forked from Archive/PX4-Autopilot
A driver and shell command for the BlinkM I2C LED controller.
This commit is contained in:
px4dev
parent
404332aefe
commit
2a8ef50df4
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@ -0,0 +1,42 @@
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############################################################################
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#
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# Copyright (C) 2012 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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# BlinkM I2C LED driver
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#
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APPNAME = blinkm
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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include $(APPDIR)/mk/app.mk
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@ -0,0 +1,461 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 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 blinkm.cpp
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*
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* Driver for the BlinkM LED controller connected via I2C.
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*/
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#include <nuttx/config.h>
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#include <drivers/device/i2c.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <string.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <ctype.h>
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#include <drivers/drv_blinkm.h>
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#include <nuttx/wqueue.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/err.h>
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class BlinkM : public device::I2C
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{
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public:
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BlinkM(int bus);
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~BlinkM();
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virtual int init();
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virtual int probe();
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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static const char *script_names[];
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private:
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enum ScriptID {
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USER = 0,
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RGB,
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WHITE_FLASH,
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RED_FLASH,
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GREEN_FLASH,
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BLUE_FLASH,
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CYAN_FLASH,
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MAGENTA_FLASH,
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YELLOW_FLASH,
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BLACK,
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HUE_CYCLE,
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MOOD_LIGHT,
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VIRTUAL_CANDLE,
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WATER_REFLECTIONS,
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OLD_NEON,
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THE_SEASONS,
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THUNDERSTORM,
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STOP_LIGHT,
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MORSE_CODE
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};
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work_s _work;
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static const unsigned _monitor_interval = 250;
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static void monitor_trampoline(void *arg);
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void monitor();
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int set_rgb(uint8_t r, uint8_t g, uint8_t b);
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int fade_rgb(uint8_t r, uint8_t g, uint8_t b);
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int fade_hsb(uint8_t h, uint8_t s, uint8_t b);
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int fade_rgb_random(uint8_t r, uint8_t g, uint8_t b);
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int fade_hsb_random(uint8_t h, uint8_t s, uint8_t b);
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int set_fade_speed(uint8_t s);
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int play_script(uint8_t script_id);
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int play_script(const char *script_name);
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int stop_script();
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int write_script_line(uint8_t line, uint8_t ticks, uint8_t cmd, uint8_t arg1, uint8_t arg2, uint8_t arg3);
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int read_script_line(uint8_t line, uint8_t &ticks, uint8_t cmd[4]);
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int set_script(uint8_t length, uint8_t repeats);
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int get_rgb(uint8_t &r, uint8_t &g, uint8_t &b);
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int get_firmware_version(uint8_t version[2]);
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};
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/* for now, we only support one BlinkM */
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namespace
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{
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BlinkM *g_blinkm;
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}
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/* list of script names, must match script ID numbers */
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const char *BlinkM::script_names[] = {
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"USER",
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"RGB",
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"WHITE_FLASH",
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"RED_FLASH",
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"GREEN_FLASH",
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"BLUE_FLASH",
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"CYAN_FLASH",
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"MAGENTA_FLASH",
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"YELLOW_FLASH",
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"BLACK",
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"HUE_CYCLE",
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"MOOD_LIGHT",
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"VIRTUAL_CANDLE",
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"WATER_REFLECTIONS",
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"OLD_NEON",
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"THE_SEASONS",
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"THUNDERSTORM",
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"STOP_LIGHT",
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"MORSE_CODE",
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nullptr
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};
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extern "C" __EXPORT int blinkm_main(int argc, char *argv[]);
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BlinkM::BlinkM(int bus) :
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I2C("blinkm", BLINKM_DEVICE_PATH, bus, 0x09, 100000)
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{
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}
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BlinkM::~BlinkM()
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{
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}
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int
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BlinkM::init()
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{
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int ret;
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ret = I2C::init();
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if (ret != OK) {
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warnx("I2C init failed");
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return ret;
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}
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/* turn off by default */
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play_script(BLACK);
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/* start the system monitor as a low-priority workqueue entry */
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work_queue(LPWORK, &_work, (worker_t)&BlinkM::monitor_trampoline, this, 1);
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return OK;
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}
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int
