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Code Pull Requests Activity

remove unused pca8574 and oreoled drivers

This commit is contained in:
BazookaJoe1900 2019-09-04 18:05:08 +03:00 committed by Daniel Agar
parent b4709d229a
commit 6ab5c2170e
32 changed files with 0 additions and 2865 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
boards/airmind/mindpx-v2/default.cmake
View File

@ -30,7 +30,6 @@ px4_add_board(
imu/mpu9250
irlock
lights/blinkm
lights/oreoled
lights/rgbled
magnetometer # all available magnetometer drivers
mkblctrl

2
boards/auav/x21/default.cmake
View File

@ -30,13 +30,11 @@ px4_add_board(
imu/mpu9250
irlock
lights/blinkm
lights/oreoled
lights/rgbled
#lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
lights/pca8574
#optical_flow # all available optical flow drivers
#optical_flow/pmw3901
optical_flow/px4flow

2
boards/av/x-v1/default.cmake
View File

@ -32,8 +32,6 @@ px4_add_board(
#imu # all available imu drivers
irlock
lights/blinkm
#lights/oreoled
#lights/pca8574
#lights/rgbled
#lights/rgbled_ncp5623c
#lights/rgbled_pwm

2
boards/mro/ctrl-zero-f7/default.cmake
View File

@ -35,8 +35,6 @@ px4_add_board(
imu/icm20948
irlock
#lights/blinkm
#lights/oreoled
#lights/pca8574
lights/rgbled
magnetometer # all available magnetometer drivers
#md25

1
boards/nxp/fmuk66-v3/default.cmake
View File

@ -32,7 +32,6 @@ px4_add_board(
imu/mpu9250
irlock
lights/blinkm
lights/oreoled
lights/rgbled
lights/rgbled_ncp5623c
lights/rgbled_pwm

1
boards/omnibus/f4sd/default.cmake
View File

@ -25,7 +25,6 @@ px4_add_board(
imu/mpu6000
#irlock
#lights/blinkm
#lights/oreoled
lights/rgbled
#magnetometer # all available magnetometer drivers
magnetometer/hmc5883

1
boards/px4/fmu-v2/default.cmake
View File

@ -42,7 +42,6 @@ px4_add_board(
#iridiumsbd
#irlock
#lights/blinkm
#lights/oreoled
lights/rgbled
#magnetometer # all available magnetometer drivers
magnetometer/hmc5883

1
boards/px4/fmu-v2/lpe.cmake
View File

@ -39,7 +39,6 @@ px4_add_board(
#iridiumsbd
irlock
#lights/blinkm
#lights/oreoled
lights/rgbled
#magnetometer # all available magnetometer drivers
magnetometer/hmc5883

1
boards/px4/fmu-v2/test.cmake
View File

@ -39,7 +39,6 @@ px4_add_board(
#iridiumsbd
#irlock
#lights/blinkm
#lights/oreoled
lights/rgbled
#magnetometer # all available magnetometer drivers
magnetometer/hmc5883

2
boards/px4/fmu-v3/default.cmake
View File

@ -38,14 +38,12 @@ px4_add_board(
imu/icm20948
irlock
lights/blinkm
lights/oreoled
lights/rgbled
lights/rgbled_ncp5623c
#lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
lights/pca8574
#optical_flow # all available optical flow drivers
optical_flow/px4flow
pca9685

2
boards/px4/fmu-v3/rtps.cmake
View File

@ -37,7 +37,6 @@ px4_add_board(
imu/mpu9250
irlock
lights/blinkm
lights/oreoled
lights/rgbled
lights/rgbled_ncp5623c
#lights/rgbled_pwm
@ -46,7 +45,6 @@ px4_add_board(
mkblctrl
#optical_flow # all available optical flow drivers
optical_flow/px4flow
lights/pca8574
pca9685
protocol_splitter
pwm_input

2
boards/px4/fmu-v3/stackcheck.cmake
View File

@ -37,8 +37,6 @@ px4_add_board(
imu/mpu9250
irlock
lights/blinkm
lights/oreoled
lights/pca8574
lights/rgbled
lights/rgbled_ncp5623c
#lights/rgbled_pwm

