Navio2: add support for GPIO and RGBLED

cmake/configs/posix_rpi_common.cmake

@@ -75,6 +75,8 @@ set(config_module_list
 	drivers/gps
 	drivers/navio_sysfs_rc_in
 	drivers/navio_sysfs_pwm_out
+	drivers/navio_gpio
+	drivers/navio_rgbled
 
 	#
 	# Libraries

src/drivers/navio_gpio/CMakeLists.txt

+############################################################################
+#
+#   Copyright (c) 2016 PX4 Development Team. 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.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__navio_gpio
+	MAIN navio_gpio
+	STACK_MAIN 1200
+	COMPILE_FLAGS -Os
+	SRCS
+		navio_gpio.cpp
+	DEPENDS
+		platforms__common
+	)
+
+#add_subdirectory(test)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/navio_gpio/navio_gpio.cpp

+#include <px4_posix.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <sys/mman.h>
+
+#include "navio_gpio.h"
+
+namespace navio_gpio
+{
+extern "C" __EXPORT int navio_gpio_main(int argc, char *argv[]);
+
+int Gpio::start(void)
+{
+	int mem_fd;
+
+	if ((mem_fd = open("/dev/gpiomem", O_RDWR | O_SYNC)) < 0) {
+		PX4_WARN("failed to open gpiomem");
+		return -1;
+	}
+
+	if ((_gpio_map = mmap(NULL,
+			      GPIO_BLOCK_SIZE,
+			      PROT_READ | PROT_WRITE,
+			      MAP_SHARED,
+			      mem_fd,
+			      GPIO_PHYS_ADDR)) == MAP_FAILED) {
+		PX4_WARN("failed to mmap GPIO region");
+		close(mem_fd);
+		return -1;
+	}
+
+	close(mem_fd);
+
+	return 0;
+}
+
+int Gpio::stop(void)
+{
+	if (munmap(_gpio_map, GPIO_BLOCK_SIZE) < 0) {
+		return -1;
+	}
+
+	return 0;
+}
+
+void Gpio::atomic_modify(uint32_t addr,
+			 unsigned int shift,
+			 unsigned int mask,
+			 unsigned int value)
+{
+	uint32_t tmp;
+
+	m_lock.lock();
+
+	tmp = *(volatile uint32_t *)addr;
+	tmp = (tmp & ~(mask << shift)) | (value << shift);
+	*(volatile uint32_t *)addr = tmp;
+
+	m_lock.unlock();
+}
+
+
+int Gpio::configgpio(uint32_t pinset)
+{
+	unsigned int pin;
+	unsigned int cnf;
+
+	uint32_t addr;
+	unsigned int shift;
+
+	pin = (pinset & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT;
+	cnf = (pinset & GPIO_CNF_MASK) >> GPIO_CNF_SHIFT;
+
+	addr = (uint32_t)_gpio_map + GPIO_GPFSEL0_OFFSET + pin / 10;
+	shift = (pin % 10) * 3;
+
+	atomic_modify(addr, shift, GPIO_CNF_MASK, cnf);
+
+	return 0;
+}
+
+
+int Gpio::unconfiggpio(uint32_t pinset)
+{
+	return Gpio::configgpio(pinset);
+}
+
+
+bool Gpio::gpioread(uint32_t pinset)
+{
+	unsigned int pin;
+
+	uint32_t addr;
+	unsigned int shift;
+
+	pin = (pinset & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT;
+
+	addr = (uint32_t)_gpio_map + GPIO_GPLEV0_OFFSET + pin / 32;
+	shift = pin % 32;
+
+	return (*(volatile uint32_t *)addr >> shift) & 0x1u;
+}
+
+
+void Gpio::gpiowrite(uint32_t pinset, bool value)
+{
+	unsigned int pin;
+
+	uint32_t addr;
+	unsigned int shift;
+
+	pin = (pinset & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT;
+
+	if (value == 0) {
+		addr = (uint32_t)_gpio_map + GPIO_GPSET0_OFFSET + pin / 32;
+
+	} else {
+		addr = (uint32_t)_gpio_map + GPIO_GPCLR0_OFFSET + pin / 32;
+	}
+
+	shift = pin % 32;
+
+	*(volatile uint32_t *)addr = 0x1u << shift;
+}
+
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+	if (reason) {
+		PX4_ERR("%s", reason);
+	}
+
+	PX4_INFO("usage: navio_gpio {start|stop|status}");
+}
+static Gpio *gpio = nullptr;
+
+int navio_gpio_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		usage("missing command");
+		return 1;
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (gpio != nullptr && gpio->isMapped()) {
+			PX4_WARN("already mapped");
+			/* this is not an error */
+			return 0;
+		}
+
+		gpio = new Gpio();
+
+		if (gpio == nullptr) {
+			PX4_ERR("alloc failed");
+			return -1;
+		}
+
+		int ret = gpio->start();
+
+		if (ret != 0) {
+			PX4_ERR("start failed");
+		}
+
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+
+		if (gpio == nullptr || gpio->isMapped()) {
+			PX4_WARN("not mapped");
+			/* this is not an error */
+			return 0;
+		}
+
+		gpio->stop();
+
+		delete gpio;
+		gpio = nullptr;
+
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (gpio != nullptr && gpio->isMapped()) {
+			PX4_INFO("mapped");
+
+		} else {
+			PX4_INFO("not mapped\n");
+		}
+
+		return 0;
+	}
+
+	usage("unrecognized command");
+	return 1;
+
+}
+
+} // navio_gpio