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BlinkM::probe()
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{
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uint8_t version[2];
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int ret;
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ret = get_firmware_version(version);
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if (ret == OK)
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log("found BlinkM firmware version %c%c", version[1], version[0]);
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return ret;
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}
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int
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BlinkM::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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int ret = ENOTTY;
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switch (cmd) {
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case BLINKM_PLAY_SCRIPT_NAMED:
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if (arg == 0) {
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ret = EINVAL;
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break;
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}
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ret = play_script((const char *)arg);
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break;
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case BLINKM_PLAY_SCRIPT:
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ret = play_script(arg);
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break;
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case BLINKM_SET_USER_SCRIPT: {
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if (arg == 0) {
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ret = EINVAL;
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break;
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}
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unsigned lines = 0;
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const uint8_t *script = (const uint8_t *)arg;
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while ((lines < 50) && (script[1] != 0)) {
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ret = write_script_line(lines, script[0], script[1], script[2], script[3], script[4]);
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if (ret != OK)
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break;
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script += 5;
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}
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if (ret == OK)
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ret = set_script(lines, 0);
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break;
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}
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default:
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break;
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}
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return ret;
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}
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void
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BlinkM::monitor_trampoline(void *arg)
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{
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BlinkM *bm = (BlinkM *)arg;
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bm->monitor();
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}
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void
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BlinkM::monitor()
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{
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/* check system state, possibly update LED to suit */
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/* re-queue ourselves to run again later */
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work_queue(LPWORK, &_work, (worker_t)&BlinkM::monitor_trampoline, this, _monitor_interval);
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}
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int
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BlinkM::set_rgb(uint8_t r, uint8_t g, uint8_t b)
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{
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const uint8_t msg[4] = { 'n', r, g, b };
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return transfer(msg, sizeof(msg), nullptr, 0);
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}
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int
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BlinkM::fade_rgb(uint8_t r, uint8_t g, uint8_t b)
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{
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const uint8_t msg[4] = { 'c', r, g, b };
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return transfer(msg, sizeof(msg), nullptr, 0);
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}
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int
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BlinkM::fade_hsb(uint8_t h, uint8_t s, uint8_t b)
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{
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const uint8_t msg[4] = { 'h', h, s, b };
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return transfer(msg, sizeof(msg), nullptr, 0);
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}
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int
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BlinkM::fade_rgb_random(uint8_t r, uint8_t g, uint8_t b)
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{
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const uint8_t msg[4] = { 'C', r, g, b };
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return transfer(msg, sizeof(msg), nullptr, 0);
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}
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int
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BlinkM::fade_hsb_random(uint8_t h, uint8_t s, uint8_t b)
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{
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const uint8_t msg[4] = { 'H', h, s, b };
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return transfer(msg, sizeof(msg), nullptr, 0);
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}
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int
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BlinkM::set_fade_speed(uint8_t s)
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{
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const uint8_t msg[2] = { 'f', s };
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return transfer(msg, sizeof(msg), nullptr, 0);
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}
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int
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BlinkM::play_script(uint8_t script_id)
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{
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const uint8_t msg[4] = { 'p', script_id, 0, 0 };
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return transfer(msg, sizeof(msg), nullptr, 0);
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}
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int
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BlinkM::play_script(const char *script_name)
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{
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/* handle HTML colour encoding */
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if (isxdigit(script_name[0]) && (strlen(script_name) == 6)) {
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char code[3];
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uint8_t r, g, b;
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code[2] = '\0';
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code[0] = script_name[1];
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code[1] = script_name[2];
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r = strtol(code, 0, 16);
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code[0] = script_name[3];
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code[1] = script_name[4];
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g = strtol(code, 0, 16);
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code[0] = script_name[5];
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code[1] = script_name[6];
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b = strtol(code, 0, 16);
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stop_script();
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return set_rgb(r, g, b);
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}
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for (unsigned i = 0; script_names[i] != nullptr; i++)
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if (!strcasecmp(script_name, script_names[i]))
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return play_script(i);
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return -1;
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}
