From 27119bb5b2b84cfde12c5569c3b17c63f5592e8d Mon Sep 17 00:00:00 2001
From: Piotr Esden-Tempski <piotr@esden.net>
Date: Tue, 30 Oct 2012 16:40:00 -0700
Subject: [PATCH] [led][driver] Added provisions for body LED.

---
 sw/airborne/arch/stm32/led_hw.h |  8 ++++++--
 sw/airborne/boards/lisa_m_1.0.h | 17 +++++++++++++++++
 sw/airborne/boards/lisa_m_2.0.h | 26 ++++++++++++++++++++++++++
 sw/airborne/led.h               |  5 +++++
 4 files changed, 54 insertions(+), 2 deletions(-)

diff --git a/sw/airborne/arch/stm32/led_hw.h b/sw/airborne/arch/stm32/led_hw.h
index 6d951e7353f..aaef9fd5f7d 100644
--- a/sw/airborne/arch/stm32/led_hw.h
+++ b/sw/airborne/arch/stm32/led_hw.h
@@ -42,11 +42,15 @@
 #define _LED_GPIO_CLK(i)  i
 #define _LED_GPIO(i)  i
 #define _LED_GPIO_PIN(i) i
+#define _LED_GPIO_ON(i) i
+#define _LED_GPIO_OFF(i) i
 #define _LED_AFIO_REMAP(i) i
 
 #define LED_GPIO_CLK(i) _LED_GPIO_CLK(LED_ ## i ## _GPIO_CLK)
 #define LED_GPIO(i) _LED_GPIO(LED_ ## i ## _GPIO)
 #define LED_GPIO_PIN(i) _LED_GPIO_PIN(LED_ ## i ## _GPIO_PIN)
+#define LED_GPIO_ON(i) _LED_GPIO_ON(LED_ ## i ## _GPIO_ON)
+#define LED_GPIO_OFF(i) _LED_GPIO_OFF(LED_ ## i ## _GPIO_OFF)
 #define LED_AFIO_REMAP(i) _LED_AFIO_REMAP(LED_ ## i ## _AFIO_REMAP)
 
 /* set pin as output */
@@ -60,8 +64,8 @@
     LED_AFIO_REMAP(i);                              \
   }
 
-#define LED_ON(i) { GPIO_BRR(LED_GPIO(i)) = LED_GPIO_PIN(i);}
-#define LED_OFF(i) { GPIO_BSRR(LED_GPIO(i)) = LED_GPIO_PIN(i);}
+#define LED_ON(i) { LED_GPIO_ON(i)(LED_GPIO(i)) = LED_GPIO_PIN(i);}
+#define LED_OFF(i) { LED_GPIO_OFF(i)(LED_GPIO(i)) = LED_GPIO_PIN(i);}
 #define LED_TOGGLE(i) {	GPIO_ODR(LED_GPIO(i)) ^= LED_GPIO_PIN(i);}
 
 #define LED_PERIODIC() {}
diff --git a/sw/airborne/boards/lisa_m_1.0.h b/sw/airborne/boards/lisa_m_1.0.h
index b48dc45b0ac..d7343eaf7f3 100644
--- a/sw/airborne/boards/lisa_m_1.0.h
+++ b/sw/airborne/boards/lisa_m_1.0.h
@@ -15,6 +15,8 @@
 #define LED_1_GPIO GPIOB
 #define LED_1_GPIO_CLK RCC_APB2ENR_IOPBEN | RCC_APB2ENR_AFIOEN
 #define LED_1_GPIO_PIN GPIO4
+#define LED_1_GPIO_ON GPIO_BSRR
+#define LED_1_GPIO_OFF GPIO_BSRR
 #define LED_1_AFIO_REMAP AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST
 