1
boards/px4/fmu-v4/default.cmake
View File

@ -28,7 +28,6 @@ px4_add_board(
imu # all available imu drivers
irlock
lights/blinkm
lights/oreoled
lights/rgbled
lights/rgbled_ncp5623c
magnetometer # all available magnetometer drivers

1
boards/px4/fmu-v4/rtps.cmake
View File

@ -28,7 +28,6 @@ px4_add_board(
imu # all available imu drivers
irlock
lights/blinkm
lights/oreoled
lights/rgbled
lights/rgbled_ncp5623c
magnetometer # all available magnetometer drivers

1
boards/px4/fmu-v4/stackcheck.cmake
View File

@ -28,7 +28,6 @@ px4_add_board(
imu # all available imu drivers
irlock
lights/blinkm
lights/oreoled
lights/rgbled
lights/rgbled_ncp5623c
magnetometer # all available magnetometer drivers

2
boards/px4/fmu-v4pro/default.cmake
View File

@ -36,8 +36,6 @@ px4_add_board(
imu/mpu9250
irlock
lights/blinkm
lights/oreoled
lights/pca8574
lights/rgbled
lights/rgbled_ncp5623c
#lights/rgbled_pwm

2
boards/px4/fmu-v4pro/rtps.cmake
View File

@ -35,14 +35,12 @@ px4_add_board(
imu/mpu9250
irlock
lights/blinkm
lights/oreoled
lights/rgbled
lights/rgbled_ncp5623c
#lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
lights/pca8574
#optical_flow # all available optical flow drivers
optical_flow/px4flow
pca9685

2
boards/px4/fmu-v5/critmonitor.cmake
View File

@ -35,8 +35,6 @@ px4_add_board(
imu/mpu9250
irlock
lights/blinkm
lights/oreoled
lights/pca8574
lights/rgbled
lights/rgbled_ncp5623c
lights/rgbled_pwm

2
boards/px4/fmu-v5/default.cmake
View File

@ -35,8 +35,6 @@ px4_add_board(
imu/mpu9250
irlock
lights/blinkm
lights/oreoled
lights/pca8574
lights/rgbled
lights/rgbled_ncp5623c
lights/rgbled_pwm

2
boards/px4/fmu-v5/irqmonitor.cmake
View File

@ -35,8 +35,6 @@ px4_add_board(
imu/mpu9250
irlock
lights/blinkm
lights/oreoled
lights/pca8574
lights/rgbled
lights/rgbled_ncp5623c
lights/rgbled_pwm

1
boards/px4/fmu-v5/multicopter.cmake
View File

@ -29,7 +29,6 @@ px4_add_board(
imu/mpu6000
irlock
lights/blinkm
lights/oreoled
lights/rgbled
lights/rgbled_ncp5623c
lights/rgbled_pwm

1
boards/px4/fmu-v5/rover.cmake
View File

@ -26,7 +26,6 @@ px4_add_board(
gps
imu/bmi055
imu/mpu6000
lights/pca8574
lights/rgbled
lights/rgbled_ncp5623c
lights/rgbled_pwm

2
boards/px4/fmu-v5/rtps.cmake
View File

@ -34,8 +34,6 @@ px4_add_board(
imu/mpu9250
irlock
lights/blinkm
lights/oreoled
lights/pca8574
lights/rgbled
lights/rgbled_ncp5623c
lights/rgbled_pwm

2
boards/px4/fmu-v5/stackcheck.cmake
View File

@ -34,8 +34,6 @@ px4_add_board(
#imu/mpu9250
#irlock
#lights/blinkm
#lights/oreoled
lights/pca8574
lights/rgbled
#lights/rgbled_ncp5623c
lights/rgbled_pwm

2
boards/px4/fmu-v5x/default.cmake
View File

@ -36,8 +36,6 @@ px4_add_board(
imu/mpu6000
irlock
lights/blinkm
lights/oreoled
lights/pca8574
lights/rgbled
lights/rgbled_ncp5623c
magnetometer # all available magnetometer drivers