src/drivers/navio_gpio/navio_gpio.h

+#include "SyncObj.hpp"
+#include <stdint.h>
+
+#define GPIO_BLOCK_SIZE (4096)
+#define GPIO_PHYS_ADDR  (0x3F200000)
+#define GPIO_GPFSEL0_OFFSET    (0x0)
+#define GPIO_GPLEV0_OFFSET     (0x34)
+#define GPIO_GPSET0_OFFSET     (0x1C)
+#define GPIO_GPCLR0_OFFSET     (0x28)
+
+
+#define GPIO_CNF_SHIFT  6
+#define GPIO_CNF_MASK   (3 << GPIO_CNF_SHIFT)
+#define GPIO_CNF_INPUT  (0 << GPIO_CNF_SHIFT)
+#define GPIO_CNF_OUTPUT (1 << GPIO_CNF_SHIFT)
+#define GPIO_CNF_AF0    (4 << GPIO_CNF_SHIFT)
+#define GPIO_CNF_AF1    (5 << GPIO_CNF_SHIFT)
+#define GPIO_CNF_AF2    (7 << GPIO_CNF_SHIFT)
+#define GPIO_CNF_AF3    (7 << GPIO_CNF_SHIFT)
+#define GPIO_CNF_AF4    (3 << GPIO_CNF_SHIFT)
+#define GPIO_CNF_AF5    (2 << GPIO_CNF_SHIFT)
+
+#define GPIO_PIN_SHIFT  0
+#define GPIO_PIN_MASK   (63 << GPIO_PIN_SHIFT)
+#define GPIO_PIN0       (0 << GPIO_PIN_SHIFT)
+#define GPIO_PIN1       (1 << GPIO_PIN_SHIFT)
+#define GPIO_PIN2       (2 << GPIO_PIN_SHIFT)
+#define GPIO_PIN3       (3 << GPIO_PIN_SHIFT)
+#define GPIO_PIN4       (4 << GPIO_PIN_SHIFT)
+#define GPIO_PIN5       (5 << GPIO_PIN_SHIFT)
+#define GPIO_PIN6       (6 << GPIO_PIN_SHIFT)
+#define GPIO_PIN7       (7 << GPIO_PIN_SHIFT)
+#define GPIO_PIN8       (8 << GPIO_PIN_SHIFT)
+#define GPIO_PIN9       (9 << GPIO_PIN_SHIFT)
+#define GPIO_PIN10      (10 << GPIO_PIN_SHIFT)
+#define GPIO_PIN11      (11 << GPIO_PIN_SHIFT)
+#define GPIO_PIN12      (12 << GPIO_PIN_SHIFT)
+#define GPIO_PIN13      (13 << GPIO_PIN_SHIFT)
+#define GPIO_PIN14      (14 << GPIO_PIN_SHIFT)
+#define GPIO_PIN15      (15 << GPIO_PIN_SHIFT)
+#define GPIO_PIN16      (16 << GPIO_PIN_SHIFT)
+#define GPIO_PIN17      (17 << GPIO_PIN_SHIFT)
+#define GPIO_PIN18      (18 << GPIO_PIN_SHIFT)
+#define GPIO_PIN19      (19 << GPIO_PIN_SHIFT)
+#define GPIO_PIN20      (20 << GPIO_PIN_SHIFT)
+#define GPIO_PIN21      (21 << GPIO_PIN_SHIFT)
+#define GPIO_PIN22      (22 << GPIO_PIN_SHIFT)
+#define GPIO_PIN23      (23 << GPIO_PIN_SHIFT)
+#define GPIO_PIN24      (24 << GPIO_PIN_SHIFT)
