Add RGB LEDs to boot and app states

Signed-off-by: dirksavage88 <[email protected]>

boards/aa/cannode/default.px4board

@@ -7,6 +7,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525DO=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_LIGHTS_RGBLED=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y

boards/aa/cannode/src/CMakeLists.txt

@@ -36,8 +36,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
 	add_library(drivers_board
 		boot_config.h
 		boot.c
-		#led.c
-		#led.h
+		led.c
 	)
 	target_link_libraries(drivers_board
 		PRIVATE
@@ -53,8 +52,7 @@ else()
 		init.c
 		can.c
 		spi.cpp
-		#usb.c
-		#led.c
+		led.c
 	)
 
 	target_link_libraries(drivers_board

boards/aa/cannode/src/board_config.h

@@ -18,8 +18,8 @@
  *
  * 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
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTAGPIO_CNF_OUTOD BILITY 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
@@ -39,40 +39,50 @@
 
 #pragma once
 
-#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
+#include <px4_platform_common/px4_config.h>
 #include <stdint.h>
 
 /* Boot config */
-#define GPIO_BOOT_CONFIG      /* PB6 */ (GPIO_INPUT|GPIO_PORTB|GPIO_PIN6|GPIO_EXTI)
-
-//#define GPIO_CAN1_SILENT_S0  /* PB5  */ (GPIO_OUTPUT|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_BOOT_CONFIG /* PB6 */                                             \
+	(GPIO_INPUT | GPIO_PORTB | GPIO_PIN6 | GPIO_EXTI)
 
 /* LEDs */
-//#define GPIO_LED_BLUE         /* PA4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN4)
-
-//#define GPIO_BTN_SAFETY              (GPIO_INPUT|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_nLED_BLUE /* PA10  */                                             \
+	(GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_2MHz | GPIO_OUTPUT_SET |           \
+	 GPIO_PORTA | GPIO_PIN10 | GPIO_OUTPUT_CLEAR)
+#define GPIO_nLED_GREEN /* PA9  */                                             \
+	(GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_2MHz | GPIO_OUTPUT_SET |           \
+	 GPIO_PORTA | GPIO_PIN9 | GPIO_OUTPUT_CLEAR)
+#define GPIO_nLED_RED /* PA8  */                                               \
+	(GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_2MHz | GPIO_OUTPUT_SET |           \
+	 GPIO_PORTA | GPIO_PIN8 | GPIO_OUTPUT_CLEAR)
 
 #define FLASH_BASED_PARAMS
 #define CONFIG_I2C 1
 
-#define GPIO_USART2_RX_GPIO     (GPIO_INPUT|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN3)
-#define GPIO_USART2_TX_GPIO     (GPIO_OUTPUT|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_USART2_RX_GPIO                                                    \
+	(GPIO_INPUT | GPIO_SPEED_50MHz | GPIO_PORTA | GPIO_PIN3)
+#define GPIO_USART2_TX_GPIO                                                    \
+	(GPIO_OUTPUT | GPIO_SPEED_50MHz | GPIO_PORTA | GPIO_PIN2)
 
-//#define GPIO_USART3_RX_GPIO     (GPIO_INPUT|GPIO_SPEED_50MHz|GPIO_PORTB|GPIO_PIN11)
-//#define GPIO_USART3_TX_GPIO     (GPIO_OUTPUT|GPIO_SPEED_50MHz|GPIO_PORTB|GPIO_PIN10)
+// #define GPIO_USART3_RX_GPIO
+// (GPIO_INPUT|GPIO_SPEED_50MHz|GPIO_PORTB|GPIO_PIN11) #define
+// GPIO_USART3_TX_GPIO     (GPIO_OUTPUT|GPIO_SPEED_50MHz|GPIO_PORTB|GPIO_PIN10)
 
-#define GPIO_UART4_RX_GPIO     (GPIO_INPUT|GPIO_SPEED_50MHz|GPIO_PORTC|GPIO_PIN11)
-#define GPIO_UART4_TX_GPIO     (GPIO_OUTPUT|GPIO_SPEED_50MHz|GPIO_PORTC|GPIO_PIN10)
+#define GPIO_UART4_RX_GPIO                                                     \
+	(GPIO_INPUT | GPIO_SPEED_50MHz | GPIO_PORTC | GPIO_PIN11)
+#define GPIO_UART4_TX_GPIO                                                     \
+	(GPIO_OUTPUT | GPIO_SPEED_50MHz | GPIO_PORTC | GPIO_PIN10)
 
