From 17d8e2a1663b36504a432b120c3993e4912842b5 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 29 May 2014 12:24:50 +0200 Subject: [PATCH] PCA8574 driver: Cleanup, ready for final testing and production --- src/drivers/drv_io_expander.h | 18 +- src/drivers/pca8574/pca8574.cpp | 343 +++++++++++++------------------- 2 files changed, 149 insertions(+), 212 deletions(-) diff --git a/src/drivers/drv_io_expander.h b/src/drivers/drv_io_expander.h index 2705d6f9e1..106354377f 100644 --- a/src/drivers/drv_io_expander.h +++ b/src/drivers/drv_io_expander.h @@ -49,17 +49,23 @@ #define _IOXIOCBASE (0x2800) #define _IOXIOC(_n) (_IOC(_IOXIOCBASE, _n)) -/** enable the device */ -#define IOX_ENABLE _IOXIOC(1) +/** set a bitmask (non-blocking) */ +#define IOX_SET_MASK _IOXIOC(1) -/** set constant values */ -#define IOX_SET_VALUE _IOXIOC(2) +/** get a bitmask (blocking) */ +#define IOX_GET_MASK _IOXIOC(2) -/** set constant values */ +/** set device mode (non-blocking) */ #define IOX_SET_MODE _IOXIOC(3) +/** set constant values (non-blocking) */ +#define IOX_SET_VALUE _IOXIOC(4) + +/* ... to IOX_SET_VALUE + 8 */ + /* enum passed to RGBLED_SET_MODE ioctl()*/ enum IOX_MODE { IOX_MODE_OFF, - IOX_MODE_ON + IOX_MODE_ON, + IOX_MODE_TEST_OUT }; diff --git a/src/drivers/pca8574/pca8574.cpp b/src/drivers/pca8574/pca8574.cpp index ce882b6367..cd1ffc82c6 100644 --- a/src/drivers/pca8574/pca8574.cpp +++ b/src/drivers/pca8574/pca8574.cpp @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved. - * Author: Julian Oes - * Anton Babushkin + * Copyright (c) 2012-2014 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 @@ -36,8 +34,11 @@ /** * @file pca8574.cpp * - * Driver for the onboard RGB LED controller (TCA62724FMG) connected via I2C. + * Driver for an 8 I/O controller (PC8574) connected via I2C. * + * @author Lorenz Meier + * @author Julian Oes + * @author Anton Babushkin */ #include @@ -68,16 +69,7 @@ #define PCA8574_OFFTIME 120 #define PCA8574_DEVICE_PATH "/dev/pca8574" -#define ADDR 0x20 /**< I2C adress of PCA8574 (default, A0-A2 pulled to GND) */ -#define SUB_ADDR_START 0x01 /**< write everything (with auto-increment) */ -#define SUB_ADDR_PWM0 0x81 /**< blue (without auto-increment) */ -#define SUB_ADDR_PWM1 0x82 /**< green (without auto-increment) */ -#define SUB_ADDR_PWM2 0x83 /**< red (without auto-increment) */ -#define SUB_ADDR_SETTINGS 0x84 /**< settings (without auto-increment)*/ - -#define SETTING_NOT_POWERSAVE 0x01 /**< power-save mode not off */ -#define SETTING_ENABLE 0x02 /**< on */ - +#define ADDR 0x20 ///< I2C adress of PCA8574 (default, A0-A2 pulled to GND) class PCA8574 : public device::I2C { @@ -94,20 +86,23 @@ public: private: work_s _work; - uint8_t _values[8]; - float _brightness; + uint8_t _values_out; + uint8_t _values_in; enum IOX_MODE _mode; bool _running; int _led_interval; bool _should_run; + bool _update_out; int _counter; static void led_trampoline(void *arg); void led(); - int send_led_enable(bool enable); + int send_led_enable(uint8_t arg); int send_led_values(); + + int get(uint8_t &vals); }; /* for now, we only support one PCA8574 */ @@ -122,12 +117,13 @@ extern "C" __EXPORT int pca8574_main(int argc, char *argv[]); PCA8574::PCA8574(int bus, int pca8574) : I2C("pca8574", PCA8574_DEVICE_PATH, bus, pca8574, 100000), + _values_out(0), + _values_in(0), _mode(IOX_MODE_OFF), - _values({}), - _brightness(1.0f), _running(false), _led_interval(0), _should_run(false), + _update_out(false), _counter(0) { memset(&_work, 0, sizeof(_work)); @@ -147,10 +143,10 @@ PCA8574::init() return ret; } - /* switch off LED on start */ - send_led_enable(false); + // switch off LED on start (active low on Pixhawk) + send_led_enable(0xFF); - /* kick it in */ + // kick it in _should_run = true; _led_interval = 80; work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1); @@ -179,24 +175,69 @@ PCA8574::ioctl(struct file *filp, int cmd, unsigned long arg) int ret = ENOTTY; switch (cmd) { - case IOX_SET_VALUE ... (IOX_SET_VALUE + 8): - { - /* set the specified color */ - unsigned prev = _values[cmd - IOX_SET_VALUE]; - _values[cmd - IOX_SET_VALUE] = arg; - if (_values[cmd - IOX_SET_VALUE] != prev) { - // XXX will be done with a change flag - send_led_values(); - } - return OK; - } + case IOX_SET_VALUE ...