1
boards/uvify/core/default.cmake
View File

@ -31,7 +31,6 @@ px4_add_board(
imu/mpu9250
irlock
#lights/blinkm
#lights/oreoled
#lights/rgbled
lights/rgbled_ncp5623c
#magnetometer # all available magnetometer drivers

219
src/drivers/drv_oreoled.h
View File

@ -1,219 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012-2013 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_oreoled.h
*
* Oreo led device API
*/
#pragma once
#include <stdint.h>
#include <sys/ioctl.h>
/* oreoled device path */
#define OREOLED0_DEVICE_PATH "/dev/oreoled0"
/*
* ioctl() definitions
*/
#define _OREOLEDIOCBASE (0x2d00)
#define _OREOLEDIOC(_n) (_IOC(_OREOLEDIOCBASE, _n))
/** set constant RGB values */
#define OREOLED_SET_RGB _OREOLEDIOC(1)
/** run macro */
#define OREOLED_RUN_MACRO _OREOLEDIOC(2)
/** send bytes */
#define OREOLED_SEND_BYTES _OREOLEDIOC(3)
/** send reset */
#define OREOLED_SEND_RESET _OREOLEDIOC(4)
/** boot ping */
#define OREOLED_BL_PING _OREOLEDIOC(5)
/** boot version */
#define OREOLED_BL_VER _OREOLEDIOC(6)
/** boot write flash */
#define OREOLED_BL_FLASH _OREOLEDIOC(7)
/** boot application version */
#define OREOLED_BL_APP_VER _OREOLEDIOC(8)
/** boot application crc */
#define OREOLED_BL_APP_CRC _OREOLEDIOC(9)
/** boot startup colour */
#define OREOLED_BL_SET_COLOUR _OREOLEDIOC(10)
/** boot application */
#define OREOLED_BL_BOOT_APP _OREOLEDIOC(11)
/** force an i2c gencall */
#define OREOLED_FORCE_SYNC _OREOLEDIOC(12)
/* Oreo LED driver supports up to 4 leds */
#define OREOLED_NUM_LEDS 4
/* instance of 0xff means apply to all instances */
#define OREOLED_ALL_INSTANCES 0xff
/* maximum command length that can be sent to LEDs */
#define OREOLED_CMD_LENGTH_MAX 70
/* maximum command length that can be read from LEDs */
#define OREOLED_CMD_READ_LENGTH_MAX 10
/* maximum number of commands retries */
#define OEROLED_COMMAND_RETRIES 10
/* magic number used to verify the software reset is valid */
#define OEROLED_RESET_NONCE 0x2A
/* microseconds to hold-off between write and reads */
#define OREOLED_WRITE_READ_HOLDOFF_US 500
/* microseconds to hold-off between retries */
#define OREOLED_RETRY_HOLDOFF_US 200
#define OEROLED_BOOT_COMMAND_RETRIES 25
#define OREOLED_BOOT_FLASH_WAITMS 10
#define OREOLED_BOOT_SUPPORTED_VER 0x01
#define OREOLED_BOOT_CMD_PING 0x40
#define OREOLED_BOOT_CMD_BL_VER 0x41
#define OREOLED_BOOT_CMD_APP_VER 0x42
