led.c 3.18 KB
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/**
 * @file led.c
 *
 * LED backend.
 */

#include <px4_platform_common/px4_config.h>

#include <stdbool.h>

#include "chip.h"
#include "stm32_gpio.h"
#include "board_config.h"

#include <nuttx/board.h>
#include <arch/board/board.h>

/*
 * Ideally we'd be able to get these from arm_internal.h,
 * but since we want to be able to disable the NuttX use
 * of leds for system indication at will and there is no
 * separate switch, we need to build independent of the
 * CONFIG_ARCH_LEDS configuration switch.
 */
__BEGIN_DECLS
extern void led_init(void);
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[] = {
	FMU_LED_AMBER,        // Indexed by LED_SAFETY (defaulted to an output)
};

__EXPORT void led_init(void)
{
	/* Configure LED GPIOs for output */
	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
		if (g_ledmap[l] != 0) {
			stm32_configgpio(g_ledmap[l]);
		}
	}
}

static void phy_set_led(int led, bool state)
{
	/* Drive Low to switch on */
	if (g_ledmap[led] != 0) {
		stm32_gpiowrite(g_ledmap[led], !state);
	}
}

static bool phy_get_led(int led)
{
	/* If Low it is on */
	if (g_ledmap[led] != 0) {
		return !stm32_gpioread(g_ledmap[led]);
	}

	return false;
}

__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(xlat(led), !phy_get_led(xlat(led)));
}