New feature: digital output for controlling lighting

Makefile

@@ -620,6 +620,7 @@ COMMON_SRC = \
             flight/pid_autotune.c \
             flight/servos.c \
             io/beeper.c \
+            io/lights.c \
             io/pwmdriver_i2c.c \
             io/serial.c \
             io/serial_4way.c \

src/main/fc/fc_init.c

@@ -92,6 +92,7 @@
 
 #include "io/asyncfatfs/asyncfatfs.h"
 #include "io/beeper.h"
+#include "io/lights.h"
 #include "io/dashboard.h"
 #include "io/displayport_msp.h"
 #include "io/displayport_max7456.h"
@@ -374,6 +375,9 @@ void init(void)
 
     beeperInit(&beeperDevConfig);
 #endif
+#ifdef LIGHTS
+    lightsInit();
+#endif
 
 #ifdef USE_INVERTER
     initInverters();

src/main/fc/fc_msp_box.c

@@ -70,6 +70,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
     { BOXCAMERA1, "CAMERA CONTROL 1;", 39 },
     { BOXCAMERA2, "CAMERA CONTROL 2;", 40 },
     { BOXCAMERA3, "CAMERA CONTROL 3;", 41 },
+    { BOXLIGHTS, "LIGHTS;", 42 },
     { CHECKBOX_ITEM_COUNT, NULL, 0xFF }
 };
 
@@ -233,6 +234,9 @@ void initActiveBoxIds(void)
     activeBoxIds[activeBoxIdCount++] = BOXCAMERA2;
     activeBoxIds[activeBoxIdCount++] = BOXCAMERA3;
 #endif
+#ifdef LIGHTS
+    activeBoxIds[activeBoxIdCount++] = BOXLIGHTS;
+#endif
 }
 
 #define IS_ENABLED(mask) (mask == 0 ? 0 : 1)
@@ -279,6 +283,7 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAUTOTRIM)),    BOXAUTOTRIM);
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXKILLSWITCH)),  BOXKILLSWITCH);
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHOMERESET)),   BOXHOMERESET);
+    CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXLIGHTS)),      BOXLIGHTS);
 
     memset(mspBoxModeFlags, 0, sizeof(boxBitmask_t));
     for (uint32_t i = 0; i < activeBoxIdCount; i++) {

src/main/fc/fc_tasks.c

@@ -49,6 +49,7 @@
 #include "navigation/navigation.h"
 
 #include "io/beeper.h"
+#include "io/lights.h"
 #include "io/dashboard.h"
 #include "io/gps.h"
 #include "io/ledstrip.h"
@@ -314,6 +315,9 @@ void fcTasksInit(void)
     setTaskEnabled(TASK_SERIAL, true);
 #ifdef BEEPER
     setTaskEnabled(TASK_BEEPER, true);
+#endif
+#ifdef LIGHTS
+    setTaskEnabled(TASK_LIGHTS, true);
 #endif
     setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
     setTaskEnabled(TASK_RX, true);
@@ -445,6 +449,15 @@ cfTask_t cfTasks[TASK_COUNT] = {
     },
 #endif
 
+#ifdef LIGHTS
+    [TASK_LIGHTS] = {
+        .taskName = "LIGHTS",
+        .taskFunc = lightsUpdate,
+        .desiredPeriod = TASK_PERIOD_HZ(100),     // 100 Hz
+        .staticPriority = TASK_PRIORITY_MEDIUM,
+    },
+#endif
+
     [TASK_BATTERY] = {
         .taskName = "BATTERY",
         .taskFunc = taskUpdateBattery,

src/main/fc/rc_modes.c

@@ -41,7 +41,7 @@ static bool isUsingNAVModes = false;
 #endif
 
 boxBitmask_t rcModeActivationMask; // one bit per mode defined in boxId_e
-STATIC_ASSERT(CHECKBOX_ITEM_COUNT <= 32, too_many_box_modes);
+STATIC_ASSERT(CHECKBOX_ITEM_COUNT <= 33, too_many_box_modes);
 
 PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 0);
 PG_REGISTER(modeActivationOperatorConfig_t, modeActivationOperatorConfig, PG_MODE_ACTIVATION_OPERATOR_CONFIG, 0);

src/main/fc/rc_modes.h

@@ -56,6 +56,7 @@ typedef enum {
     BOXCAMERA1      = 29,
     BOXCAMERA2      = 30,
     BOXCAMERA3      = 31,
+    BOXLIGHTS       = 32,
     CHECKBOX_ITEM_COUNT
 } boxId_e;
 

src/main/io/lights.c

@@ -0,0 +1,84 @@
+#include "stdbool.h"
+#include "stdint.h"
+#include "stdlib.h"
+
+#include "platform.h"
+
+#include "common/utils.h"
+
+#include "drivers/time.h"
+#include "drivers/io.h"
+
+#include "rx/rx.h"
+
+#include "fc/config.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
+#include "fc/runtime_config.h"
+
+#include "config/feature.h"
+
+#include "io/lights.h"
+
+#ifdef LIGHTS
+
+static IO_t lightsIO = DEFIO_IO(NONE);
+static bool lights_on = false;
+
+#ifdef FAILSAFE_LIGHTS
+  static timeUs_t last_status_change = 0;
+#endif
+
+bool lightsSetStatus(bool status)
+{
+  if (status != lights_on) {
+    lights_on = status;
+    IOWrite(lightsIO, lights_on);
+    return(true);
+  } else
+    return(false);
+}
+
+/*
+ * Lights handler function to be called periodically in loop. Updates lights
+ * state via time schedule.
+ */
+void lightsUpdate(timeUs_t currentTimeUs)
+{
+  UNUSED(currentTimeUs);
+  if (lightsIO) {
+#ifdef FAILSAFE_LIGHTS
+    if (FLIGHT_MODE(FAILSAFE_MODE) && ARMING_FLAG(WAS_EVER_ARMED)) {
+      bool new_lights_status = lights_on;
+      if (lights_on) {
+	if (currentTimeUs - last_status_change > FAILSAFE_LIGHTS_ON_TIME * 1000)
+	  new_lights_status = false;
+      } else {
+	if (currentTimeUs - last_status_change > FAILSAFE_LIGHTS_OFF_TIME * 1000)
+	  new_lights_status = true;
+      }
+      if (new_lights_status != lights_on) {
+	lightsSetStatus(new_lights_status);
+	last_status_change = currentTimeUs;
+      }
+    } else {
+      if (lightsSetStatus(IS_RC_MODE_ACTIVE(BOXLIGHTS)))
+	last_status_change = currentTimeUs;
+    }
+#else
+    lightsSetStatus(IS_RC_MODE_ACTIVE(BOXLIGHTS));
+#endif /* FAILSAFE_LIGHTS */
+  }
+}
+
+void lightsInit()
+{
+  lightsIO = IOGetByTag(IO_TAG(LIGHTS));
+
+  if (lightsIO) {
+    IOInit(lightsIO, OWNER_LED, RESOURCE_OUTPUT, 0);
+    IOConfigGPIO(lightsIO, LIGHTS_OUTPUT_MODE);
+  }
+}
+
+#endif /* LIGHTS */

src/main/io/lights.h

@@ -0,0 +1,41 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "common/time.h"
+
+#ifdef LIGHTS
+
+//#define FAILSAFE_LIGHTS
+
+#ifndef LIGHTS_OUTPUT_MODE
+  #define LIGHTS_OUTPUT_MODE IOCFG_OUT_PP
+#endif
+
+#ifndef FAILSAFE_LIGHTS_ON_TIME
+  #define FAILSAFE_LIGHTS_ON_TIME 100 // ms
+#endif
+#ifndef FAILSAFE_LIGHTS_OFF_TIME
+  #define FAILSAFE_LIGHTS_OFF_TIME 900 // ms
+#endif
+
+
+void lightsUpdate(timeUs_t currentTimeUs);
+void lightsInit();
+
+#endif /* LIGHTS */

src/main/scheduler/scheduler.h

@@ -65,6 +65,9 @@ typedef enum {
 #ifdef BEEPER
     TASK_BEEPER,
 #endif
+#ifdef LIGHTS
+    TASK_LIGHTS,
+#endif
 #ifdef USE_GPS
     TASK_GPS,
 #endif