AP_Notify: Add RGB LED driver for NCP5623

libraries/AP_Notify/AP_Notify.cpp

@@ -21,6 +21,7 @@
 #include "Display.h"
 #include "ExternalLED.h"
 #include "PCA9685LED_I2C.h"
+#include "NCP5623.h"
 #include "OreoLED_PX4.h"
 #include "RCOutputRGBLed.h"
 #include "ToneAlarm.h"
@@ -42,31 +43,35 @@ AP_Notify *AP_Notify::_instance;
 #define TOSHIBA_LED_I2C_BUS_INTERNAL    0
 #define TOSHIBA_LED_I2C_BUS_EXTERNAL    1
 
+// all I2C_LEDS
+#define I2C_LEDS (Notify_LED_ToshibaLED_I2C_Internal | Notify_LED_ToshibaLED_I2C_External | \
+                  Notify_LED_NCP5623_I2C_Internal | Notify_LED_NCP5623_I2C_External)
+
 #ifndef BUILD_DEFAULT_LED_TYPE
 // PX4 boards
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
   #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V3 // Has enough memory for Oreo LEDs
-    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | Notify_LED_ToshibaLED_I2C_Internal | Notify_LED_ToshibaLED_I2C_External | Notify_LED_OreoLED)
+    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS | Notify_LED_OreoLED)
   #else   // All other px4 boards use standard devices
-    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | Notify_LED_ToshibaLED_I2C_Internal | Notify_LED_ToshibaLED_I2C_External)
+    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS)
   #endif
 
 // ChibiOS and VRBrain boards
 #elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS || \
       CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
-  #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | Notify_LED_ToshibaLED_I2C_Internal | Notify_LED_ToshibaLED_I2C_External)
+  #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS)
 
 // Linux boards    
 #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
   #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
-    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | Notify_LED_ToshibaLED_I2C_Internal | Notify_LED_ToshibaLED_I2C_External |\
+    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS |\
                                     Notify_LED_PCA9685LED_I2C_External)
 
   #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
-    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | Notify_LED_ToshibaLED_I2C_Internal | Notify_LED_ToshibaLED_I2C_External)
+    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS)
 
   #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
-    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | Notify_LED_ToshibaLED_I2C_Internal | Notify_LED_ToshibaLED_I2C_External |\
+    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS |\
                                     Notify_LED_UAVCAN)
   #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
         CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
@@ -81,7 +86,7 @@ AP_Notify *AP_Notify::_instance;
     #define BUILD_DEFAULT_LED_TYPE (Notify_LED_ToshibaLED_I2C_External)
 
   #else // other linux
-    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | Notify_LED_ToshibaLED_I2C_Internal | Notify_LED_ToshibaLED_I2C_External)
+    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS)
   #endif
 
 // F4Light
@@ -90,7 +95,7 @@ AP_Notify *AP_Notify::_instance;
 
 // All other builds
 #else
-    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | Notify_LED_ToshibaLED_I2C_Internal | Notify_LED_ToshibaLED_I2C_External)
+    #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS)
 
 #endif // board selection
 
@@ -149,7 +154,7 @@ const AP_Param::GroupInfo AP_Notify::var_info[] = {
     // @Param: LED_TYPES
     // @DisplayName: LED Driver Types
     // @Description: Controls what types of LEDs will be enabled
-    // @Bitmask: 0:Build in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN
+    // @Bitmask: 0:Build in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal
     // @User: Advanced
     AP_GROUPINFO("LED_TYPES", 6, AP_Notify, _led_type, BUILD_DEFAULT_LED_TYPE),
 
@@ -234,6 +239,14 @@ void AP_Notify::add_backends(void)
             case Notify_LED_ToshibaLED_I2C_External:
                 ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
                 break;
+#if !HAL_MINIMIZE_FEATURES
+            case Notify_LED_NCP5623_I2C_External:
+                ADD_BACKEND(new NCP5623(TOSHIBA_LED_I2C_BUS_EXTERNAL));
+                break;
+            case Notify_LED_NCP5623_I2C_Internal:
+                ADD_BACKEND(new NCP5623(TOSHIBA_LED_I2C_BUS_INTERNAL));
+                break;
+#endif
             case Notify_LED_PCA9685LED_I2C_External:
                 ADD_BACKEND(new PCA9685LED_I2C());
                 break;