+#define GPIO_PIN25      (25 << GPIO_PIN_SHIFT)
+#define GPIO_PIN26      (26 << GPIO_PIN_SHIFT)
+#define GPIO_PIN27      (27 << GPIO_PIN_SHIFT)
+#define GPIO_PIN28      (28 << GPIO_PIN_SHIFT)
+#define GPIO_PIN29      (29 << GPIO_PIN_SHIFT)
+#define GPIO_PIN30      (30 << GPIO_PIN_SHIFT)
+#define GPIO_PIN31      (31 << GPIO_PIN_SHIFT)
+#define GPIO_PIN32      (32 << GPIO_PIN_SHIFT)
+#define GPIO_PIN33      (33 << GPIO_PIN_SHIFT)
+#define GPIO_PIN34      (34 << GPIO_PIN_SHIFT)
+#define GPIO_PIN35      (35 << GPIO_PIN_SHIFT)
+#define GPIO_PIN36      (36 << GPIO_PIN_SHIFT)
+#define GPIO_PIN37      (37 << GPIO_PIN_SHIFT)
+#define GPIO_PIN38      (38 << GPIO_PIN_SHIFT)
+#define GPIO_PIN39      (39 << GPIO_PIN_SHIFT)
+#define GPIO_PIN40      (40 << GPIO_PIN_SHIFT)
+#define GPIO_PIN41      (41 << GPIO_PIN_SHIFT)
+#define GPIO_PIN42      (42 << GPIO_PIN_SHIFT)
+#define GPIO_PIN43      (43 << GPIO_PIN_SHIFT)
+#define GPIO_PIN44      (44 << GPIO_PIN_SHIFT)
+#define GPIO_PIN45      (45 << GPIO_PIN_SHIFT)
+#define GPIO_PIN46      (46 << GPIO_PIN_SHIFT)
+#define GPIO_PIN47      (47 << GPIO_PIN_SHIFT)
+#define GPIO_PIN48      (48 << GPIO_PIN_SHIFT)
+#define GPIO_PIN49      (49 << GPIO_PIN_SHIFT)
+#define GPIO_PIN50      (50 << GPIO_PIN_SHIFT)
+#define GPIO_PIN51      (51 << GPIO_PIN_SHIFT)
+#define GPIO_PIN52      (52 << GPIO_PIN_SHIFT)
+#define GPIO_PIN53      (53 << GPIO_PIN_SHIFT)
+#define GPIO_PIN54      (54 << GPIO_PIN_SHIFT)
+
+using namespace DriverFramework;
+
+namespace navio_gpio
+{
+
+class Gpio
+{
+public:
+	Gpio() :
+		_isMapped(false)
+	{
+	}
+	~Gpio()
+	{
+	}
+
+	int start();
+	int stop();
+
+	int configgpio(uint32_t pinset);
+	int unconfiggpio(uint32_t pinset);
+	bool gpioread(uint32_t pinset);
+	void gpiowrite(uint32_t pinset, bool value);
+
+	bool isMapped() { return _isMapped; }
+
+private:
+	void atomic_modify(uint32_t addr,
+			   unsigned int shift,
+			   unsigned int mask,
+			   unsigned int value);
+
+	void *_gpio_map;
+	bool _isMapped;
+
+	SyncObj m_lock;
+};
+
+} // namespace navio_gpio

