OFF PIOS_LED_Off(LED2)
#define LINK_LED_TOGGLE PIOS_LED_Toggle(LED2)
#define RX_LED_ON PIOS_LED_On(LED3)
#define RX_LED_OFF PIOS_LED_Off(LED3)
#define RX_LED_TOGGLE PIOS_LED_Toggle(LED3)
#define TX_LED_ON PIOS_LED_On(LED4)
#define TX_LED_OFF PIOS_LED_Off(LED4)
#define TX_LED_TOGGLE PIOS_LED_Toggle(LED4)
#define TX_LED_ON PIOS_LED_On(PIOS_LED_TX)
#define TX_LED_OFF PIOS_LED_Off(PIOS_LED_TX)
#define TX_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_TX)
// *****************************************************************
// Timer interrupt

12
flight/PiOS/Boards/STM3210E_INS.h
View File

@ -76,16 +76,8 @@ TIM8 | | | |
//------------------------
// PIOS_LED
//------------------------
#define PIOS_LED_LED1_GPIO_PORT GPIOA
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
#define PIOS_LED_LED2_GPIO_PORT GPIOA
#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_2
#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOA
#define PIOS_LED_NUM 2
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
#define PIOS_LED_HEARTBEAT 0
#define PIOS_LED_ALARM 1
//------------------------
// PIOS_SPI

12
flight/PiOS/Boards/STM3210E_OP.h
View File

@ -91,16 +91,8 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
//------------------------
// PIOS_LED
//------------------------
#define PIOS_LED_LED1_GPIO_PORT GPIOC
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_12
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_LED_LED2_GPIO_PORT GPIOC
#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_13
#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_LED_NUM 2
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
#define PIOS_LED_HEARTBEAT 0
#define PIOS_LED_ALARM 1
//------------------------
// PIOS_SPI

4
flight/PiOS/Common/pios_flashfs_objlist.c
View File

@ -81,7 +81,9 @@ int32_t PIOS_FLASHFS_Init()
if(object_table_magic != OBJECT_TABLE_MAGIC) {
if(magic_fail_count++ > MAX_BADMAGIC) {
PIOS_FLASHFS_ClearObjectTableHeader();
PIOS_LED_Toggle(LED1);
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
magic_fail_count = 0;
magic_good = true;
} else {

98
flight/PiOS/STM32F10x/pios_led.c
View File

@ -33,57 +33,107 @@
#if defined(PIOS_INCLUDE_LED)
/* Private Function Prototypes */
#include <pios_led_priv.h>
/* Local Variables */
static GPIO_TypeDef *LED_GPIO_PORT[PIOS_LED_NUM] = PIOS_LED_PORTS;
static const uint32_t LED_GPIO_PIN[PIOS_LED_NUM] = PIOS_LED_PINS;
static const uint32_t LED_GPIO_CLK[PIOS_LED_NUM] = PIOS_LED_CLKS;
const static struct pios_led_cfg * led_cfg;
/**
* Initialises all the LED's
*/
void PIOS_LED_Init(void)
int32_t PIOS_LED_Init(const struct pios_led_cfg * cfg)
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
PIOS_Assert(cfg);
for (int LEDNum = 0; LEDNum < PIOS_LED_NUM; LEDNum++) {
RCC_APB2PeriphClockCmd(LED_GPIO_CLK[LEDNum], ENABLE);
GPIO_InitStructure.GPIO_Pin = LED_GPIO_PIN[LEDNum];
GPIO_Init(LED_GPIO_PORT[LEDNum], &GPIO_InitStructure);
/* Store away the config in a global used by API functions */
led_cfg = cfg;
/* LED's Off */
LED_GPIO_PORT[LEDNum]->BSRR = LED_GPIO_PIN[LEDNum];
for (uint8_t i = 0; i < cfg->num_leds; i++) {
const struct pios_led * led = &(cfg->leds[i]);
/* Enable the peripheral clock for the GPIO */
switch ((uint32_t)led->pin.gpio) {
case (uint32_t) GPIOA:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
break;
case (uint32_t) GPIOB:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
break;
case (uint32_t) GPIOC:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
break;
default:
PIOS_Assert(0);
break;
}
if (led->remap) {
GPIO_PinRemapConfig(led->remap, ENABLE);
}
GPIO_Init(led->pin.gpio, &led->pin.init);
PIOS_LED_Off(i);
}
return 0;
}
/**
* Turn on LED
* \param[in] LED LED Name (LED1, LED2)
* \param[in] LED LED id
*/
void PIOS_LED_On(LedTypeDef LED)
void PIOS_LED_On(uint32_t led_id)
{
LED_GPIO_PORT[LED]->BRR = LED_GPIO_PIN[LED];
PIOS_Assert(led_cfg);
if (led_id >= led_cfg->num_leds) {
/* LED index out of range */
return;
}
const struct pios_led * led = &(led_cfg->leds[led_id]);
GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
}
/**
* Turn off LED
* \param[in] LED LED Name (LED1, LED2)
* \param[in] LED LED id
*/
void PIOS_LED_Off(LedTypeDef LED)
void PIOS_LED_Off(uint32_t led_id)
{
LED_GPIO_PORT[LED]->BSRR = LED_GPIO_PIN[LED];
PIOS_Assert(led_cfg);
if (led_id >= led_cfg->num_leds) {
/* LED index out of range */
return;
}
const struct pios_led * led = &(led_cfg->leds[led_id]);
GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
}
/**
* Toggle LED on/off
* \param[in] LED LED Name (LED1, LED2)
* \param[in] LED LED id
*/
void PIOS_LED_Toggle(LedTypeDef LED)
void PIOS_LED_Toggle(uint32_t led_id)
{
LED_GPIO_PORT[LED]->ODR ^= LED_GPIO_PIN[LED];
PIOS_Assert(led_cfg);
if (led_id >= led_cfg->num_leds) {
/* LED index out of range */
return;
}
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);
} else {
PIOS_LED_Off(led_id);
}
}
#endif

