Add LEDs to ARK Can Bootloader

boards/ark/can-flow/default.cmake

@@ -20,9 +20,12 @@ px4_add_board(
 		load_mon
 		#sensors
 	SYSTEMCMDS
+		mft
+		mtd
 		param
 		perf
 		reboot
+		system_time
 		top
 		topic_listener
 		ver

boards/ark/can-flow/src/CMakeLists.txt

@@ -51,12 +51,14 @@ else()
 		can.c
 		i2c.cpp
 		init.c
+		led.c
 		spi.cpp
 	)
 
 	target_link_libraries(drivers_board
 		PRIVATE
 			arch_spi
+			drivers__led # drv_led_start
 			nuttx_arch
 			nuttx_drivers
 			px4_layer

boards/ark/can-flow/src/board_config.h

@@ -53,8 +53,12 @@
 #define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
 
 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
-#define GPIO_LED_RED          /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
+#define GPIO_nLED_RED          /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
-#define GPIO_LED_BLUE         /* PA8  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
+#define GPIO_nLED_BLUE         /* PA8  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#define BOARD_OVERLOAD_LED     LED_RED
+#define BOARD_ARMED_STATE_LED  LED_BLUE
 
 #define FLASH_BASED_PARAMS
 

boards/ark/can-flow/src/boot.c

@@ -49,6 +49,12 @@
 
 #include <nuttx/board.h>
 
+__BEGIN_DECLS
+extern void led_init(void);
+extern void bootloader_led_on(int led);
+extern void bootloader_led_off(int led);
+__END_DECLS
+
 /************************************************************************************
  * Name: stm32_boardinitialize
  *
@@ -69,6 +75,8 @@ __EXPORT void stm32_boardinitialize(void)
 	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
 	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
 
+	led_init();
+
 #if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
 	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
 #endif
@@ -152,48 +160,27 @@ size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
  *   None
  *
  ****************************************************************************/
-// #define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
-
-// typedef begin_packed_struct struct led_t {
-// 	uint8_t red;
-// 	uint8_t green;
-// 	uint8_t blue;
-// 	uint8_t hz;
-// } end_packed_struct led_t;
-
-// static const  led_t i2l[] = {
-
-// 	led(0, off,                             0,     0,     0,     0),
-// 	led(1, reset,                          128,   128,   128,   30),
-// 	led(2, autobaud_start,                  0,   128,     0,     1),
-// 	led(3, autobaud_end,                    0,   128,     0,     2),
-// 	led(4, allocation_start,                0,     0,    64,     2),
-// 	led(5, allocation_end,                  0,   128,    64,     3),
-// 	led(6, fw_update_start,                32,   128,    64,     3),
-// 	led(7, fw_update_erase_fail,           32,   128,    32,     3),
-// 	led(8, fw_update_invalid_response,     64,     0,     0,     1),
-// 	led(9, fw_update_timeout,              64,     0,     0,     2),
-// 	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
-// 	led(b, jump_to_app,                     0,   128,     0,    10),
-
-// };
-
 void board_indicate(uiindication_t indication)
 {
-	// switch(indication) {
+	if (indication == off) {
-	// 	case off:
+		bootloader_led_off(GPIO_nLED_RED);
-	// 		led_off(GPIO_nLED_RED);
+		bootloader_led_off(GPIO_nLED_BLUE);
-	// 		led_off(GPIO_nLED_BLUE);
+
-	// 		break;
+	} else if (indication == fw_update_start) {
-	// 	case reset:
+		bootloader_led_on(GPIO_nLED_RED);
-	// 		led_on(GPIO_nLED_RED);
+		bootloader_led_on(GPIO_nLED_BLUE);
-	// 		led_on(GPIO_nLED_BLUE);
+
-	// 		break;
+	} else if ((indication == fw_update_erase_fail) || (indication == fw_update_invalid_response)
-	// 	case jump_to_app:
+		   || (indication == fw_update_timeout) || (indication == fw_update_invalid_crc)) {
-	// 		led_on(GPIO_nLED_RED);
+		bootloader_led_on(GPIO_nLED_RED);
-	// 		led_off(GPIO_nLED_BLUE);
+		bootloader_led_off(GPIO_nLED_BLUE);
-	// 		break;
+
-	// 	default:
+	} else if (indication == allocation_start) {
-	// 		break;
+		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/ark/can-flow/src/init.c

@@ -69,6 +69,12 @@
 #  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
  *
@@ -121,6 +127,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	px4_platform_init();
 
+	// Configure LEDs.
+	board_autoled_initialize();
+
 #if defined(FLASH_BASED_PARAMS)
 	static sector_descriptor_t params_sector_map[] = {
 		{2, 16 * 1024, 0x08008000},
@@ -138,7 +147,14 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #endif // FLASH_BASED_PARAMS
 
-	//px4_platform_configure();
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_on(LED_BLUE);
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
 
 	return OK;
 }

boards/ark/can-flow/src/led.c

@@ -55,14 +55,17 @@
  */
 __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_LED_RED,
+	GPIO_nLED_BLUE,
-	GPIO_LED_BLUE,
+	GPIO_nLED_RED,
 };
 
 __EXPORT void led_init(void)
@@ -70,10 +73,21 @@ __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);
 	}
 }
 
+__EXPORT void bootloader_led_on(int led)
+{
+	/* Pull Down to switch on */
+	stm32_gpiowrite(led, false);
+}
+
+__EXPORT void bootloader_led_off(int led)
+{
+	/* Pull Up to switch on */
+	stm32_gpiowrite(led, true);
+}
+
 static void phy_set_led(int led, bool state)
 {
 	/* Pull Down to switch on */
@@ -82,21 +96,20 @@ static void phy_set_led(int led, bool state)
 
 static bool phy_get_led(int led)
 {
-
 	return !stm32_gpioread(g_ledmap[led]);
 }
 
 __EXPORT void led_on(int led)
 {
-	phy_set_led(led, true);
+	phy_set_led(xlat(led), true);
 }
 
 __EXPORT void led_off(int led)
 {
-	phy_set_led(led, false);
+	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)));
 }