text: /****************************************************************************
   *
   *   Copyright (c) 2021 Technology Innovation Institute. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  /**
   * @file led.c
   *
   * Saluki LED backend.
   */
  
  #include <px4_platform_common/px4_config.h>
  
  #include <stdbool.h>
  
  #include "chip.h"
  #include "mpfs_gpio.h"
  #include "board_config.h"
  
  #include <nuttx/board.h>
  #include <arch/board/board.h>
  
  static uint32_t g_leds[] = {
  	GPIO_nLED_BLUE,
  	GPIO_nLED_RED,
  	GPIO_nSAFETY_SWITCH_LED_OUT,
  	GPIO_nLED_GREEN,
  };
  
  /* LED_ACTIVITY == 1, LED_BOOTLOADER == 2 */
  static bool g_led_state[3];
  
  __EXPORT void led_init(void)
  {
  	for (size_t l = 0; l < (sizeof(g_leds) / sizeof(g_leds[0])); l++) {
  		if (g_leds[l] != 0) {
  			g_led_state[l] = false;
  			mpfs_configgpio(g_leds[l]);
  		}
  	}
  }
  
  static void set_led(int led, bool state)
  {
  	if (g_leds[led] != 0) {
  		g_led_state[led] = state;
  		mpfs_gpiowrite(g_leds[led], state);
  	}
  }
  
  static bool get_led(int led)
  {
  	if (g_leds[led] != 0) {
  		return g_led_state[led];
  	}
  
  	return false;
  }
  
  __EXPORT void led_on(int led)
  {
  	set_led(led, true);
  }
  
  __EXPORT void led_off(int led)
  {
  	set_led(led, false);
  }
  
  __EXPORT void led_toggle(int led)
  {
  	set_led(led, !get_led(led));
  }
  