36
flight/PiOS/STM32F10x/pios_sys.c
View File

@ -77,10 +77,6 @@ void PIOS_SYS_Init(void)
/* Initialise Basic NVIC */
NVIC_Configuration();
#if defined(PIOS_INCLUDE_LED)
/* Initialise LEDs */
PIOS_LED_Init();
#endif
}
/**
@ -105,16 +101,12 @@ int32_t PIOS_SYS_Reset(void)
PIOS_IRQ_Disable();
// turn off all board LEDs
#if (PIOS_LED_NUM == 1)
PIOS_LED_Off(LED1);
#elif (PIOS_LED_NUM == 2)
PIOS_LED_Off(LED1);
PIOS_LED_Off(LED2);
#endif
/* Reset STM32 */
//RCC_APB2PeriphResetCmd(0xfffffff8, ENABLE); /* MBHP_CORE_STM32: don't reset GPIOA/AF due to USB pins */
//RCC_APB1PeriphResetCmd(0xff7fffff, ENABLE); /* don't reset USB, so that the connection can survive! */
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
#if defined(PIOS_LED_ALARM)
PIOS_LED_Off(PIOS_LED_ALARM);
#endif /* PIOS_LED_ALARM */
RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
@ -210,13 +202,21 @@ void assert_failed(uint8_t * file, uint32_t line)
/* printf("Wrong parameters value: file %s on line %d\r\n", file, line); */
/* Setup the LEDs to Alternate */
PIOS_LED_On(LED1);
PIOS_LED_Off(LED2);
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_On(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
#if defined(PIOS_LED_ALARM)
PIOS_LED_Off(PIOS_LED_ALARM);
#endif /* PIOS_LED_ALARM */
/* Infinite loop */
while (1) {
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(LED2);
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
#if defined(PIOS_LED_ALARM)
PIOS_LED_Toggle(PIOS_LED_ALARM);
#endif /* PIOS_LED_ALARM */
for (int i = 0; i < 1000000; i++) ;
}
}

20
flight/PiOS/inc/pios_led.h
View File

@ -30,23 +30,9 @@
#ifndef PIOS_LED_H
#define PIOS_LED_H
/* Type Definitions */
#if (PIOS_LED_NUM == 1)
typedef enum { LED1 = 0 } LedTypeDef;
#elif (PIOS_LED_NUM == 2)
typedef enum { LED1 = 0, LED2 = 1 } LedTypeDef;
#elif (PIOS_LED_NUM == 3)
typedef enum { LED1 = 0, LED2 = 1, LED3 = 2 } LedTypeDef;
#elif (PIOS_LED_NUM == 4)
typedef enum { LED1 = 0, LED2 = 1, LED3 = 2, LED4 = 3 } LedTypeDef;
#else
#error PIOS_LED_NUM not defined
#endif
/* Public Functions */
extern void PIOS_LED_Init(void);
extern void PIOS_LED_On(LedTypeDef LED);
extern void PIOS_LED_Off(LedTypeDef LED);
extern void PIOS_LED_Toggle(LedTypeDef LED);
extern void PIOS_LED_On(uint32_t led_id);
extern void PIOS_LED_Off(uint32_t led_id);
extern void PIOS_LED_Toggle(uint32_t led_id);
#endif /* PIOS_LED_H */

54
flight/PiOS/inc/pios_led_priv.h Normal file
View File

@ -0,0 +1,54 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_LED LED Functions
* @brief PIOS interface for LEDs
* @{
*
* @file pios_led_priv.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief LED private definitions.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_LED_PRIV_H
#define PIOS_LED_PRIV_H
#include <pios.h>
#include <pios_stm32.h>
struct pios_led {
struct stm32_gpio pin;
uint32_t remap;
};
struct pios_led_cfg {
const struct pios_led * leds;
uint8_t num_leds;
};
extern int32_t PIOS_LED_Init(const struct pios_led_cfg * cfg);
#endif /* PIOS_LED_PRIV_H */
/**
* @}
* @}
*/