src/drivers/navio_gpio/test/CMakeLists.txt

+include_directories(..)
+
+add_executable(navio_gpio_test
+	main.cpp
+	test.cpp
+	)
+
+target_link_libraries(navio_gpio_test
+	drivers__navio_gpio
+	platforms__posix__px4_layer
+	df_driver_framework
+	)

src/drivers/navio_gpio/test/main.cpp

+extern int do_test();
+
+int main()
+{
+	return do_test();
+}

src/drivers/navio_gpio/test/test.cpp

+#include "navio_gpio.h"
+
+#include <stdio.h>
+#include <unistd.h>
+
+#define LED_CNF     (GPIO_CNF_OUTPUT)
+#define LED_pinR    GPIO_PIN4
+#define LED_pinG    GPIO_PIN27
+#define LED_pinB    GPIO_PIN6
+
+using namespace navio_gpio;
+
+int do_test();
+
+int do_test()
+{
+	Gpio gpio;
+
+	if (gpio.start() < 0) {
+		return -1;
+	}
+
+	gpio.configgpio(LED_CNF | LED_pinR);
+	gpio.configgpio(LED_CNF | LED_pinG);
+	gpio.configgpio(LED_CNF | LED_pinB);
+
+	gpio.gpiowrite(LED_pinR, 0);
+	gpio.gpiowrite(LED_pinG, 0);
+	gpio.gpiowrite(LED_pinB, 0);
+	printf("off\n");
+	sleep(2);
+
+	gpio.gpiowrite(LED_pinR, 1);
+	gpio.gpiowrite(LED_pinG, 0);
+	gpio.gpiowrite(LED_pinB, 0);
+	printf("red\n");
+	sleep(2);
+
+	gpio.gpiowrite(LED_pinR, 0);
+	gpio.gpiowrite(LED_pinG, 1);
+	gpio.gpiowrite(LED_pinB, 0);
+	printf("green\n");
+	sleep(2);
+
+	gpio.gpiowrite(LED_pinR, 0);
+	gpio.gpiowrite(LED_pinG, 0);
+	gpio.gpiowrite(LED_pinB, 1);
+	printf("blue\n");
+	sleep(2);
+
+	gpio.gpiowrite(LED_pinR, 0);
+	gpio.gpiowrite(LED_pinG, 0);
+	gpio.gpiowrite(LED_pinB, 0);
+	printf("off\n");
+	gpio.stop();
+
+	return 0;
+}

src/drivers/navio_rgbled/CMakeLists.txt

+############################################################################
+#
+#   Copyright (c) 2016 PX4 Development Team. 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.
+#
+############################################################################
+include_directories(../navio_gpio)
+
+px4_add_module(
+	MODULE drivers__navio_rgbled
+	MAIN navio_rgbled
+	COMPILE_FLAGS -Os
+	SRCS
+		navio_rgbled.cpp
+	DEPENDS
+		platforms__common
+		drivers__navio_gpio
+	)
+
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/navio_rgbled/navio_rgbled.cpp

