Disable all LEDs (#2025)

* [led] add LED_DISABLE option to disable all LED

This is done in most case by setting the GPIO as input with high
impedance.

* [led] remove some old led code for debug in i2c

it was still based on the ST library, not used anymore

sw/airborne/arch/chibios/led_hw.h

@@ -33,7 +33,7 @@
 /*
  * hal.h is needed for palXXX functions
  */
-#include "hal.h"
+#include <hal.h>
 #include "mcu_periph/gpio_def.h"
 #include BOARD_CONFIG
 
@@ -46,10 +46,11 @@
 #define LED_GPIO(i) _LED_GPIO(LED_ ## i ## _GPIO)
 #define LED_GPIO_PIN(i) _LED_GPIO_PIN(LED_ ## i ## _GPIO_PIN)
 
-#define LED_INIT(i) {}
+#define LED_INIT(i) palSetPadMode(LED_GPIO(i), LED_GPIO_PIN(i), PAL_MODE_OUTPUT_PUSHPULL)
 #define LED_ON(i) palClearPad(LED_GPIO(i), LED_GPIO_PIN(i))
 #define LED_OFF(i) palSetPad(LED_GPIO(i), LED_GPIO_PIN(i))
 #define LED_TOGGLE(i) palTogglePad(LED_GPIO(i), LED_GPIO_PIN(i))
+#define LED_DISABLE(i) palSetPadMode(LED_GPIO(i), LED_GPIO_PIN(i), PAL_MODE_INPUT)
 #define LED_PERIODIC() {}
 
 #endif /* LED_HW_H */

sw/airborne/arch/linux/led_hw.h

@@ -37,11 +37,13 @@ extern uint32_t led_hw_values;
 #define LED_ON(i) { led_hw_values |= (1<<i); }
 #define LED_OFF(i) { led_hw_values &= ~(1<<i); }
 #define LED_TOGGLE(i) { led_hw_values ^= (1<<i); }
+#define LED_DISABLE(i) LED_OFF(i)
 #else
 #define LED_INIT(i)   {}
 #define LED_ON(i)     {}
 #define LED_OFF(i)    {}
 #define LED_TOGGLE(i) {}
+#define LED_DISABLE(i) LED_OFF(i)
 #endif
 
 #define LED_PERIODIC() {}

sw/airborne/arch/lpc21/led_hw.h

@@ -34,4 +34,7 @@
         LED_OFF(i)        \
       }
 
+/* set pin as input */
+#define LED_DISABLE(i)  LED_DIR(i) &= ~(_BV(LED_PIN(i)))
+
 #endif /* LED_HW_H */

sw/airborne/arch/sim/led_hw.c

@@ -1,6 +1,7 @@
 #include "led_hw.h"
 
 value *leds_closure = 0;
+bool led_disable = false;
 
 value register_leds_cb(value cb_name)
 {

sw/airborne/arch/sim/led_hw.h

@@ -7,11 +7,13 @@
 #include <caml/callback.h>
 
 extern value *leds_closure;
+extern bool led_disable;
 
-#define LED_INIT(i) { }
-#define LED_ON(i) { if (leds_closure) callback2(*leds_closure, Val_int(i), Val_int(1)); }
-#define LED_OFF(i) { if (leds_closure) callback2(*leds_closure, Val_int(i), Val_int(0)); }
-#define LED_TOGGLE(i) { if (leds_closure) callback2(*leds_closure, Val_int(i), Val_int(2)); }
+#define LED_INIT(i) { led_disable = false; }
+#define LED_ON(i) { if (leds_closure && !led_disable) callback2(*leds_closure, Val_int(i), Val_int(1)); }
+#define LED_OFF(i) { if (leds_closure && !led_disable) callback2(*leds_closure, Val_int(i), Val_int(0)); }
+#define LED_TOGGLE(i) { if (leds_closure && !led_disable) callback2(*leds_closure, Val_int(i), Val_int(2)); }
+#define LED_DISABLE(i) { LED_OFF(i); led_disable = true; }
 
 #define LED_PERIODIC() {}
 

sw/airborne/arch/stm32/led_hw.h

@@ -55,6 +55,8 @@
 #define LED_OFF(i) LED_GPIO_OFF(i)(LED_GPIO(i), LED_GPIO_PIN(i))
 #define LED_TOGGLE(i) gpio_toggle(LED_GPIO(i), LED_GPIO_PIN(i))
 
