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AP_Notify: Add RGB LED driver for NCP5623

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This commit is contained in:
caijie 2018-07-25 20:07:49 +08:00 committed by Andrew Tridgell
parent b8c0199853
commit a98d892dec
4 changed files with 178 additions and 9 deletions
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31
libraries/AP_Notify/AP_Notify.cpp
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@ -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;

2
libraries/AP_Notify/AP_Notify.h
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@ -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
};

115
libraries/AP_Notify/NCP5623.cpp Normal file
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@ -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));
}

39
libraries/AP_Notify/NCP5623.h Normal file
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@ -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;
};