+#include "navio_gpio.h"
+#include "DevObj.hpp"
+
+#include <px4_posix.h>
+#include <drivers/drv_rgbled.h>
+
+#define RGBLED_BASE_DEVICE_PATH "/dev/rgbled"
+#define RGBLED_DEVICE_PATH  "/dev/rgbled0"
+
+#define GPIO_LED_CNF    (GPIO_CNF_OUTPUT)
+#define GPIO_LED_R      (GPIO_PIN4)
+#define GPIO_LED_G      (GPIO_PIN27)
+#define GPIO_LED_B      (GPIO_PIN6)
+
+using namespace DriverFramework;
+using namespace navio_gpio;
+
+class RGBLED : public DevObj
+{
+public:
+	RGBLED(const char *name) :
+		DevObj(name,
+		       RGBLED_DEVICE_PATH,
+		       RGBLED_BASE_DEVICE_PATH,
+		       DeviceBusType_UNKNOWN,
+		       0),
+		_rgbsets{
+		{0, 0, 0}, /* OFF */
+		{1, 0, 0}, /* red */
+		{1, 1, 0}, /* yellow */
+		{1, 0, 1}, /* purple */
+		{0, 1, 0}, /* green */
+		{0, 0, 1}, /* blue */
+		{1, 1, 1}, /* white */
+	},
+	_max_color(7),
+		   _rgb{0, 0, 0},
+		   _turn(true)
+	{ };
+	virtual ~RGBLED()
+	{ };
+
+	int start();
+	int stop();
+	int devIOCTL(unsigned long request, unsigned long arg);
+
+protected:
+	void _measure();
+
+private:
+	Gpio _gpio;
+	const rgbled_rgbset_t _rgbsets[7];
+	const int _max_color;
+	rgbled_rgbset_t _rgb;
+	bool _turn;
+};
+
+int RGBLED::start()
+{
+	int res;
+
+	res = DevObj::init();
+
+	if (res != 0) {
+		DF_LOG_ERR("error: could not init DevObj");
+		return res;
+	}
+
+	_gpio.start();
+
+	_gpio.configgpio(GPIO_LED_CNF | GPIO_LED_R);
+	_gpio.configgpio(GPIO_LED_CNF | GPIO_LED_G);
+	_gpio.configgpio(GPIO_LED_CNF | GPIO_LED_B);
+
+	return 0;
+}
+
+int RGBLED::stop()
+{
+	int res;
+
+	_gpio.stop();
+
+	res = DevObj::stop();
+
+	if (res < 0) {
+		DF_LOG_ERR("error: could not stop DevObj");
+		//this may not be an error for this device
+		return res;
+	}
+
+	return 0;
+}
+
+int RGBLED::devIOCTL(unsigned long request, unsigned long arg)
+{
+	int ret = ENOTTY;
+	rgbled_rgbset_t *rgb;
+
+	switch (request) {
+	case RGBLED_SET_RGB:
+		ret = 0;
+		rgb = (rgbled_rgbset_t *)arg;
+		_rgb.red = (rgb->red != 0) ? 1 : 0;
+		_rgb.green = (rgb->green != 0) ? 1 : 0;
+		_rgb.blue = (rgb->blue != 0) ? 1 : 0;
+		_gpio.gpiowrite(GPIO_LED_R, _rgb.red);
+		_gpio.gpiowrite(GPIO_LED_G, _rgb.green);
+		_gpio.gpiowrite(GPIO_LED_B, _rgb.blue);
+		break;
+
+	case RGBLED_SET_COLOR:
+		if (arg > _max_color) {
+			ret = ENOTSUP;
+
+		} else {
+			_rgb = _rgbsets[arg];
+			_gpio.gpiowrite(GPIO_LED_R, _rgb.red);
+			_gpio.gpiowrite(GPIO_LED_G, _rgb.green);
+			_gpio.gpiowrite(GPIO_LED_B, _rgb.blue);
+			ret = 0;
+		}
+
+		break;
+
+	case RGBLED_SET_MODE:
+		ret = 0;
+
+		switch (arg) {
+		case RGBLED_MODE_ON:
+			DevObj::setSampleInterval(0);
+			break;
+
+		case RGBLED_MODE_BLINK_SLOW:
+			DevObj::setSampleInterval(20000 * 1000);
+			break;
+
+		case RGBLED_MODE_BLINK_NORMAL:
+			DevObj::setSampleInterval(5000 * 1000);
+			break;
+
+		case RGBLED_MODE_BLINK_FAST:
+			DevObj::setSampleInterval(1000 * 1000);
+			break;
+
+		case RGBLED_MODE_BREATHE:
+			DevObj::setSampleInterval(15000 * 1000);
+			break;
+
+		default:
+			ret = ENOTSUP;
+		}
+
+		if (!m_work_handle.isValid()) {
+			// this can fail
+			DevObj::start();
+		}
+
+		break;
+
+	case RGBLED_PLAY_SCRIPT_NAMED:
+	case RGBLED_PLAY_SCRIPT:
+	case RGBLED_SET_USER_SCRIPT:
+	case RGBLED_SET_PATTERN:
+		ret = ENOTSUP;
+		break;
+
+	default:
+		ret = DevObj::devIOCTL(request, arg);
+		break;
+	}
+
+	return ret;
+}
+
+void RGBLED::_measure()
+{
+	if (_turn) {
+		_gpio.gpiowrite(GPIO_LED_R, 0);
+		_gpio.gpiowrite(GPIO_LED_G, 0);
+		_gpio.gpiowrite(GPIO_LED_B, 0);
+		_turn = false;
+
+	} else {
+		_gpio.gpiowrite(GPIO_LED_R, _rgb.red);
+		_gpio.gpiowrite(GPIO_LED_G, _rgb.green);
+		_gpio.gpiowrite(GPIO_LED_B, _rgb.blue);
+		_turn = true;
+	}
+}
+
+extern "C" { __EXPORT int navio_rgbled_main(int argc, char *argv[]); }
+
+namespace navio_rgbled
+{
+int start();
+int stop();
+void usage();
+
+RGBLED *g_dev = nullptr;
+
+int start()
+{
+	g_dev = new RGBLED("navio_rgbled");
+
+	if (g_dev == nullptr) {
+		PX4_ERR("failed instantiating RGBLED");
+		return -1;
+	}
+
+	return g_dev->start();
+}
+
+int stop()
+{
+	if (g_dev == nullptr) {
+		PX4_ERR("not running");
+		return -1;
+	}
+
+	g_dev->stop();
+
+	delete g_dev;
+	g_dev = nullptr;
+
+	return 0;
+}
+
+void usage()
+{
+	PX4_WARN("Usage: navio_rgbled 'start', 'stop'");
+}
+
+} //namespace navio_rgbled
+
+int navio_rgbled_main(int argc, char *argv[])
+{
+	int ret = 0;
+	int myoptind = 1;
+
+	if (argc <= 1) {
+		navio_rgbled::usage();
+		return 1;
+	}
+
+	const char *verb = argv[myoptind];
+
+
+	if (!strcmp(verb, "start")) {
+		ret = navio_rgbled::start();
+	}
+
+	else if (!strcmp(verb, "stop")) {
+		ret = navio_rgbled::stop();
+	}
+
+	else {
+		navio_rgbled::usage();
+		return 1;
+	}
+
+	return ret;
+}
+

src/modules/commander/commander_helper.cpp

@@ -267,6 +267,7 @@ int led_init()
 {
 	blink_msg_end = 0;
 
+#ifndef CONFIG_ARCH_BOARD_NAVIO2
 	/* first open normal LEDs */
 	DevMgr::getHandle(LED0_DEVICE_PATH, h_leds);
 
@@ -289,6 +290,7 @@ int led_init()
 
 	/* switch amber off */
 	led_off(LED_AMBER);
+#endif
 
 	/* then try RGB LEDs, this can fail on FMUv1*/
 	DevHandle h;
@@ -303,7 +305,9 @@ int led_init()
 
 void led_deinit()
 {
+#ifndef CONFIG_ARCH_BOARD_NAVIO2
 	DevMgr::releaseHandle(h_leds);
+#endif
 	DevMgr::releaseHandle(h_rgbleds);
 }