+#define LED_DISABLE(i) gpio_setup_input(LED_GPIO(i), LED_GPIO_PIN(i))
+
 #define LED_PERIODIC() {}
 
 

sw/airborne/arch/stm32/mcu_periph/debug_led.h

@@ -1,175 +0,0 @@
-#warning "LED debug needs porting to libopencm3 (or removal)"
-
-static inline void LED1_ON(void)
-{
-  GPIO_WriteBit(GPIOB, GPIO_Pin_6 , Bit_SET);
-}
-
-static inline void LED1_OFF(void)
-{
-  GPIO_WriteBit(GPIOB, GPIO_Pin_6 , !Bit_SET);
-}
-
-static inline void LED2_ON(void)
-{
-  GPIO_WriteBit(GPIOB, GPIO_Pin_7 , Bit_SET);
-}
-
-static inline void LED2_OFF(void)
-{
-  GPIO_WriteBit(GPIOB, GPIO_Pin_7 , !Bit_SET);
-}
-
-static inline void LED_INIT(void)
-{
-  GPIO_InitTypeDef GPIO_InitStructure;
-  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
-  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7 | GPIO_Pin_6;
-  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
-  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
-  GPIO_Init(GPIOB, &GPIO_InitStructure);
-
-  LED1_OFF();
-  LED2_OFF();
-}
-
-
-static inline void LED_ERROR(uint8_t base, uint8_t nr)
-{
-  LED2_ON();
-  for (int i = 0; i < (base + nr); i++) {
-    LED1_ON();
-    LED1_OFF();
-  }
-  LED2_OFF();
-}
-
-static inline void LED_SHOW_ACTIVE_BITS(I2C_TypeDef *regs)
-{
-  uint16_t CR1 = regs->CR1;
-  uint16_t SR1 = regs->SR1;
-  uint16_t SR2 = regs->SR2;
-  // Note: reading SR1 and then SR2 will clear ADDR bits
-
-  LED1_ON();
-
-  // 1 Start
-  if (BIT_X_IS_SET_IN_REG(I2C_SR1_BIT_SB, SR1)) {
-    LED2_ON();
-  } else {
-    LED2_OFF();
-  }
-  LED2_OFF();
-
-  // 2 Addr
-  if (BIT_X_IS_SET_IN_REG(I2C_SR1_BIT_ADDR, SR1)) {
-    LED2_ON();
-  } else {
-    LED2_OFF();
-  }
-  LED2_OFF();
-
-  // 3 BTF
-  if (BIT_X_IS_SET_IN_REG(I2C_SR1_BIT_BTF, SR1)) {
-    LED2_ON();
-  } else {
-    LED2_OFF();
-  }
-  LED2_OFF();
-
-  // 4 ERROR
-  if ((SR1 & I2C_SR1_BITS_ERR) != 0x0000) {
-    LED2_ON();
-  } else {
-    LED2_OFF();
-  }
-  LED2_OFF();
-
-  // Anything?
-  if ((SR1 + SR2) != 0x0000) {
-    LED2_ON();
-  } else {
-    LED2_OFF();
-  }
-  LED2_OFF();
-
-  LED1_OFF();
-
-
-  LED1_ON();
-
-  // 1 Start
-  if (BIT_X_IS_SET_IN_REG(I2C_CR1_BIT_START, CR1)) {
-    LED2_ON();
-  } else {
-    LED2_OFF();
-  }
-  LED2_OFF();
-
-  // 2 Stop
-  if (BIT_X_IS_SET_IN_REG(I2C_CR1_BIT_STOP, CR1)) {
-    LED2_ON();
-  } else {
-    LED2_OFF();
-  }
-  LED2_OFF();
-
-  // 3 Busy
-  if (BIT_X_IS_SET_IN_REG(I2C_SR2_BIT_BUSY, SR2)) {
-    LED2_ON();
-  } else {
-    LED2_OFF();
-  }
-  LED2_OFF();
-
-  // 4 Tra
-  if (BIT_X_IS_SET_IN_REG(I2C_SR2_BIT_TRA, SR2)) {
-    LED2_ON();
-  } else {
-    LED2_OFF();
-  }
-  LED2_OFF();
-
-  // 5 Master
-  if (BIT_X_IS_SET_IN_REG(I2C_SR2_BIT_MSL, SR2)) {
-    LED2_ON();
-  } else {
-    LED2_OFF();
-  }
-  LED2_OFF();
-  LED1_OFF();
-
-  //#define I2C_DEBUG_LED_CONTROL
-#ifdef I2C_DEBUG_LED_CONTROL
-
-
-  LED1_ON();
-
-  // 1 Anything CR?
-  if ((CR1) != 0x0000) {
-    LED2_ON();
-  } else {
-    LED2_OFF();
-  }
-  LED2_OFF();
-
-  // 2 PE
-  if (BIT_X_IS_SET_IN_REG(I2C_CR1_BIT_PE, CR1)) {
-    LED2_ON();
-  } else {
-    LED2_OFF();
-  }
-  LED2_OFF();
-
-  // 3 SWRESET
-  if (BIT_X_IS_SET_IN_REG(I2C_CR1_BIT_SWRST, CR1)) {
-    LED2_ON();
-  } else {
-    LED2_OFF();
-  }
-  LED2_OFF();
-
-  LED1_OFF();
-#endif
-
-}