 /* High-resolution timer */
-#define HRT_TIMER                    3  /* use timer 3 for the HRT */
-#define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */
+#define HRT_TIMER 3         /* use timer 3 for the HRT */
+#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS 1
 
-#define PX4_GPIO_INIT_LIST { \
-		GPIO_CAN1_TX,                     \
-		GPIO_CAN1_RX,                     \
-	}
+#define PX4_GPIO_INIT_LIST                                                     \
+	{ GPIO_CAN1_TX, GPIO_CAN1_RX, }
 
 __BEGIN_DECLS
 

boards/aa/cannode/src/boot.c

@@ -38,24 +38,30 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <stdint.h>
-#include "boot_config.h"
 #include "board.h"
-#include "led.h"
+#include "boot_config.h"
+#include <arch/board/board.h>
 #include <debug.h>
+#include <px4_config.h>
+#include <stdint.h>
 #include <string.h>
-#include <arch/board/board.h>
 
 #include <nuttx/board.h>
+#include <sys/cdefs.h>
+
+__BEGIN_DECLS
+void led_init(void);
+extern void bootloader_led_on(int led);
+extern void bootloader_led_off(int led);
+__END_DECLS
 
 /************************************************************************************
  * Name: stm32_boardinitialize
  *
  * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
+ *   All STM32 architectures must provide the following entry point.  This entry
+ *point is called early in the initialization -- after all memory has been
+ *configured and mapped but before any devices have been initialized.
  *
  ************************************************************************************/
 
@@ -64,15 +70,16 @@ __EXPORT void stm32_boardinitialize(void)
 	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
 	stm32_configgpio(GPIO_CAN1_RX);
 	stm32_configgpio(GPIO_CAN1_TX);
-	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
-	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST,
+		 STM32_RCC_APB1RSTR);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST,
+		 STM32_RCC_APB1RSTR);
 
-//	led_init();
+	//	led_init();
 
 #if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
 	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
 #endif
-
 }
 
 /************************************************************************************
@@ -86,7 +93,8 @@ __EXPORT void stm32_boardinitialize(void)
 
 void board_deinitialize(void)
 {
-	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST,
+		 STM32_RCC_APB1RSTR);
 }
 
 /****************************************************************************
@@ -135,7 +143,7 @@ size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
 	hw_version->major = HW_VERSION_MAJOR;
 	hw_version->minor = HW_VERSION_MINOR;
 
-	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
+	return board_get_mfguid(*(mfguid_t *)hw_version->unique_id);
 }
 
 /****************************************************************************
@@ -152,24 +160,29 @@ size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
  *   None
  *
  ****************************************************************************/
-
 void board_indicate(uiindication_t indication)
 {
-	switch (indication) {
-	case off:
-		//led_off(GPIO_LED_BLUE);
-		break;
-
-	case reset:
-		//led_toggle(GPIO_LED_BLUE);
-		break;
-
-	case jump_to_app:
-		//led_on(GPIO_LED_BLUE);
-		break;
-
-	default:
-		break;
+	if (indication == off) {
+		bootloader_led_off(GPIO_nLED_RED);
+		bootloader_led_off(GPIO_nLED_BLUE);
+
+	} else if (indication == fw_update_start) {
+		bootloader_led_on(GPIO_nLED_RED);
+		bootloader_led_on(GPIO_nLED_BLUE);
+
+	} else if ((indication == fw_update_erase_fail) ||
+		   (indication == fw_update_invalid_response) ||
+		   (indication == fw_update_timeout) ||
+		   (indication == fw_update_invalid_crc)) {
+		bootloader_led_on(GPIO_nLED_RED);
+		bootloader_led_off(GPIO_nLED_BLUE);
+
+	} else if (indication == allocation_start) {
+		bootloader_led_on(GPIO_nLED_RED);
+		bootloader_led_off(GPIO_nLED_BLUE);
+
+	} else {
+		bootloader_led_off(GPIO_nLED_RED);
+		bootloader_led_on(GPIO_nLED_BLUE);
 	}
-
 }

boards/aa/cannode/src/init.c

@@ -44,40 +44,45 @@
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/tasks.h>
 