#define OREOLED_BOOT_CMD_APP_CRC 0x43
#define OREOLED_BOOT_CMD_SET_COLOUR 0x44
#define OREOLED_BOOT_CMD_WRITE_FLASH_A 0x50
#define OREOLED_BOOT_CMD_WRITE_FLASH_B 0x51
#define OREOLED_BOOT_CMD_FINALISE_FLASH 0x55
#define OREOLED_BOOT_CMD_BOOT_APP 0x60
#define OREOLED_BOOT_CMD_PING_NONCE 0x2A
#define OREOLED_BOOT_CMD_BOOT_NONCE 0xA2
#define OREOLED_FW_FILE_HEADER_LENGTH 2
#define OREOLED_FW_FILE_SIZE_LIMIT 6144
#define OREOLED_FW_FILE "/etc/firmware/oreoled.bin"
/* enum passed to OREOLED_SET_MODE ioctl()
* defined by hardware */
enum oreoled_pattern {
OREOLED_PATTERN_OFF = 0,
OREOLED_PATTERN_SINE = 1,
OREOLED_PATTERN_SOLID = 2,
OREOLED_PATTERN_SIREN = 3,
OREOLED_PATTERN_STROBE = 4,
OREOLED_PATTERN_FADEIN = 5,
OREOLED_PATTERN_FADEOUT = 6,
OREOLED_PATTERN_PARAMUPDATE = 7,
OREOLED_PATTERN_ENUM_COUNT
};
/* enum passed to OREOLED_SET_MODE ioctl()
* defined by hardware */
enum oreoled_param {
OREOLED_PARAM_BIAS_RED = 0,
OREOLED_PARAM_BIAS_GREEN = 1,
OREOLED_PARAM_BIAS_BLUE = 2,
OREOLED_PARAM_AMPLITUDE_RED = 3,
OREOLED_PARAM_AMPLITUDE_GREEN = 4,
OREOLED_PARAM_AMPLITUDE_BLUE = 5,
OREOLED_PARAM_PERIOD = 6,
OREOLED_PARAM_REPEAT = 7,
OREOLED_PARAM_PHASEOFFSET = 8,
OREOLED_PARAM_MACRO = 9,
OREOLED_PARAM_RESET = 10,
OREOLED_PARAM_APP_CHECKSUM = 11,
OREOLED_PARAM_ENUM_COUNT
};
/* enum of available macros
* defined by hardware */
enum oreoled_macro {
OREOLED_PARAM_MACRO_RESET = 0,
OREOLED_PARAM_MACRO_COLOUR_CYCLE = 1,
OREOLED_PARAM_MACRO_BREATH = 2,
OREOLED_PARAM_MACRO_STROBE = 3,
OREOLED_PARAM_MACRO_FADEIN = 4,
OREOLED_PARAM_MACRO_FADEOUT = 5,
OREOLED_PARAM_MACRO_RED = 6,
OREOLED_PARAM_MACRO_GREEN = 7,
OREOLED_PARAM_MACRO_BLUE = 8,
OREOLED_PARAM_MACRO_YELLOW = 9,
OREOLED_PARAM_MACRO_WHITE = 10,
OREOLED_PARAM_MACRO_AUTOMOBILE = 11,
OREOLED_PARAM_MACRO_AVIATION = 12,
OREOLED_PARAM_MACRO_ENUM_COUNT
};
/*
structure passed to OREOLED_SET_RGB ioctl()
Note that the driver scales the brightness to 0 to 255, regardless
of the hardware scaling
*/
typedef struct {
uint8_t instance;
oreoled_pattern pattern;
uint8_t red;
uint8_t green;
uint8_t blue;
} oreoled_rgbset_t;
/*
structure passed to OREOLED_RUN_MACRO ioctl()
*/
typedef struct {
uint8_t instance;
oreoled_macro macro;
} oreoled_macrorun_t;
/*
structure passed to send_bytes method (only used for testing)
*/
typedef struct {
uint8_t led_num;
uint8_t num_bytes;
uint8_t buff[OREOLED_CMD_LENGTH_MAX];
} oreoled_cmd_t;