(IOX_SET_VALUE + 8): { + // set the specified on / off state + uint8_t position = (1 << (cmd - IOX_SET_VALUE)); + uint8_t prev = _values_out; - case IOX_ENABLE: + if (arg) { + _values_out |= position; + + } else { + _values_out &= ~(position); + } + + if (_values_out != prev) { + send_led_values(); + } + + return OK; + } + + case IOX_SET_MASK: send_led_enable(arg); return OK; + case IOX_GET_MASK: { + uint8_t val; + ret = get(val); + + if (ret == OK) { + return val; + + } else { + return -1; + } + } + + case IOX_SET_MODE: + + if (_mode != (IOX_MODE)arg) { + + switch ((IOX_MODE)arg) { + case IOX_MODE_OFF: + _values_out = 0xFF; + break; + + case IOX_MODE_ON: + _values_out = 0; + break; + + case IOX_MODE_TEST_OUT: + break; + + default: + return -1; + } + + _mode = (IOX_MODE)arg; + send_led_values(); + } + + return OK; + default: - /* see if the parent class can make any use of it */ + // see if the parent class can make any use of it ret = CDev::ioctl(filp, cmd, arg); break; } @@ -224,204 +265,93 @@ PCA8574::led() return; } - // switch (_mode) { - // case PCA8574_MODE_BLINK_SLOW: - // case PCA8574_MODE_BLINK_NORMAL: - // case PCA8574_MODE_BLINK_FAST: - // if (_counter >= 2) - // _counter = 0; + if (_mode == IOX_MODE_TEST_OUT) { - // send_led_enable(_counter == 0); + // we count only seven states + _counter &= 0xF; + _counter++; - // break; + for (int i = 0; i < 8; i++) { + if (i < _counter) { + _values_out |= (1 << i); - // case PCA8574_MODE_BREATHE: + } else { + _values_out &= ~(1 << i); + } + } - // if (_counter >= 62) - // _counter = 0; + _update_out = true; + } - // int n; + if (_update_out) { + uint8_t msg = _values_out; - // if (_counter < 32) { - // n = _counter; + int ret = transfer(&msg, sizeof(msg), nullptr, 0); - // } else { - // n = 62 - _counter; - // } - - // _brightness = n * n / (31.0f * 31.0f); - // send_led_rgb(); - // break; - - // case PCA8574_MODE_PATTERN: - - // /* don't run out of the pattern array and stop if the next frame is 0 */ - // if (_counter >= PCA8574_PATTERN_LENGTH || _pattern.duration[_counter] <= 0) - // _counter = 0; - - // set_color(_pattern.color[_counter]); - // send_led_rgb(); - // _led_interval = _pattern.duration[_counter]; - // break; - - // default: - // break; - // } - - - // we count only seven states - _counter &= 0xF; - _counter++; - - for (int i = 0; i < 8; i++) { - if (i < _counter) { - _values[i] = 1; - } else { - _values[i] = 0; + if (!ret) { + _update_out = false; } } - send_led_values(); + // check if any activity remains, else stp + if (!_update_out) { + _running = false; + return; + } - /* re-queue ourselves to run again later */ + // re-queue ourselves to run again later work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, _led_interval); } -// /** -// * Set mode, if mode not changed has no any effect (doesn't reset blinks phase) -// */ -// void -// PCA8574::set_mode(pca8574_mode_t mode) -// { -// if (mode != _mode) { -// _mode = mode; - -// switch (mode) { -// // case PCA8574_MODE_OFF: -// // _should_run = false; -// // send_led_enable(false); -// // break; - -// // case PCA8574_MODE_ON: -// // _brightness = 1.0f; -// // send_led_rgb(); -// // send_led_enable(true); -// // break; - -// // case PCA8574_MODE_BLINK_SLOW: -// // _should_run = true; -// // _counter = 0; -// // _led_interval = 2000; -// // _brightness = 1.0f; -// // send_led_rgb(); -// // break; - -// // case PCA8574_MODE_BLINK_NORMAL: -// // _should_run = true; -// // _counter = 0; -// // _led_interval = 500; -// // _brightness = 1.0f; -// // send_led_rgb(); -// // break; - -// // case PCA8574_MODE_BLINK_FAST: -// // _should_run = true; -// // _counter = 0; -// // _led_interval = 100; -// // _brightness = 1.0f; -// // send_led_rgb(); -// // break; - -// // case PCA8574_MODE_BREATHE: -// // _should_run = true; -// // _counter = 0; -// // _led_interval = 25; -// // send_led_enable(true); -// // break; - -// // case PCA8574_MODE_PATTERN: -// // _should_run = true; -// // _counter = 0; -// // _brightness = 1.0f; -// // send_led_enable(true); -// // break; - -// default: -// warnx("mode unknown"); -// break; -// } - -// /* if it should run now, start the workq */ -// if (_should_run && !