Add simulated GPIO ("board") LEDs.

libraries/AP_HAL/board/chibios.h

@@ -4,6 +4,10 @@
 
 #define HAL_BOARD_NAME "ChibiOS"
 
+#ifdef HAL_HAVE_PIXRACER_LED
+#error "use AP_NOTIFY_GPIO_LED_RGB_ENABLED in place of HAL_HAVE_PIXRACER_LED (and rename your pins!)"
+#endif
+
 #if HAL_MEMORY_TOTAL_KB >= 1000
 #define HAL_MEM_CLASS HAL_MEM_CLASS_1000
 #elif HAL_MEMORY_TOTAL_KB >= 500

libraries/AP_HAL/board/sitl.h

@@ -39,10 +39,14 @@
 #define HAL_PARAM_DEFAULTS_PATH nullptr
 #define HAL_INS_DEFAULT HAL_INS_NONE
 #define HAL_BARO_DEFAULT HAL_BARO_NONE
-#define AP_NOTIFY_GPIO_LED_3_ENABLED 1
-#define HAL_GPIO_A_LED_PIN        61
-#define HAL_GPIO_B_LED_PIN        48
-#define HAL_GPIO_C_LED_PIN        117
+
+// simulated LEDs are disabled by default as they lead to a large
+// amount of SIM_GPIO_MASK mavlink traffic
+
+// #define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
+#define AP_NOTIFY_GPIO_LED_RGB_RED_PIN    8  // these are set in SIM_PIN_MASK
+#define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN  9
+#define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN  10
 
 #define HAL_HAVE_BOARD_VOLTAGE 1
 #define HAL_HAVE_SERVO_VOLTAGE 1

libraries/SITL/SIM_Aircraft.cpp

@@ -1093,6 +1093,16 @@ void Aircraft::update_external_payload(const struct sitl_input &input)
         dronecan->update();
     }
 #endif
+
+#if AP_SIM_GPIO_LED_2_ENABLED
+    sim_led2.update(*this);
+#endif
+#if AP_SIM_GPIO_LED_3_ENABLED
+    sim_led3.update(*this);
+#endif
+#if AP_SIM_GPIO_LED_RGB_ENABLED
+    sim_ledrgb.update(*this);
+#endif
 }
 
 void Aircraft::add_shove_forces(Vector3f &rot_accel, Vector3f &body_accel)

libraries/SITL/SIM_Aircraft.h

@@ -38,6 +38,9 @@
 #include <Filter/Filter.h>
 #include "SIM_JSON_Master.h"
 #include "ServoModel.h"
+#include "SIM_GPIO_LED_2.h"
+#include "SIM_GPIO_LED_3.h"
+#include "SIM_GPIO_LED_RGB.h"
 
 namespace SITL {
 
@@ -372,6 +375,18 @@ class Aircraft {
 #if AP_TEST_DRONECAN_DRIVERS
     DroneCANDevice *dronecan;
 #endif
+
+
+#if AP_SIM_GPIO_LED_2_ENABLED
+    GPIO_LED_2 sim_led2{13, 14};  // pins to match sitl.h
+#endif
+#if AP_SIM_GPIO_LED_3_ENABLED
+    GPIO_LED_3 sim_led3{13, 14, 15};  // pins to match sitl.h
+#endif
+#if AP_SIM_GPIO_LED_RGB_ENABLED
+    GPIO_LED_RGB sim_ledrgb{8, 9, 10};  // pins to match sitl.h
+#endif
+
 };
 
