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ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
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AP_Notify misconfigures LED on Navio2 #9435

Closed votingprawn closed 6 years ago

votingprawn commented 6 years ago

Hi,

I believe that a recent rewrite of AP_Notify ( 961e16dca96ef2188f198b5a22328c5610393f29 ) has introduced a bug that results in misconfiguring the LED when compiled for Navio2 boards. I think there is an elif missing around lines 224-234 that is resulting in 'additional' backends being set for the Navio2.

https://github.com/ArduPilot/ardupilot/blob/0e0d847f7f8b1a3f79ca173ccccb919345b69190/libraries/AP_Notify/AP_Notify.cpp#L208-L234

When you compile after this commit (or download any build from after this commit) it appears to run fine but fills the console with

GPIO_Sysfs: Unable to write pin 16 value. GPIO_Sysfs: Unable to get value file descriptor for pin 4.

I can fix the issue for myself by commenting out 224-234, but I'm lacking the mental acuity this morning to unpick the if statements to work out exactly whats going wrong.

auturgy commented 6 years ago

@wickedshell

On 17 Sep 2018, at 7:01 pm, votingprawn notifications@github.com wrote:

Hi,

I believe that a recent rewrite of AP_Notify ( 961e16d ) has introduced a bug that results in misconfiguring the LED when compiled for Navio2 boards. I think there is an elif missing around lines 224-234 that is resulting in 'additional' backends being set for the Navio2.

https://github.com/ArduPilot/ardupilot/blob/0e0d847f7f8b1a3f79ca173ccccb919345b69190/libraries/AP_Notify/AP_Notify.cpp#L208-L234

When you compile after this commit (or download any build from after this commit) it appears to run fine but fills the console with

GPIO_Sysfs: Unable to write pin 16 value. GPIO_Sysfs: Unable to get value file descriptor for pin 4.

I can fix the issue for myself by commenting out 224-234, but I'm lacking the mental acuity this morning to unpick the if statements to work out exactly whats going wrong.

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WickedShell commented 6 years ago

@votingprawn It looks like an AP_BoardLED is being added since the defines for HAL_GPIO_A_LED_PIN HAL_GPIO_B_LED_PIN HAL_GPIO_C_LED_PIN` are all set. If there aren't any board GPIO led's on a Navio2 we should not be setting those defines in https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL/board/linux.h#L149

Right away though we can see an obvious bug here in that all 3 pins are defined to be the same value. We can easily make undef's but I don't have a schematic for a NavIO2. Are there any GPIO controlled LED's we should be using, or should these define never have been set?

votingprawn commented 6 years ago

@WickedShell thanks for your help. There is one LED on the NAVIO2 which is pinned out on GP4, GP27, and GP6, but my understanding is its already being addressed above by LED_sysfs?

https://github.com/ArduPilot/ardupilot/blob/0e0d847f7f8b1a3f79ca173ccccb919345b69190/libraries/AP_Notify/AP_Notify.cpp#L210

WickedShell commented 6 years ago

@votingprawn That matches my guess as well. I've put in a PR #9440 which should correct this, as well as catch obvious bad pin assignments. Would you be able to verify that it fixes the problem for you?