_running) { -// _running = true; -// work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1); -// } - -// } -// } - /** * Sent ENABLE flag to LED driver */ int -PCA8574::send_led_enable(bool enable) +PCA8574::send_led_enable(uint8_t arg) { - uint8_t msg; - if (enable) { - /* active low */ - msg = 0x00; - } else { - /* active low, so off */ - msg = 0xFF; - } - - int ret = transfer(&msg, sizeof(msg), nullptr, 0); + int ret = transfer(&arg, sizeof(arg), nullptr, 0); return ret; } /** - * Send RGB PWM settings to LED driver according to current color and brightness + * Send 8 outputs */ int PCA8574::send_led_values() { - uint8_t msg = 0; + _update_out = true; + _should_run = true; - for (int i = 0; i < 8; i++) { - if (_values[i]) { - msg |= (1 << i); - } + // if not active, kick it + if (!_running) { + work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1); } - int ret = transfer(&msg, sizeof(msg), nullptr, 0); + return 0; } -// int -// PCA8574::get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b) -// { -// uint8_t result[2]; -// int ret; +int +PCA8574::get(uint8_t &vals) +{ + uint8_t result; + int ret; -// ret = transfer(nullptr, 0, &result[0], 2); + ret = transfer(nullptr, 0, &result, 1); -// if (ret == OK) { -// on = result[0] & SETTING_ENABLE; -// powersave = !(result[0] & SETTING_NOT_POWERSAVE); -// /* XXX check, looks wrong */ -// r = (result[0] & 0x0f) << 4; -// g = (result[1] & 0xf0); -// b = (result[1] & 0x0f) << 4; -// } + if (ret == OK) { + _values_in = result; + vals = result; + } -// return ret; -// } + return ret; +} void pca8574_usage() { - warnx("missing command: try 'start', 'test', 'info', 'off', 'stop', 'val 0 100'"); + warnx("missing command: try 'start', 'test', 'info', 'off', 'stop', 'val 0 1'"); warnx("options:"); warnx(" -b i2cbus (%d)", PX4_I2C_BUS_LED); warnx(" -a addr (0x%x)", ADDR); @@ -431,11 +361,11 @@ int pca8574_main(int argc, char *argv[]) { int i2cdevice = -1; - int pca8574adr = ADDR; /* 7bit */ + int pca8574adr = ADDR; // 7bit int ch; - /* jump over start/off/etc and look at options first */ + // jump over start/off/etc and look at options first while ((ch = getopt(argc, argv, "a:b:")) != EOF) { switch (ch) { case 'a': @@ -452,10 +382,10 @@ pca8574_main(int argc, char *argv[]) } } - if (optind >= argc) { - pca8574_usage(); - exit(1); - } + if (optind >= argc) { + pca8574_usage(); + exit(1); + } const char *verb = argv[optind]; @@ -463,8 +393,9 @@ pca8574_main(int argc, char *argv[]) int ret; if (!strcmp(verb, "start")) { - if (g_pca8574 != nullptr) + if (g_pca8574 != nullptr) { errx(1, "already started"); + } if (i2cdevice == -1) { // try the external bus first @@ -481,6 +412,7 @@ pca8574_main(int argc, char *argv[]) if (PX4_I2C_BUS_LED == PX4_I2C_BUS_EXPANSION) { errx(1, "init failed"); } + i2cdevice = PX4_I2C_BUS_LED; } } @@ -488,8 +420,9 @@ pca8574_main(int argc, char *argv[]) if (g_pca8574 == nullptr) { g_pca8574 = new PCA8574(i2cdevice, pca8574adr); - if (g_pca8574 == nullptr) + if (g_pca8574 == nullptr) { errx(1, "new failed"); + } if (OK != g_pca8574->init()) { delete g_pca8574; @@ -501,7 +434,7 @@ pca8574_main(int argc, char *argv[]) exit(0); } - /* need the driver past this point */ + // need the driver past this point if (g_pca8574 == nullptr) { warnx("not started"); pca8574_usage(); @@ -515,8 +448,7 @@ pca8574_main(int argc, char *argv[]) errx(1, "Unable to open " PCA8574_DEVICE_PATH); } - ret = ioctl(fd, IOX_SET_VALUE, 255); - // ret = ioctl(fd, PCA8574_SET_MODE, (unsigned long)PCA8574_MODE_PATTERN); + ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_TEST_OUT); close(fd); exit(ret); @@ -547,7 +479,7 @@ pca8574_main(int argc, char *argv[]) if (!strcmp(verb, "val")) { if (argc < 4) { - errx(1, "Usage: pca8574 val "); + errx(1, "Usage: pca8574 val <0 or 1>"); } fd = open(PCA8574_DEVICE_PATH, 0); @@ -558,8 +490,7 @@ pca8574_main(int argc, char *argv[]) unsigned channel = strtol(argv[2], NULL, 0); unsigned val = strtol(argv[3], NULL, 0); - ret = ioctl(fd, (IOX_SET_VALUE+channel), val); - ret = ioctl(fd, IOX_ENABLE, 1); + ret = ioctl(fd, (IOX_SET_VALUE + channel), val); close(fd); exit(ret); }