libraries/AP_Notify/AP_Notify.h

@@ -66,6 +66,8 @@ public:
         Notify_LED_PCA9685LED_I2C_External  = (1 << 3), // External PCA9685_I2C
         Notify_LED_OreoLED                  = (1 << 4), // Oreo
         Notify_LED_UAVCAN                   = (1 << 5), // UAVCAN RGB LED
+        Notify_LED_NCP5623_I2C_External     = (1 << 6), // External NCP5623
+        Notify_LED_NCP5623_I2C_Internal     = (1 << 7), // Internal NCP5623
         Notify_LED_MAX
     };
 

libraries/AP_Notify/NCP5623.cpp

@@ -0,0 +1,115 @@
+/*
+  NCP5623 I2C LED driver
+*/
+/*
+   This program 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.
+
+   This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "NCP5623.h"
+#include <utility>
+
+#include <AP_HAL/AP_HAL.h>
+
+extern const AP_HAL::HAL& hal;
+
+#define NCP5623_LED_BRIGHT  0x1f    // full brightness
+#define NCP5623_LED_MEDIUM  0x18    // medium brightness
+#define NCP5623_LED_DIM     0x0f    // dim
+#define NCP5623_LED_OFF     0x00    // off
+
+#define NCP5623_LED_I2C_ADDR 0x38    // default I2C bus address
+
+#define NCP5623_LED_PWM0    0x40    // pwm0 register
+#define NCP5623_LED_PWM1    0x60    // pwm1 register
+#define NCP5623_LED_PWM2    0x80    // pwm2 register
+#define NCP5623_LED_ENABLE  0x20    // enable register
+
+NCP5623::NCP5623(uint8_t bus)
+    : RGBLed(NCP5623_LED_OFF, NCP5623_LED_BRIGHT, NCP5623_LED_MEDIUM, NCP5623_LED_DIM)
+    , _bus(bus)
+{
+}
+
+bool NCP5623::write(uint8_t reg, uint8_t data)
+{
+    uint8_t msg[1] = { 0x00 };
+    msg[0] = ((reg & 0xe0) | (data & 0x1f));
+    bool ret = _dev->transfer(msg, 1, nullptr, 0);
+    return ret;
+}
+
+bool NCP5623::writes(uint8_t *data, uint8_t len)
+{
+    bool ret = 0;
+    uint8_t reg = data[0];
+    for (uint8_t i = 0; i < (len - 1); i++) {
+        ret = write(reg, data[i + 1]);
+        if (!ret) {
+            return ret;
+        }
+        reg = reg + 0x20;
+    }
+    return ret;
+}
+
+bool NCP5623::hw_init(void)
+{
+    // first look for led on external bus
+    _dev = std::move(hal.i2c_mgr->get_device(_bus, NCP5623_LED_I2C_ADDR));
+    if (!_dev || !_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
+        return false;
+    }
+    _dev->set_retries(10);
+
+    // enable the led
+    bool ret = write(NCP5623_LED_ENABLE, 0x1f);
+    if (!ret) {
+        _dev->get_semaphore()->give();
+        return false;
+    }
+    // update the red, green and blue values to zero
+    uint8_t val[4] = { NCP5623_LED_PWM0, _led_off, _led_off, _led_off };
+    ret = writes(val, sizeof(val));
+    _dev->set_retries(1);
+
+    // give back i2c semaphore
+    _dev->get_semaphore()->give();
+
+    if (ret) {
+        _dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&NCP5623::_timer, void));
+    }
+
+    return ret;
+}
+
+// set_rgb - set color as a combination of red, green and blue values
+bool NCP5623::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
+{
+    rgb = { red, green, blue };
+    _need_update = true;
+    return true;
+}
+
+void NCP5623::_timer(void)
+{
+    if (!_need_update) {
+        return;
+    }
+    _need_update = false;
+
+    /* 4-bit for each color */
+    uint8_t val[4] = { NCP5623_LED_PWM0, rgb.r, rgb.g, rgb.b };
+
+    writes(val, sizeof(val));
+}

libraries/AP_Notify/NCP5623.h

@@ -0,0 +1,39 @@
+/*
+  NCP5623 Linux driver
+*/
+/*
+   This program 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.
+
+   This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include <AP_HAL/I2CDevice.h>
+#include "RGBLed.h"
+
+class NCP5623 : public RGBLed {
+public:
+    NCP5623(uint8_t bus);
+protected:
+    bool hw_init(void) override;
+    bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b) override;
+private:
+    AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
+    void _timer(void);
+    bool write(uint8_t reg, uint8_t data);
+    bool writes(uint8_t *data, uint8_t len);
+    bool _need_update;
+    struct {
+        uint8_t r, g, b;
+    } rgb;
+    uint8_t _bus;
+};