+#include <debug.h>
+#include <errno.h>
 #include <stdbool.h>
 #include <stdio.h>
 #include <string.h>
-#include <debug.h>
-#include <errno.h>
 
 #include <nuttx/board.h>
 
-#include <stm32.h>
 #include "board_config.h"
-#include "led.h"
+#include <stm32.h>
 #include <stm32_uart.h>
 
 #include <arch/board/board.h>
 
-#include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
+#include <drivers/drv_hrt.h>
 
 #include <systemlib/px4_macros.h>
 
-#include <px4_platform_common/init.h>
 #include <px4_platform/gpio.h>
+#include <px4_platform_common/init.h>
 
 #if defined(FLASH_BASED_PARAMS)
 #include <parameters/flashparams/flashfs.h>
 #endif
 
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
 /************************************************************************************
  * Name: stm32_boardinitialize
  *
  * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
+ *   All STM32 architectures must provide the following entry point.  This entry
+ *point is called early in the initialization -- after all memory has been
+ *configured and mapped but before any devices have been initialized.
  *
  ************************************************************************************/
 
@@ -142,8 +147,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #endif // FLASH_BASED_PARAMS
 
-	//drv_led_start();
-	//led_on(LED_BLUE);
+	drv_led_start();
+	led_off(LED_RED);
+	led_off(LED_BLUE);
+
+	/* No safety LED, however use SAFETY in place of GREEN */
+	led_on(LED_SAFETY);
 
 	/* Configure the HW based on the manifest */
 

boards/aa/cannode/src/led.c

@@ -41,9 +41,8 @@
 
 #include <stdbool.h>
 
-#include "stm32.h"
 #include "board_config.h"
-#include "led.h"
+#include "stm32.h"
 
 #include <arch/board/board.h>
 
@@ -54,42 +53,51 @@
  * separate switch, we need to build independent of the
  * CONFIG_ARCH_LEDS configuration switch.
  */
-static uint32_t g_ledmap[] = {
-	GPIO_LED_BLUE,
-};
+__BEGIN_DECLS
+extern void led_init(void);
+extern void bootloader_led_on(int led);
+extern void bootloader_led_off(int led);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+#define xlat(p) (p)
+static uint32_t g_ledmap[] = {GPIO_nLED_BLUE, GPIO_nLED_RED, GPIO_nLED_GREEN};
 
 __EXPORT void led_init(void)
 {
 	/* Configure LED GPIOs for output */
 	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
 		stm32_configgpio(g_ledmap[l]);
-		stm32_gpiowrite(g_ledmap[l], true);
 	}
 }
 
-static void phy_set_led(int led, bool state)
+__EXPORT void bootloader_led_on(int led)
 {
 	/* Pull Down to switch on */
-	stm32_gpiowrite(g_ledmap[led], !state);
+	stm32_gpiowrite(led, false);
 }
 
-static bool phy_get_led(int led)
+__EXPORT void bootloader_led_off(int led)
 {
-
-	return !stm32_gpioread(g_ledmap[led]);
+	/* Pull Up to switch on */
+	stm32_gpiowrite(led, true);
 }
 
-__EXPORT void led_on(int led)
+static void phy_set_led(int led, bool state)
 {
-	phy_set_led(led, true);
+	/* Pull Down to switch on */
+	stm32_gpiowrite(g_ledmap[led], !state);
 }
 
-__EXPORT void led_off(int led)
-{
-	phy_set_led(led, false);
-}
+static bool phy_get_led(int led) { return !stm32_gpioread(g_ledmap[led]); }
+
+__EXPORT void led_on(int led) { phy_set_led(xlat(led), true); }
+
+__EXPORT void led_off(int led) { phy_set_led(xlat(led), false); }
 
 __EXPORT void led_toggle(int led)
 {
-	phy_set_led(led, !phy_get_led(led));
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
 }