sw/airborne/arch/stm32/mcu_periph/i2c_arch.c

@@ -38,10 +38,6 @@
 #include "mcu_periph/gpio.h"
 
 
-#ifdef I2C_DEBUG_LED
-#include "i2c_debug_led.h"
-#endif // I2C_DEBUG_LED
-
 //////////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////////
 
@@ -172,13 +168,6 @@ static inline void PPRZ_I2C_SEND_STOP(uint32_t i2c)
 {
   // Man: p722:  Stop generation after the current byte transfer or after the current Start condition is sent.
   i2c_send_stop(i2c);
-
-#ifdef I2C_DEBUG_LED
-  LED2_ON();
-  LED1_ON();
-  LED1_OFF();
-  LED2_OFF();
-#endif
 }
 
 // (RE)START
@@ -191,19 +180,6 @@ static inline void PPRZ_I2C_SEND_START(struct i2c_periph *periph)
   periph->idx_buf = 0;
   periph->watchdog = 0;
 
-#ifdef I2C_DEBUG_LED
-  LED_SHOW_ACTIVE_BITS(regs);
-
-  LED2_ON();
-  LED1_ON();
-  LED1_OFF();
-  LED1_ON();
-  LED1_OFF();
-  LED1_ON();
-  LED1_OFF();
-  LED2_OFF();
-#endif
-
   // Enable Error IRQ, Event IRQ but disable Buffer IRQ
   i2c_enable_interrupt(i2c, I2C_CR2_ITERREN);
   i2c_enable_interrupt(i2c, I2C_CR2_ITEVTEN);
@@ -545,64 +521,36 @@ static inline enum STMI2CSubTransactionStatus stmi2c_readmany(uint32_t i2c, stru
 
 static inline void i2c_error(struct i2c_periph *periph)
 {
-#ifdef I2C_DEBUG_LED
-  uint8_t err_nr = 0;
-#endif
   periph->errors->er_irq_cnt++;
   if ((I2C_SR1((uint32_t)periph->reg_addr) & I2C_SR1_AF) != 0) { /* Acknowledge failure */
     periph->errors->ack_fail_cnt++;
     I2C_SR1((uint32_t)periph->reg_addr) &= ~I2C_SR1_AF;
-#ifdef I2C_DEBUG_LED
-    err_nr = 1;
-#endif
   }
   if ((I2C_SR1((uint32_t)periph->reg_addr) & I2C_SR1_BERR) != 0) {     /* Misplaced Start or Stop condition */
     periph->errors->miss_start_stop_cnt++;
     I2C_SR1((uint32_t)periph->reg_addr) &= ~I2C_SR1_BERR;
-#ifdef I2C_DEBUG_LED
-    err_nr = 2;
-#endif
   }
   if ((I2C_SR1((uint32_t)periph->reg_addr) & I2C_SR1_ARLO) != 0) {     /* Arbitration lost */
     periph->errors->arb_lost_cnt++;
     I2C_SR1((uint32_t)periph->reg_addr) &= ~I2C_SR1_ARLO;
-#ifdef I2C_DEBUG_LED
-    err_nr = 3;
-#endif
   }
   if ((I2C_SR1((uint32_t)periph->reg_addr) & I2C_SR1_OVR) != 0) {      /* Overrun/Underrun */
     periph->errors->over_under_cnt++;
     I2C_SR1((uint32_t)periph->reg_addr) &= ~I2C_SR1_OVR;
-#ifdef I2C_DEBUG_LED
-    err_nr = 4;
-#endif
   }
   if ((I2C_SR1((uint32_t)periph->reg_addr) & I2C_SR1_PECERR) != 0) {   /* PEC Error in reception */
     periph->errors->pec_recep_cnt++;
     I2C_SR1((uint32_t)periph->reg_addr) &= ~I2C_SR1_PECERR;
-#ifdef I2C_DEBUG_LED
-    err_nr = 5;
-#endif
   }
   if ((I2C_SR1((uint32_t)periph->reg_addr) & I2C_SR1_TIMEOUT) != 0) {  /* Timeout or Tlow error */
     periph->errors->timeout_tlow_cnt++;
     I2C_SR1((uint32_t)periph->reg_addr) &= ~I2C_SR1_TIMEOUT;
-#ifdef I2C_DEBUG_LED
-    err_nr = 6;
-#endif
   }
   if ((I2C_SR1((uint32_t)periph->reg_addr) & I2C_SR1_SMBALERT) != 0) { /* SMBus alert */
     periph->errors->smbus_alert_cnt++;
     I2C_SR1((uint32_t)periph->reg_addr) &= ~I2C_SR1_SMBALERT;
-#ifdef I2C_DEBUG_LED
-    err_nr = 7;
-#endif
   }
 
