forked from Archive/PX4-Autopilot
Add Neopixel Driver
This commit is contained in:
David Sidrane
Daniel Agar
parent
fdba8f1f23
commit
0b85039882
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/****************************************************************************
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*
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* Copyright (C) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file drv_adc.h
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*
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* ADC driver interface.
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*
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*/
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#pragma once
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#include <stdint.h>
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#include <sys/ioctl.h>
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#include <systemlib/px4_macros.h>
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namespace neopixel
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{
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class NeoLEDData
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{
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public:
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enum eRGB {
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eB = 0,
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eR = 1,
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eG = 2
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};
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typedef union {
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uint8_t grb[3];
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uint32_t l;
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} led_data_t;
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led_data_t data{};
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NeoLEDData() {data.l = 0;}
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NeoLEDData(NeoLEDData &r) {data.l = r.data.l;}
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uint8_t &R() {return data.grb[eR];};
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uint8_t &G() {return data.grb[eG];};
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uint8_t &B() {return data.grb[eB];};
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};
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};
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__BEGIN_DECLS
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int neopixel_init(neopixel::NeoLEDData *led_data, int number_of_packages);
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int neopixel_write(neopixel::NeoLEDData *led_data, int number_of_packages);
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int neopixel_deinit(void);
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int neopixel_write_no_dma(uint8_t r, uint8_t g, uint8_t b, uint8_t led_count);
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__END_DECLS
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@ -0,0 +1,42 @@
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############################################################################
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#
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# Copyright (c) 2021 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__neopixel
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MAIN neopixel
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SRCS
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neopixel.cpp
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DEPENDS
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led
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arch_srgbled_dma
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)
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@ -0,0 +1,250 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file neopixel.cpp
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*
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* Driver for the the neopixel class of RGB LED drivers.
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* this driver is based the PX4 led driver
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*
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*/
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#include <string.h>
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#include <px4_platform_common/px4_config.h>
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#include <lib/led/led.h>
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/module.h>
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#include <drivers/drv_neopixel.h>
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class NEOPIXEL : public px4::ScheduledWorkItem, public ModuleBase<NEOPIXEL>
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{
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public:
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NEOPIXEL(unsigned int number_of_packages);
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virtual ~NEOPIXEL();
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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void Run() override;
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/** @see ModuleBase::print_status() */
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int print_status() override;
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int init();
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int status();
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private:
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unsigned int _number_of_packages{BOARD_HAS_N_S_RGB_LED};
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LedController _led_controller;
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NEOPIXEL(const NEOPIXEL &) = delete;
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NEOPIXEL operator=(const NEOPIXEL &) = delete;
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neopixel::NeoLEDData *_leds;
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};
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NEOPIXEL::NEOPIXEL(unsigned int number_of_packages) :
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
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_number_of_packages(number_of_packages)
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{
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}
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NEOPIXEL::~NEOPIXEL()
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{
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neopixel_deinit();
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}
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int NEOPIXEL::init()
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{
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_leds = new neopixel::NeoLEDData [_number_of_packages];
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if (_leds == nullptr) {
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return PX4_ERROR;
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}
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neopixel_init(_leds, _number_of_packages);
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neopixel_write(_leds, _number_of_packages);
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ScheduleNow();
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return OK;
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}
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int NEOPIXEL::task_spawn(int argc, char *argv[])
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{
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int myoptind = 1;
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int ch;
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const char *myoptarg = nullptr;
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unsigned int number_of_packages = BOARD_HAS_N_S_RGB_LED;
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while ((ch = px4_getopt(argc, argv, "n:", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'n':
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number_of_packages = atoi(myoptarg);
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break;
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default:
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print_usage("unrecognized option");
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return 1;
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}
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}
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NEOPIXEL *instance = new NEOPIXEL(number_of_packages);
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if (instance) {
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_object.store(instance);
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_task_id = task_id_is_work_queue;
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if (instance->init() == PX4_OK) {
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return PX4_OK;
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}
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} else {
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PX4_ERR("alloc failed");
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}
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delete instance;
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_object.store(nullptr);
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_task_id = -1;
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return PX4_ERROR;
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}
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int NEOPIXEL::print_status()
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{
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PX4_INFO("Controlling %i LEDs", _number_of_packages);
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return 0;
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}
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int NEOPIXEL::print_usage(const char *reason)
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{
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if (reason) {
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PX4_WARN("%s\n", reason);
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}
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Description
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This module is responsible for driving interfasing to the Neopixel Serial LED
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### Examples
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It is typically started with:
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$ neopixel -n 8
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To drive all available leds.
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("newpixel", "driver");
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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return 0;
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}
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int NEOPIXEL::custom_command(int argc, char *argv[])
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{
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return print_usage("unrecognized option");
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}
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/**
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* Main loop function
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*/
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void NEOPIXEL::Run()
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{
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if (should_exit()) {
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ScheduleClear();
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exit_and_cleanup();
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return;
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}
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LedControlData led_control_data;
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if (_led_controller.update(led_control_data) == 1) {
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for (unsigned int led = 0; led < math::min(_number_of_packages, arraySize(led_control_data.leds)); led++) {
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uint8_t brightness = led_control_data.leds[led].brightness;
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switch (led_control_data.leds[led].color) {
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case led_control_s::COLOR_RED:
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_leds[led].R() = brightness; _leds[led].G() = 0; _leds[led].B() = 0;
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break;
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case led_control_s::COLOR_GREEN:
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_leds[led].R() = 0; _leds[led].G() = brightness; _leds[led].B() = 0;
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break;
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case led_control_s::COLOR_BLUE:
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_leds[led].R() = 0; _leds[led].G() = 0; _leds[led].B() = brightness;
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break;
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case led_control_s::COLOR_AMBER: //make it the same as yellow
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case led_control_s::COLOR_YELLOW:
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_leds[led].R() = brightness; _leds[led].G() = brightness; _leds[led].B() = 0;
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break;
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case led_control_s::COLOR_PURPLE:
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_leds[led].R() = brightness; _leds[led].G() = 0; _leds[led].B() = brightness;
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break;
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case led_control_s::COLOR_CYAN:
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_leds[led].R() = 0; _leds[led].G() = brightness; _leds[led].B() = brightness;
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break;
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case led_control_s::COLOR_WHITE:
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_leds[led].R() = brightness; _leds[led].G() = brightness; _leds[led].B() = brightness;
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break;
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default: // led_control_s::COLOR_OFF
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_leds[led].R() = 0; _leds[led].G() = 0; _leds[led].B() = 0;
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break;
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}
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}
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neopixel_write(_leds, _number_of_packages);
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}
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/* re-queue ourselves to run again later */
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ScheduleDelayed(_led_controller.maximum_update_interval());
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}
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extern "C" __EXPORT int neopixel_main(int argc, char *argv[])
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{
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return NEOPIXEL::main(argc, argv);
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}
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