led.c
3.26 KB
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/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* 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
* 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
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file crazyflie_led.c
*
* Crazyflie LED backend.
*/
#include <px4_platform_common/px4_config.h>
#include <stdbool.h>
#include "stm32.h"
#include "board_config.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
static uint32_t g_ledmap[] = {
GPIO_LED_BLUE_L, // Indexed by LED_BLUE
GPIO_LED_RED_R, // Indexed by LED_RED, LED_AMBER
0, // Indexed by LED_SAFETY
GPIO_LED_GREEN_R, // Indexed by LED_GREEN
GPIO_LED_RED_L, // Indexed by LED_TX
GPIO_LED_GREEN_L // Indexed by LED_RX
};
__EXPORT void led_init()
{
/* Configure LED1 GPIO for output */
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
if (g_ledmap[l]) {
px4_arch_configgpio(g_ledmap[l]);
}
}
}
__EXPORT void led_on(int led)
{
/* Pull down to switch on */
px4_arch_gpiowrite(g_ledmap[led], g_ledmap[led] & GPIO_OUTPUT_SET ? true : false);
}
__EXPORT void led_off(int led)
{
/* Pull up to switch off */
px4_arch_gpiowrite(g_ledmap[led], g_ledmap[led] & GPIO_OUTPUT_SET ? false : true);
}
__EXPORT void led_toggle(int led)
{
if (px4_arch_gpioread(g_ledmap[led])) {
px4_arch_gpiowrite(g_ledmap[led], false);
} else {
px4_arch_gpiowrite(g_ledmap[led], true);
}
}