-#ifdef I2C_DEBUG_LED
-  LED_ERROR(20, err_nr);
-#endif
-
   return;
 }
 
@@ -714,12 +662,6 @@ static inline void i2c_irq(struct i2c_periph *periph)
 
   // Apparently we got an I2C interrupt: EVT BUF or ERR
 
-#ifdef I2C_DEBUG_LED
-  // Notify ISR is triggered
-  LED1_ON();
-  LED1_OFF();
-#endif
-
   // Save Some Direct Access to the I2C Registers ...
   uint32_t i2c = (uint32_t) periph->reg_addr;
 
@@ -728,16 +670,6 @@ static inline void i2c_irq(struct i2c_periph *periph)
   if (periph->trans_extract_idx == periph->trans_insert_idx) {
     // Nothing Left To Do
 
-#ifdef I2C_DEBUG_LED
-    LED2_ON();
-    LED1_ON();
-    LED2_OFF();
-    LED1_OFF();
-
-    // no transaction and also an error?
-    LED_SHOW_ACTIVE_BITS(regs);
-#endif
-
     // If we still get an interrupt but there are no more things to do
     // (which can happen if an event was sheduled just before a bus error occurs)
     // (or can happen if both error and event interrupts were called together [the 2nd will then get this error])
@@ -770,15 +702,6 @@ static inline void i2c_irq(struct i2c_periph *periph)
   // If there was an error:
   if ((I2C_SR1(i2c) & I2C_SR1_ERR_MASK) != 0x0000) {
 
-#ifdef I2C_DEBUG_LED
-    LED1_ON();
-    LED2_ON();
-    LED1_OFF();
-    LED2_OFF();
-
-    LED_SHOW_ACTIVE_BITS(regs);
-#endif
-
     // Notify everyone about the error ...
 
     // Set result in transaction
@@ -842,16 +765,6 @@ static inline void i2c_irq(struct i2c_periph *periph)
       trans->status = I2CTransFailed; // Notify Ready
       periph->errors->unexpected_event_cnt++;
 
-      // Error
-#ifdef I2C_DEBUG_LED
-      LED2_ON();
-      LED1_ON();
-      LED2_OFF();
-      LED1_OFF();
-
-      LED_SHOW_ACTIVE_BITS(regs);
-#endif
-
       // Clear Running Events
       stmi2c_clear_pending_interrupts(i2c);
     }
@@ -891,14 +804,6 @@ static inline void i2c_irq(struct i2c_periph *periph)
       if (periph->trans_extract_idx == periph->trans_insert_idx) {
 
         periph->watchdog = -1; // stop watchdog
-#ifdef I2C_DEBUG_LED
-        LED2_ON();
-        LED1_ON();
-        LED1_OFF();
-        LED1_ON();
-        LED1_OFF();
-        LED2_OFF();
-#endif
       }
       // if not, start next transaction
       else {
@@ -949,11 +854,6 @@ void i2c1_hw_init(void)
   /* zeros error counter */
   ZEROS_ERR_COUNTER(i2c1_errors);
 
-  // Extra
-#ifdef I2C_DEBUG_LED
-  LED_INIT();
-#else
-
   /* reset peripheral to default state ( sometimes not achieved on reset :(  ) */
   //rcc_periph_reset_pulse(RST_I2C1);
 