 /* blue */
@@ -24,6 +26,8 @@
 #define LED_2_GPIO GPIOC
 #define LED_2_GPIO_CLK RCC_APB2ENR_IOPCEN
 #define LED_2_GPIO_PIN GPIO5
+#define LED_2_GPIO_ON GPIO_BSRR
+#define LED_2_GPIO_OFF GPIO_BSRR
 #define LED_2_AFIO_REMAP ((void)0)
 
 /* blue */
@@ -33,6 +37,8 @@
 #define LED_3_GPIO GPIOC
 #define LED_3_GPIO_CLK RCC_APB2ENR_IOPCEN
 #define LED_3_GPIO_PIN GPIO2
+#define LED_3_GPIO_ON GPIO_BSRR
+#define LED_3_GPIO_OFF GPIO_BSRR
 #define LED_3_AFIO_REMAP ((void)0)
 
 // GPIO pins
@@ -42,6 +48,8 @@
 #define LED_4_GPIO GPIOC
 #define LED_4_GPIO_CLK RCC_APB2ENR_IOPCEN
 #define LED_4_GPIO_PIN GPIO12
+#define LED_4_GPIO_ON GPIO_BSRR
+#define LED_4_GPIO_OFF GPIO_BSRR
 #define LED_4_AFIO_REMAP ((void)0)
 
 #ifndef USE_LED_5
@@ -50,8 +58,17 @@
 #define LED_5_GPIO GPIOC
 #define LED_5_GPIO_CLK RCC_APB2ENR_IOPCEN
 #define LED_5_GPIO_PIN GPIO10
+#define LED_5_GPIO_ON GPIO_BSRR
+#define LED_5_GPIO_OFF GPIO_BSRR
 #define LED_5_AFIO_REMAP ((void)0)
 
+/* PB1, DRDY on EXT SPI connector*/
+#define LED_BODY_GPIO GPIOB
+#define LED_BODY_GPIO_CLK RCC_APB2ENR_IOPBEN
+#define LED_BODY_GPIO_PIN GPIO1
+#define LED_BODY_GPIO_ON GPIO_BSRR
+#define LED_BODY_GPIO_OFF GPIO_BRR
+#define LED_BODY_AFIO_REMAP ((void)0)
 
 /* configuration for aspirin - and more generaly IMUs */
 #define IMU_ACC_DRDY_RCC_GPIO         RCC_APB2ENR_IOPBEN
diff --git a/sw/airborne/boards/lisa_m_2.0.h b/sw/airborne/boards/lisa_m_2.0.h
index a43720622d8..3be29e948bd 100644
--- a/sw/airborne/boards/lisa_m_2.0.h
+++ b/sw/airborne/boards/lisa_m_2.0.h
@@ -18,6 +18,8 @@
 #define LED_1_GPIO GPIOA
 #define LED_1_GPIO_CLK RCC_APB2ENR_IOPAEN
 #define LED_1_GPIO_PIN GPIO8
+#define LED_1_GPIO_ON GPIO_BRR
+#define LED_1_GPIO_OFF GPIO_BSRR
 #define LED_1_AFIO_REMAP ((void)0)
 
 /* green, shared with JTAG_TRST */
@@ -27,6 +29,8 @@
 #define LED_2_GPIO GPIOB
 #define LED_2_GPIO_CLK RCC_APB2ENR_IOPBEN | RCC_APB2ENR_AFIOEN
 #define LED_2_GPIO_PIN GPIO4
+#define LED_2_GPIO_ON GPIO_BRR
+#define LED_2_GPIO_OFF GPIO_BSRR
 #define LED_2_AFIO_REMAP AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST
 
 /* green, shared with ADC12 (ADC_6 on connector ANALOG2) */
@@ -36,6 +40,8 @@
 #define LED_3_GPIO GPIOC
 #define LED_3_GPIO_CLK RCC_APB2ENR_IOPCEN
 #define LED_3_GPIO_PIN GPIO2
+#define LED_3_GPIO_ON GPIO_BRR
+#define LED_3_GPIO_OFF GPIO_BSRR
 #define LED_3_AFIO_REMAP ((void)0)
 