2
src/drivers/lights/CMakeLists.txt
View File

@ -32,8 +32,6 @@
############################################################################
add_subdirectory(blinkm)
add_subdirectory(oreoled)
add_subdirectory(pca8574)
add_subdirectory(rgbled)
add_subdirectory(rgbled_ncp5623c)
add_subdirectory(rgbled_pwm)

41
src/drivers/lights/oreoled/CMakeLists.txt
View File

@ -1,41 +0,0 @@
############################################################################
#
# Copyright (c) 2015 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_module(
MODULE drivers__oreoled
MAIN oreoled
COMPILE_FLAGS
SRCS
oreoled.cpp
DEPENDS
)

2003
src/drivers/lights/oreoled/oreoled.cpp
View File

File diff suppressed because it is too large Load Diff

40
src/drivers/lights/pca8574/CMakeLists.txt
View File

@ -1,40 +0,0 @@
############################################################################
#
# Copyright (c) 2015 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_module(
MODULE drivers__pca8574
MAIN pca8574
COMPILE_FLAGS
SRCS
pca8574.cpp
DEPENDS
)

520
src/drivers/lights/pca8574/pca8574.cpp
View File

@ -1,520 +0,0 @@
/****************************************************************************
*
* 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
* 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 pca8574.cpp
*
* Driver for an 8 I/O controller (PC8574) connected via I2C.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <string.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_io_expander.h>
#include <px4_getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/err.h>
#define PCA8574_ONTIME 120
#define PCA8574_OFFTIME 120
#define PCA8574_DEVICE_PATH "/dev/pca8574"
#define ADDR 0x20 ///< I2C adress of PCA8574 (default, A0-A2 pulled to GND)
class PCA8574 : public device::I2C, public px4::ScheduledWorkItem
{
public:
PCA8574(int bus, int pca8574);
virtual ~PCA8574() = default;
virtual int probe();
virtual int info();
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
bool is_running() { return _running; }
private:
uint8_t _values_out;
uint8_t _values_in;
uint8_t _blinking;
uint8_t _blink_phase;
enum IOX_MODE _mode;
bool _running;
int _led_interval;
bool _should_run;
bool _update_out;
int _counter;
void Run() override;
int send_led_enable(uint8_t arg);
int send_led_values();
int get(uint8_t &vals);
};
/* for now, we only support one PCA8574 */
namespace
{
PCA8574 *g_pca8574;
}
void pca8574_usage();
extern "C" __EXPORT int pca8574_main(int argc, char *argv[]);
PCA8574::PCA8574(int bus, int pca8574) :
I2C("pca8574", PCA8574_DEVICE_PATH, bus, pca8574, 100000),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
_values_out(0),
_values_in(0),
_blinking(0),
_blink_phase(0),
_mode(IOX_MODE_OFF),
_running(false),
_led_interval(80),
_should_run(false),
_update_out(false),
_counter(0)
{
}
int
PCA8574::probe()
{
uint8_t val;
return get(val);
}
int
PCA8574::info()
{
int ret = OK;
return ret;
}
int
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 on / off state
uint8_t position = (1 << (cmd - IOX_SET_VALUE));
uint8_t prev = _values_out;
if (arg) {
_values_out |= position;
} else {
_values_out &= ~(position);
}
if (_values_out != prev) {
if (_values_out) {
_mode = IOX_MODE_ON;
}
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
ret = CDev::ioctl(filp, cmd, arg);
break;
}
return ret;
}
/**
* Main loop function
*/
void
PCA8574::Run()
{
if (_mode == IOX_MODE_TEST_OUT) {
// we count only seven states
_counter &= 0xF;
_counter++;
for (int i = 0; i < 8; i++) {
if (i < _counter) {
_values_out |= (1 << i);
} else {
_values_out &= ~(1 << i);
}
}
_update_out = true;
_should_run = true;
} else if (_mode == IOX_MODE_OFF) {
_update_out = true;
_should_run = false;
} else {
// Any of the normal modes
if (_blinking > 0) {
/* we need to be running to blink */
_should_run = true;
} else {
_should_run = false;
}
}
if (_update_out) {
uint8_t msg;
if (_blinking) {