 } // namespace SITL

libraries/SITL/SIM_GPIO_LED_2.cpp

@@ -0,0 +1,32 @@
+#include "SIM_config.h"
+
+#if AP_SIM_GPIO_LED_2_ENABLED
+
+#include "SIM_GPIO_LED_2.h"
+
+#include <SITL/SITL.h>
+
+using namespace SITL;
+
+void GPIO_LED_2::init()
+{
+    leds.init();
+}
+
+void GPIO_LED_2::update(const class Aircraft &aircraft)
+{
+    if (!init_done) {
+        init();
+        init_done = true;
+    }
+
+    const uint16_t pin_mask = AP::sitl()->pin_mask.get();
+    const bool new_led_states[2] {
+        ((pin_mask & uint16_t((1U<<LED_A_PIN))) != 0),
+        ((pin_mask & uint16_t((1U<<LED_B_PIN))) != 0)
+    };
+
+    leds.set_state(new_led_states);
+}
+
+#endif

libraries/SITL/SIM_GPIO_LED_2.h

@@ -0,0 +1,49 @@
+/*
+
+  Simulator for GPIO-based "Board LEDs"
+
+  ./Tools/autotest/sim_vehicle.py -v ArduCopter --gdb --debug --rgbled
+
+  reboot
+
+ */
+
+
+#include "SIM_config.h"
+
+#if AP_SIM_GPIO_LED_2_ENABLED
+
+#include "SIM_LED_n.h"
+
+namespace SITL {
+
+class GPIO_LED_2
+{
+public:
+
+    GPIO_LED_2(uint8_t _LED_A_PIN, uint8_t _LED_B_PIN) :
+        LED_A_PIN{_LED_A_PIN},
+        LED_B_PIN{_LED_B_PIN}
+        { }
+
+    void update(const class Aircraft &aircraft);
+
+private:
+
+    void init();
+    bool init_done;
+
+    SIM_LED_n<2>::LEDColour colours[2] {
+        SIM_LED_n<2>::LEDColour::RED,
+        SIM_LED_n<2>::LEDColour::BLUE,
+    };
+
+    SIM_LED_n<2> leds{"GPIO_LED_2", colours};
+
+    uint8_t LED_A_PIN;
+    uint8_t LED_B_PIN;
+};
+
+} // namespace SITL
+
+#endif  // AP_SIM_GPIO_LED_2_ENABLED

libraries/SITL/SIM_GPIO_LED_3.cpp

@@ -0,0 +1,33 @@
+#include "SIM_config.h"
+
+#if AP_SIM_GPIO_LED_3_ENABLED
+
+#include "SIM_GPIO_LED_3.h"
+
+#include <SITL/SITL.h>
+
+using namespace SITL;
+
+void GPIO_LED_3::init()
+{
+    leds.init();
+}
+
+void GPIO_LED_3::update(const class Aircraft &aircraft)
+{
+    if (!init_done) {
+        init();
+        init_done = true;
+    }
+
+    const uint16_t pin_mask = AP::sitl()->pin_mask.get();
+    const bool new_led_states[3] {
+        ((pin_mask & uint16_t((1U<<LED_A_PIN))) != 0),
+        ((pin_mask & uint16_t((1U<<LED_B_PIN))) != 0),
+        ((pin_mask & uint16_t((1U<<LED_C_PIN))) != 0)
+    };
+
+    leds.set_state(new_led_states);
+}
+
+#endif

libraries/SITL/SIM_GPIO_LED_3.h

@@ -0,0 +1,52 @@
+/*
+
+  Simulator for GPIO-based "Board LEDs"
+
+  ./Tools/autotest/sim_vehicle.py -v ArduCopter --gdb --debug --rgbled
+
+  reboot
+
+ */
+
+
+#include "SIM_config.h"
+
+#if AP_SIM_GPIO_LED_3_ENABLED
+
+#include "SIM_LED_n.h"
+
+namespace SITL {
+
+class GPIO_LED_3
+{
+public:
+
+    GPIO_LED_3(uint8_t _LED_A_PIN, uint8_t _LED_B_PIN, uint8_t _LED_C_PIN) :
+        LED_A_PIN{_LED_A_PIN},
+        LED_B_PIN{_LED_B_PIN},
+        LED_C_PIN{_LED_C_PIN}
+        { }
+
+    void update(const class Aircraft &aircraft);
+
+private:
+
+    void init();
+    bool init_done;
+
+    SIM_LED_n<3>::LEDColour colours[3] {
+        SIM_LED_n<3>::LEDColour::RED,
+        SIM_LED_n<3>::LEDColour::BLUE,
+        SIM_LED_n<3>::LEDColour::YELLOW,
+    };
+
+    SIM_LED_n<3> leds{"GPIO_LED_3", colours};
+
+    uint8_t LED_A_PIN;
+    uint8_t LED_B_PIN;
+    uint8_t LED_C_PIN;
+};
+
+} // namespace SITL
+
+#endif  // AP_SIM_GPIO_LED_3_ENABLED