 /* red, shared with ADC15 (ADC_4 on connector ANALOG2) */
@@ -45,6 +51,8 @@
 #define LED_4_GPIO GPIOC
 #define LED_4_GPIO_CLK RCC_APB2ENR_IOPCEN
 #define LED_4_GPIO_PIN GPIO5
+#define LED_4_GPIO_ON GPIO_BRR
+#define LED_4_GPIO_OFF GPIO_BSRR
 #define LED_4_AFIO_REMAP ((void)0)
 
 /* green, on PC15 */
@@ -54,6 +62,8 @@
 #define LED_5_GPIO GPIOC
 #define LED_5_GPIO_CLK RCC_APB2ENR_IOPCEN
 #define LED_5_GPIO_PIN GPIO15
+#define LED_5_GPIO_ON GPIO_BRR
+#define LED_5_GPIO_OFF GPIO_BSRR
 #define LED_5_AFIO_REMAP ((void)0)
 
 /*
@@ -63,18 +73,24 @@
 #define LED_6_GPIO GPIOC
 #define LED_6_GPIO_CLK RCC_APB2ENR_IOPCEN
 #define LED_6_GPIO_PIN GPIO3
+#define LED_6_GPIO_ON GPIO_BRR
+#define LED_6_GPIO_OFF GPIO_BSRR
 #define LED_6_AFIO_REMAP ((void)0)
 
 /* PC0, ADC10 on ADC_2 */
 #define LED_7_GPIO GPIOC
 #define LED_7_GPIO_CLK RCC_APB2ENR_IOPCEN
 #define LED_7_GPIO_PIN GPIO0
+#define LED_7_GPIO_ON GPIO_BRR
+#define LED_7_GPIO_OFF GPIO_BSRR
 #define LED_7_AFIO_REMAP ((void)0)
 
 /* PC1, ADC11 on ADC_3 */
 #define LED_8_GPIO GPIOC
 #define LED_8_GPIO_CLK RCC_APB2ENR_IOPCEN
 #define LED_8_GPIO_PIN GPIO1
+#define LED_8_GPIO_ON GPIO_BRR
+#define LED_8_GPIO_OFF GPIO_BSRR
 #define LED_8_AFIO_REMAP ((void)0)
 
 
@@ -82,10 +98,20 @@
  * not actual LEDS, used as GPIOs
  */
 
+/* PB1, DRDY on EXT SPI connector*/
+#define LED_BODY_GPIO GPIOB
+#define LED_BODY_GPIO_CLK RCC_APB2ENR_IOPBEN
+#define LED_BODY_GPIO_PIN GPIO1
+#define LED_BODY_GPIO_ON GPIO_BSRR
+#define LED_BODY_GPIO_OFF GPIO_BRR
+#define LED_BODY_AFIO_REMAP ((void)0)
+
 /* PC12, on GPIO connector*/
 #define LED_12_GPIO GPIOC
 #define LED_12_GPIO_CLK RCC_APB2ENR_IOPCEN
 #define LED_12_GPIO_PIN GPIO12
+#define LED_1_GPIO_ON GPIO_BRR
+#define LED_1_GPIO_OFF GPIO_BSRR
 #define LED_12_AFIO_REMAP ((void)0)
 
 
diff --git a/sw/airborne/led.h b/sw/airborne/led.h
index ebbd77e50ab..6e6976c7693 100644
--- a/sw/airborne/led.h
+++ b/sw/airborne/led.h
@@ -76,6 +76,11 @@ static inline void led_init ( void ) {
   LED_OFF(8);
 #endif /* LED_8 */
 
+#ifdef LED_BODY_BANK
+  LED_INIT(BODY);
+  LED_OFF(BODY);
+#endif /* LED_BODY_BANK */
+
 #if USE_LED_12
   LED_INIT(12);
   LED_OFF(12);