msg = (_values_out & _blinking & _blink_phase);
// wipe out all positions that are marked as blinking
msg &= ~(_blinking);
// fill blink positions
msg |= ((_blink_phase) ? _blinking : 0);
_blink_phase = !_blink_phase;
} else {
msg = _values_out;
}
int ret = transfer(&msg, sizeof(msg), nullptr, 0);
if (!ret) {
_update_out = false;
}
}
// check if any activity remains, else stp
if (!_should_run) {
_running = false;
return;
}
// re-queue ourselves to run again later
_running = true;
ScheduleDelayed(_led_interval);
}
/**
* Sent ENABLE flag to LED driver
*/
int
PCA8574::send_led_enable(uint8_t arg)
{
int ret = transfer(&arg, sizeof(arg), nullptr, 0);
return ret;
}
/**
* Send 8 outputs
*/
int
PCA8574::send_led_values()
{
_update_out = true;
// if not active, kick it
if (!_running) {
_running = true;
ScheduleNow();
}
return 0;
}
int
PCA8574::get(uint8_t &vals)
{
uint8_t result;
int ret;
ret = transfer(nullptr, 0, &result, 1);
if (ret == OK) {
_values_in = result;
vals = result;
}
return ret;
}
void
pca8574_usage()
{
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);
}
int
pca8574_main(int argc, char *argv[])
{
int i2cdevice = -1;
int pca8574adr = ADDR; // 7bit
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
// jump over start/off/etc and look at options first
while ((ch = px4_getopt(argc, argv, "a:b:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'a':
pca8574adr = strtol(myoptarg, NULL, 0);
break;
case 'b':
i2cdevice = strtol(myoptarg, NULL, 0);
break;
default:
pca8574_usage();
exit(0);
}
}
if (myoptind >= argc) {
pca8574_usage();
exit(0);
}
const char *verb = argv[myoptind];
int fd;
int ret;
if (!strcmp(verb, "start")) {
if (g_pca8574 != nullptr) {
errx(1, "already started");
}
if (i2cdevice == -1) {
// try the external bus first
i2cdevice = PX4_I2C_BUS_EXPANSION;
g_pca8574 = new PCA8574(PX4_I2C_BUS_EXPANSION, pca8574adr);
if (g_pca8574 != nullptr && OK != g_pca8574->init()) {
delete g_pca8574;
g_pca8574 = nullptr;
}
if (g_pca8574 == nullptr) {
// fall back to default bus
if (PX4_I2C_BUS_LED == PX4_I2C_BUS_EXPANSION) {
errx(1, "init failed");
}
i2cdevice = PX4_I2C_BUS_LED;
}
}
if (g_pca8574 == nullptr) {
g_pca8574 = new PCA8574(i2cdevice, pca8574adr);
if (g_pca8574 == nullptr) {
errx(1, "new failed");
}
if (OK != g_pca8574->init()) {
delete g_pca8574;
g_pca8574 = nullptr;
errx(1, "init failed");
}
}
exit(0);
}
// need the driver past this point
if (g_pca8574 == nullptr) {
warnx("not started, run pca8574 start");
exit(1);
}
if (!strcmp(verb, "test")) {
fd = open(PCA8574_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " PCA8574_DEVICE_PATH);
}
ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_TEST_OUT);
close(fd);
exit(ret);
}
if (!strcmp(verb, "info")) {
g_pca8574->info();
exit(0);
}
if (!strcmp(verb, "off")) {
fd = open(PCA8574_DEVICE_PATH, 0);
if (fd < 0) {
errx(1, "Unable to open " PCA8574_DEVICE_PATH);
}
ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_OFF);
close(fd);
exit(ret);
}
if (!strcmp(verb, "stop")) {
fd = open(PCA8574_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " PCA8574_DEVICE_PATH);
}
ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_OFF);
close(fd);
// wait until we're not running any more
for (unsigned i = 0; i < 15; i++) {
if (!g_pca8574->is_running()) {
break;
}
usleep(50000);
printf(".");
fflush(stdout);
}
printf("\n");
fflush(stdout);
if (!g_pca8574->is_running()) {
delete g_pca8574;
g_pca8574 = nullptr;
exit(0);
} else {
warnx("stop failed.");
exit(1);
}
}
if (!strcmp(verb, "val")) {
if (argc < 4) {
errx(1, "Usage: pca8574 val <channel> <0 or 1>");
}
fd = open(PCA8574_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " PCA8574_DEVICE_PATH);
}
unsigned channel = strtol(argv[2], NULL, 0);
unsigned val = strtol(argv[3], NULL, 0);
if (channel < 8) {
ret = ioctl(fd, (IOX_SET_VALUE + channel), val);
} else {
ret = -1;
}
close(fd);
exit(ret);
}
pca8574_usage();
exit(0);
}