mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-04 13:15:08 +08:00
CF2 correct motor map and LEDs
This commit is contained in:
Dennis Shtatnov
committed by
Lorenz Meier
Lorenz Meier
parent
e91821d2a2
commit
b99b886576
@@ -75,9 +75,11 @@ __BEGIN_DECLS
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#define GPIO_LED_RED_R (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
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/* Blinking while charging */
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#define GPIO_LED_BLUE_L (GPIO_OUTPUT|GPIO_PORTD|GPIO_PIN2)
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/* PX4: armed state indicator ; Stock FW: Blinking while charging */
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#define GPIO_LED_BLUE_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN2)
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#define LED_TX 4
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#define LED_RX 5
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#define GPIO_FSYNC_MPU9250 (GPIO_OUTPUT|GPIO_PORTC|GPIO_PIN14) // Needs to be set low
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#define GPIO_DRDY_MPU9250 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
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@@ -94,6 +94,19 @@
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# endif
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#endif
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/*
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* Ideally we'd be able to get these from up_internal.h,
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* but since we want to be able to disable the NuttX use
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* of leds for system indication at will and there is no
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* separate switch, we need to build independent of the
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* CONFIG_ARCH_LEDS configuration switch.
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*/
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__BEGIN_DECLS
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extern void led_init(void);
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extern void led_on(int led);
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extern void led_off(int led);
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__END_DECLS
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/****************************************************************************
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* Protected Functions
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****************************************************************************/
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@@ -169,6 +182,14 @@ __EXPORT int nsh_archinitialize(void)
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(hrt_callout)stm32_serial_dma_poll,
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NULL);
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/* initial LED state */
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drv_led_start();
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led_off(LED_RED);
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led_off(LED_GREEN);
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led_off(LED_BLUE);
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led_off(LED_TX);
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led_off(LED_RX);
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result = board_i2c_initialize();
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@@ -37,7 +37,7 @@
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* Crazyflie LED backend.
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*/
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#include <nuttx/config.h>
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#include <px4_config.h>
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#include <stdbool.h>
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@@ -60,37 +60,42 @@ extern void led_off(int led);
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extern void led_toggle(int led);
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__END_DECLS
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static uint32_t g_ledmap[] = {
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GPIO_LED_BLUE_L, // Indexed by LED_BLUE
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GPIO_LED_RED_R, // Indexed by LED_RED, LED_AMBER
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0, // Indexed by LED_SAFETY
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GPIO_LED_GREEN_R, // Indexed by LED_GREEN
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GPIO_LED_RED_L, // Indexed by LED_TX
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GPIO_LED_GREEN_L // Indexed by LED_RX
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};
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__EXPORT void led_init()
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{
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/* Configure LED1 GPIO for output */
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stm32_configgpio(GPIO_LED_RED_L);
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for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
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px4_arch_configgpio(g_ledmap[l]);
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}
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}
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__EXPORT void led_on(int led)
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{
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if (led == 1) {
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/* Pull down to switch on */
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stm32_gpiowrite(GPIO_LED_RED_L, false);
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}
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/* Pull down to switch on */
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px4_arch_gpiowrite(g_ledmap[led], g_ledmap[led] & GPIO_OUTPUT_SET ? true : false);
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}
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__EXPORT void led_off(int led)
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{
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if (led == 1) {
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/* Pull up to switch off */
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stm32_gpiowrite(GPIO_LED_RED_L, true);
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}
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/* Pull up to switch off */
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px4_arch_gpiowrite(g_ledmap[led], g_ledmap[led] & GPIO_OUTPUT_SET ? false : true);
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}
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__EXPORT void led_toggle(int led)
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{
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if (led == 1) {
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if (stm32_gpioread(GPIO_LED_RED_L)) {
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stm32_gpiowrite(GPIO_LED_RED_L, false);
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if (px4_arch_gpioread(g_ledmap[led])) {
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px4_arch_gpiowrite(g_ledmap[led], false);
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} else {
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stm32_gpiowrite(GPIO_LED_RED_L, true);
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}
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} else {
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px4_arch_gpiowrite(g_ledmap[led], true);
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}
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}
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@@ -75,6 +75,7 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
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__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
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{
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// M1
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.gpio_out = GPIO_TIM2_CH2OUT,
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.gpio_in = GPIO_TIM2_CH2IN,
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.timer_index = 0,
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@@ -83,14 +84,7 @@ __EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
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.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
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},
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{
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.gpio_out = GPIO_TIM2_CH4OUT,
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.gpio_in = GPIO_TIM2_CH4IN,
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.timer_index = 0,
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.timer_channel = 4,
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.ccr_offset = STM32_GTIM_CCR4_OFFSET,
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.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
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},
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{
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// M3
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.gpio_out = GPIO_TIM2_CH1OUT,
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.gpio_in = GPIO_TIM2_CH1IN,
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.timer_index = 0,
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@@ -99,11 +93,21 @@ __EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
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.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
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},
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{
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// M4
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.gpio_out = GPIO_TIM4_CH4OUT,
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.gpio_in = GPIO_TIM4_CH4IN,
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.timer_index = 1,
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.timer_channel = 4,
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.ccr_offset = STM32_GTIM_CCR4_OFFSET,
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.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
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}
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},
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{
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// M2
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.gpio_out = GPIO_TIM2_CH4OUT,
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.gpio_in = GPIO_TIM2_CH4IN,
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.timer_index = 0,
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.timer_channel = 4,
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.ccr_offset = STM32_GTIM_CCR4_OFFSET,
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.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
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},
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};
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@@ -2982,7 +2982,7 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
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}
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}
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#if defined (CONFIG_ARCH_BOARD_PX4FMU_V1) || defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
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#if defined (CONFIG_ARCH_BOARD_PX4FMU_V1) || defined (CONFIG_ARCH_BOARD_PX4FMU_V4) || defined (CONFIG_ARCH_BOARD_CRAZYFLIE)
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/* this runs at around 20Hz, full cycle is 16 ticks = 10/16Hz */
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if (actuator_armed->armed) {
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