libraries/SITL/SIM_GPIO_LED_RGB.cpp

@@ -0,0 +1,38 @@
+#include "SIM_config.h"
+
+#if AP_SIM_GPIO_LED_RGB_ENABLED
+
+#include "SIM_GPIO_LED_RGB.h"
+
+#include <SITL/SITL.h>
+
+using namespace SITL;
+
+void GPIO_LED_RGB::init()
+{
+    leds.init();
+    rgbled.init();
+}
+
+void GPIO_LED_RGB::update(const class Aircraft &aircraft)
+{
+    if (!init_done) {
+        init();
+        init_done = true;
+    }
+
+    const uint16_t pin_mask = AP::sitl()->pin_mask.get();
+
+    const bool red = ((pin_mask & uint16_t((1U<<LED_RED_PIN))) != 0);
+    const bool green = ((pin_mask & uint16_t((1U<<LED_GREEN_PIN))) != 0);
+    const bool blue = ((pin_mask & uint16_t((1U<<LED_BLUE_PIN))) != 0);
+
+    const bool new_led_states[3] { red, green, blue };
+    leds.set_state(new_led_states);
+
+    // FIXME:  check why  we need  to  "!" here;  do we  need to  move
+    // ON_VALUE into here?
+    rgbled.set_colours((!red)*255, (!green)*255, (!blue)*255);
+}
+
+#endif

libraries/SITL/SIM_GPIO_LED_RGB.h

@@ -0,0 +1,54 @@
+/*
+
+  Simulator for GPIO-based "Board LEDs"
+
+  ./Tools/autotest/sim_vehicle.py -v ArduCopter --gdb --debug --rgbled
+
+  reboot
+
+ */
+
+
+#include "SIM_config.h"
+
+#if AP_SIM_GPIO_LED_RGB_ENABLED
+
+#include "SIM_LED_n.h"
+#include "SIM_RGBLED.h"
+
+namespace SITL {
+
+class GPIO_LED_RGB
+{
+public:
+
+    GPIO_LED_RGB(uint8_t _LED_RED_PIN, uint8_t _LED_GREEN_PIN, uint8_t _LED_BLUE_PIN) :
+        LED_RED_PIN{_LED_RED_PIN},
+        LED_GREEN_PIN{_LED_GREEN_PIN},
+        LED_BLUE_PIN{_LED_BLUE_PIN}
+        { }
+
+    void update(const class Aircraft &aircraft);
+
+private:
+
+    void init();
+    bool init_done;
+
+    SIM_LED_n<3>::LEDColour colours[3] {
+        SIM_LED_n<3>::LEDColour::RED,
+        SIM_LED_n<3>::LEDColour::GREEN,
+        SIM_LED_n<3>::LEDColour::BLUE,
+    };
+
+    SIM_LED_n<3> leds{"GPIO_LED_RGB", colours};
+    SIM_RGBLED rgbled{"GPIO_LED_RGB Mixed"};
+
+    uint8_t LED_RED_PIN;
+    uint8_t LED_GREEN_PIN;
+    uint8_t LED_BLUE_PIN;
+};
+
+} // namespace SITL
+
+#endif  // AP_SIM_GPIO_LED_RGB_ENABLED