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int
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BlinkM::stop_script()
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{
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const uint8_t msg[1] = { 'o' };
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return transfer(msg, sizeof(msg), nullptr, 0);
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}
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int
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BlinkM::write_script_line(uint8_t line, uint8_t ticks, uint8_t cmd, uint8_t arg1, uint8_t arg2, uint8_t arg3)
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{
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const uint8_t msg[8] = { 'W', 0, line, ticks, cmd, arg1, arg2, arg3 };
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return transfer(msg, sizeof(msg), nullptr, 0);
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}
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int
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BlinkM::read_script_line(uint8_t line, uint8_t &ticks, uint8_t cmd[4])
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{
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const uint8_t msg[3] = { 'R', 0, line };
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uint8_t result[5];
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int ret = transfer(msg, sizeof(msg), result, sizeof(result));
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if (ret == OK) {
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ticks = result[0];
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cmd[0] = result[1];
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cmd[1] = result[2];
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cmd[2] = result[3];
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cmd[3] = result[4];
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}
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return ret;
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}
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int
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BlinkM::set_script(uint8_t len, uint8_t repeats)
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{
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const uint8_t msg[4] = { 'L', 0, len, repeats };
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return transfer(msg, sizeof(msg), nullptr, 0);
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}
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int
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BlinkM::get_rgb(uint8_t &r, uint8_t &g, uint8_t &b)
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{
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const uint8_t msg = 'g';
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uint8_t result[3];
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int ret = transfer(&msg, sizeof(msg), result, sizeof(result));
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if (ret == OK) {
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r = result[0];
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g = result[1];
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b = result[2];
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}
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return ret;
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}
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int
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BlinkM::get_firmware_version(uint8_t version[2])
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{
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const uint8_t msg = 'Z';
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return transfer(&msg, sizeof(msg), version, sizeof(version));
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}
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int
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blinkm_main(int argc, char *argv[])
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{
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if (!strcmp(argv[1], "start")) {
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if (g_blinkm != nullptr)
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errx(1, "already started");
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g_blinkm = new BlinkM(3);
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if (g_blinkm == nullptr)
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errx(1, "new failed");
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if (OK != g_blinkm->init()) {
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delete g_blinkm;
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errx(1, "init failed");
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}
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exit(0);
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}
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if (g_blinkm == nullptr)
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errx(1, "not started");
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if (!strcmp(argv[1], "list")) {
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for (unsigned i = 0; BlinkM::script_names[i] != nullptr; i++)
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fprintf(stderr, " %s\n", BlinkM::script_names[i]);
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fprintf(stderr, " <html color number>\n");
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exit(0);
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}
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/* things that require access to the device */
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int fd = open(BLINKM_DEVICE_PATH, 0);
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if (fd < 0)
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err(1, "can't open BlinkM device");
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if (ioctl(fd, BLINKM_PLAY_SCRIPT_NAMED, (unsigned long)argv[1]) == OK)
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exit(0);
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errx(1, "missing command, try 'start', 'list' or a script name");
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}
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@ -115,7 +115,7 @@ I2C::probe()
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}
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int
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I2C::transfer(uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
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I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
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{
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struct i2c_msg_s msgv[2];
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unsigned msgs;
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@ -130,7 +130,7 @@ I2C::transfer(uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len
|
|||
if (send_len > 0) {
|
||||
msgv[msgs].addr = _address;
|
||||
msgv[msgs].flags = 0;
|
||||
msgv[msgs].buffer = send;
|
||||
msgv[msgs].buffer = const_cast<uint8_t *>(send);
|
||||
msgv[msgs].length = send_len;
|
||||
msgs++;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -97,7 +97,7 @@ protected:
|
|||
* @return OK if the transfer was successful, -errno
|
||||
* otherwise.
|
||||
*/
|
||||
int transfer(uint8_t *send, unsigned send_len,
|
||||
int transfer(const uint8_t *send, unsigned send_len,
|
||||
uint8_t *recv, unsigned recv_len);
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -0,0 +1,69 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file drv_blinkm.h
|
||||
*
|
||||
* BlinkM driver API
|
||||
*
|
||||
* This could probably become a more generalised API for multi-colour LED
|
||||
* driver systems, or be merged with the generic LED driver.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
#include <sys/ioctl.h>
|
||||
|
||||
#define BLINKM_DEVICE_PATH "/dev/blinkm"
|
||||
|
||||
/*
|
||||
* ioctl() definitions
|
||||
*/
|
||||
|
||||
#define _BLINKMIOCBASE (0x2900)
|
||||
#define _BLINKMIOC(_n) (_IOC(_BLINKMIOCBASE, _n))
|
||||
|
||||
/** play the named script in *(char *)arg, repeating forever */
|
||||
#define BLINKM_PLAY_SCRIPT_NAMED _BLINKMIOC(1)
|
||||
|
||||
/** play the numbered script in (arg), repeating forever */
|
||||
#define BLINKM_PLAY_SCRIPT _BLINKMIOC(2)
|
||||
|
||||
/**
|
||||
* Set the user script; (arg) is a pointer to an array of script lines,
|
||||
* where each line is an array of four bytes giving <duration>, <command>, arg[0-2]
|
||||
*
|
||||
* The script is terminated by a zero command.
|
||||
*/
|
||||
#define BLINKM_SET_USER_SCRIPT _BLINKMIOC(3)
|
||||
|
|
@ -98,6 +98,7 @@ CONFIGURED_APPS += drivers/l3gd20
|
|||
CONFIGURED_APPS += drivers/px4io
|
||||
CONFIGURED_APPS += drivers/stm32
|
||||
CONFIGURED_APPS += drivers/led
|
||||
CONFIGURED_APPS += drivers/blinkm
|
||||
CONFIGURED_APPS += drivers/stm32/tone_alarm
|
||||
CONFIGURED_APPS += drivers/px4fmu
|
||||
CONFIGURED_APPS += drivers/hil
|
||||
|
|
|
|||
Loading…
Reference in New Issue