@@ -982,7 +882,6 @@ void i2c1_hw_init(void)
   i2c_enable_interrupt(I2C1, I2C_CR2_ITERREN);
 
   i2c_setbitrate(&i2c1, I2C1_CLOCK_SPEED);
-#endif
 }
 
 void i2c1_ev_isr(void)
@@ -1236,21 +1135,6 @@ void i2c_setbitrate(struct i2c_periph *periph, int bitrate)
 
     __enable_irq();
 
-#ifdef I2C_DEBUG_LED
-    __disable_irq(); // this code is in user space:
-
-    LED2_ON();
-    LED1_ON();
-    LED2_OFF();
-    LED1_OFF();
-    LED2_ON();
-    LED1_ON();
-    LED2_OFF();
-    LED1_OFF();
-
-    __enable_irq();
-#endif
-
   }
 }
 
@@ -1456,20 +1340,7 @@ bool i2c_submit(struct i2c_periph *periph, struct i2c_transaction *t)
   if (periph->status == I2CIdle) {
     //if (i2c_idle(periph))
     {
-#ifdef I2C_DEBUG_LED
-#if USE_I2C1
-      if (periph == &i2c1) {
-
-      } else
-#endif
-#endif
-      {
-#ifdef I2C_DEBUG_LED
-        LED2_ON();
-        LED2_OFF();
-#endif
-        PPRZ_I2C_SEND_START(periph);
-      }
+      PPRZ_I2C_SEND_START(periph);
     }
   }
   /* else it will be started by the interrupt handler when the previous transactions completes */
@@ -1485,14 +1356,6 @@ bool i2c_idle(struct i2c_periph *periph)
 
   uint32_t i2c = (uint32_t) periph->reg_addr;
 
-#ifdef I2C_DEBUG_LED
-#if USE_I2C1
-  if (periph == &i2c1) {
-    return true;
-  }
-#endif
-#endif
-
   // First we check if the software thinks it is ready
   if (periph->status == I2CIdle) {
     return !(BIT_X_IS_SET_IN_REG(I2C_SR2_BUSY, I2C_SR2(i2c)));
@@ -1500,3 +1363,4 @@ bool i2c_idle(struct i2c_periph *periph)
     return false;
   }
 }
+

sw/airborne/led.h

@@ -33,6 +33,9 @@
 
 #include "led_hw.h"
 
+/** Automatic initialization of actived LED
+ *  Set to OFF at startup
+ */
 static inline void led_init(void)
 {
 #if USE_LED_1
@@ -96,14 +99,70 @@ static inline void led_init(void)
 #endif /* LED_12 */
 }
 
+/** Automatic disabling of activated LED
+ *  Usually by setting control GPIO in high impedance input mode
+ */
+static inline void led_disable(void)
+{
+#if USE_LED_1
+  LED_DISABLE(1);
+#endif /* LED_1 */
+
+#if USE_LED_2
+  LED_DISABLE(2);
+#endif /* LED_2 */
+
+#if USE_LED_3
+  LED_DISABLE(3);
+#endif /* LED_3 */
+
+#if USE_LED_4
+  LED_DISABLE(4);
+#endif /* LED_4 */
+
+#if USE_LED_5
+  LED_DISABLE(5);
+#endif /* LED_5 */
+
+#if USE_LED_6
+  LED_DISABLE(6);
+#endif /* LED_6 */
+
+#if USE_LED_7
+  LED_DISABLE(7);
+#endif /* LED_7 */
+
+#if USE_LED_8
+  LED_DISABLE(8);
+#endif /* LED_8 */
+
+#if USE_LED_9
+  LED_DISABLE(9);
+#endif /* LED_9 */
+
+#if USE_LED_10
+  LED_DISABLE(10);
+#endif /* LED_10 */
+
+#ifdef USE_LED_BODY
+  LED_DISABLE(BODY);
+#endif /* LED_BODY */
+
+#if USE_LED_12
+  LED_DISABLE(12);
+#endif /* LED_12 */
+}
+
 #define _LED_AVAILABLE(i) USE_LED_ ## i
 #define LED_AVAILABLE(i) _LED_AVAILABLE(i)
 
 #else /* USE_LED */
 static inline void led_init(void) {}
+static inline void led_disable(void) {}
 #define LED_ON(i) {}
 #define LED_OFF(i) {}
 #define LED_TOGGLE(i) {}
+#define LED_DISABLE(i) {}
 #define LED_PERIODIC() {}
 #define LED_AVAILABLE(i) 0
 #endif /* USE_LED */