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Add SK6812 Serial PWM LED Driver

This commit is contained in:
David Sidrane 2021-01-19 05:58:38 -08:00 committed by Daniel Agar
parent 0b85039882
commit 64531c4521
4 changed files with 166 additions and 1 deletions
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1
platforms/nuttx/src/px4/common/CMakeLists.txt
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@ -64,3 +64,4 @@ endif()
add_dependencies(px4_layer prebuild_targets)
add_subdirectory(gpio)
add_subdirectory(srgbled)

36
platforms/nuttx/src/px4/common/srgbled/CMakeLists.txt Normal file
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@ -0,0 +1,36 @@
############################################################################
#
# Copyright (c) 2021 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.
#
############################################################################
px4_add_library(platform_srgbled
srgbled.cpp
)

128
platforms/nuttx/src/px4/common/srgbled/srgbled.cpp Normal file
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@ -0,0 +1,128 @@
/****************************************************************************
*
* Copyright (c) 2021 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 srgbled.cpp
* Author: David.Sidrane@Nscdg.com*
* This is a driver for the the neopixel class of serial RGB LEDs.
*
* It is arch dependent on ARM for the DWT and the GPIO is done in arch
* independent manner.
*
* To use this driver the board must define:
* BOARD_HAS_N_S_RGB_LED - the number of LEDs
* BOARD_SRGBLED_BIT - the bit number it is connected to. 0-n (not a mask)
and
* BOARD_SRGBLED_PORT - The address of the port's "data out" register
* the LED is connected to.
* OR
* BOARD_SRGBLED_SET_PORT - for an arch with set/clear GPIO. The address of the
* port's "SET Bit" register
* BOARD_SRGBLED_CLEAR - for an arch with set/clear GPIO. The address of the
* port's "Clear Bit" register
*
* N.B. This version is small but will disable interrupts for 30 us per LED!
* With an 8 LED's this is 240uS and not tolerable for systems with sensors.
* It is however useful in bootloaders.
*
* The DMA version of this driver should be used for systems that can not have
* interrupts for long times.
*
*/
#include <px4_platform_common/px4_config.h>
#include <drivers/drv_neopixel.h>
#include <board_config.h>
#include <dwt.h>
#include <nvic.h>
#define REG(_addr) (*(volatile uint32_t *)(_addr))
#define rDEMCR REG(NVIC_DEMCR)
#define rDWT_CTRL REG(DWT_CTRL)
#define rDWT_CNT REG(DWT_CYCCNT)
#if defined(BOARD_SRGBLED_PORT) && defined(BOARD_SRGBLED_BIT)
# define PORT REG(BOARD_SRGBLED_PORT)
# define D0 ((PORT) &= ~(1 << BOARD_SRGBLED_BIT));
# define D1 ((PORT) |= (1 << BOARD_SRGBLED_BIT));
#elif defined(BOARD_SRGBLED_SET_PORT) && defined(BOARD_SRGBLED_CLEAR_PORT) && defined(BOARD_SRGBLED_BIT)
# define PORT REG(BOARD_SRGBLED_PORT)
# define D0 ((BOARD_SRGBLED_CLEAR_PORT) |= (1 << BOARD_SRGBLED_BIT));
# define D1 ((BOARD_SRGBLED_SET_PORT) |= (1 << BOARD_SRGBLED_BIT));
#else
# error BOARD_SRGBLED_[]{SET|CLEAR}_]PORT and BOARD_SRGBLED_BIT needs to be defined.
#endif
#define DWT_DEADLINE(t) rDWT_CNT + (t)
#define DWT_WAIT(v, D) while((rDWT_CNT - (v)) < (D)){}
#define T0H (STM32_SYSCLK_FREQUENCY/3333333)
#define T1H (STM32_SYSCLK_FREQUENCY/1666666)
#define TW (STM32_SYSCLK_FREQUENCY/850000)
#define COLOR_PER_LED 3 // There is a R G B in each package.
#define BITS_PER_COLOR 8 // Each LED has 8 bits of luminosity
#define BITS_PER_PACKAGE (BITS_PER_COLOR * COLOR_PER_LED)
#if defined(BOARD_HAS_N_S_RGB_LED) && !defined(S_RGB_LED_DMA)
int neopixel_write_no_dma(uint8_t r, uint8_t g, uint8_t b, uint8_t led_count)
{
register neopixel::NeoLEDData::led_data_t data;
data.grb[2] = g;
data.grb[1] = r;
data.grb[0] = b;
rDEMCR |= NVIC_DEMCR_TRCENA;
rDWT_CTRL |= DWT_CTRL_CYCCNTENA_MASK;
irqstate_t state = px4_enter_critical_section();
while (led_count--) {
uint32_t deadline = DWT_DEADLINE(TW);
for (uint32_t mask = 1 << (BITS_PER_PACKAGE - 1); mask != 0; mask >>= 1) {
DWT_WAIT(deadline, TW);
deadline = rDWT_CNT;
D1;
DWT_WAIT(deadline, data.l & mask ? T1H : T0H);
D0;
}
DWT_WAIT(deadline, TW);
}
px4_leave_critical_section(state);
return 0;
}
#endif // BOARD_HAS_SRGBLED

2
src/drivers/lights/rgbled_pwm/rgbled_pwm.cpp
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@ -72,6 +72,7 @@ private:
};
extern int led_pwm_servo_set(unsigned channel, uint8_t value);
extern int led_pwm_servo_set_ex(uint8_t r, uint8_t g, uint8_t b, uint8_t led_count);
extern unsigned led_pwm_servo_get(unsigned channel);
extern int led_pwm_servo_init(void);
extern void led_pwm_servo_deinit(void);
@ -208,7 +209,6 @@ RGBLED_PWM::send_led_rgb()
led_pwm_servo_set(4, _g);
led_pwm_servo_set(5, _b);
#endif
return (OK);
}