cuav_can-gps-v1 Use SK6812 Serial PWM LED Driver

boards/cuav/can-gps-v1/default.cmake

@@ -17,6 +17,7 @@ add_definitions(
 	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
 	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
 )
+add_definitions(-DUSE_S_RGB_LED_DMA)
 
 px4_add_board(
 	PLATFORM nuttx
@@ -31,6 +32,7 @@ px4_add_board(
 		barometer/ms5611
 		bootloaders
 		gps
+		lights/neopixel
 		magnetometer/rm3100
 		safety_button
 		tone_alarm

boards/cuav/can-gps-v1/init/rc.board_defaults

@@ -2,7 +2,7 @@
 #
 # board specific defaults
 #------------------------------------------------------------------------------
-
+neopixel start
 
 if [ $AUTOCNF = yes ]
 then

boards/cuav/can-gps-v1/nuttx-config/include/board.h

@@ -33,6 +33,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ************************************************************************************/
+#include "board_dma_map.h"
 
 #ifndef __ARCH_BOARD_BOARD_H
 #define __ARCH_BOARD_BOARD_H

boards/cuav/can-gps-v1/nuttx-config/include/board_dma_map.h

@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// N.B. Map not included as it is not correct for an F412
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMAMAP_TIM1_CH2   DMAMAP_TIM1_CH2_2   // DMA2, Stream 6, Channel 6    SLED

boards/cuav/can-gps-v1/src/CMakeLists.txt

@@ -36,14 +36,16 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
 	add_library(drivers_board
 		boot_config.h
 		boot.c
-		led.c
+		led.cpp
 		led.h
 	)
+
 	target_link_libraries(drivers_board
 		PRIVATE
 			nuttx_arch
 			nuttx_drivers
 			canbootloader
+			platform_srgbled
 	)
 	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
 

boards/cuav/can-gps-v1/src/board_config.h

@@ -51,6 +51,9 @@
 #define BUTTON_SAFETY         /* PB3  */  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN3|GPIO_EXTI)
 
 #define GPIO_RGB_S            /* PB0  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
+#define BOARD_SRGBLED_PORT    STM32_GPIOB_ODR
+#define BOARD_SRGBLED_BIT     0
+
 /* CAN Silence
  *
  * Silent mode control \ ESC Mux select
@@ -71,7 +74,22 @@
 #define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */
 
 __BEGIN_DECLS
+#define BOARD_HAS_N_S_RGB_LED       8  /* Uses 8 SK6812 digital led chip */
+#define BOARD_MAX_LEDS              BOARD_HAS_N_S_RGB_LED
 
+/* USE_S_RGB_LED_DMAis passed in from the *.cmake file
+ * Bootloader is not timming sensitive and can use the SW version as a
+ * size savings
+ * The Application can not as it needs DMA to maintain reall time.
+ */
+
+#if defined(USE_S_RGB_LED_DMA)
+#  define S_RGB_LED_DMA              DMAMAP_TIM1_CH2
+#  define S_RGB_LED_TIMER                1   /* timer 1    */
+#  define S_RGB_LED_CHANNEL              2   /* channel 2  */
+#  define S_RGB_LED_CHANNELN             1   /* channel 2N */
+#  define S_RGB_LED_TIM_GPIO             GPIO_TIM1_CH2N_1
+#endif
 #ifndef __ASSEMBLY__
 
 /****************************************************************************************************

boards/cuav/can-gps-v1/src/boot_config.h

@@ -70,7 +70,7 @@
 #define OPT_NODE_STATUS_RATE_MS         800
 #define OPT_NODE_INFO_RATE_MS           50
 #define OPT_BL_NUMBER_TIMERS            7
-
+#undef  S_RGB_LED_DMA                   // use the poled one
 /*
  *  This Option set is set to 1 ensure a provider of firmware has an
  *  opportunity update the node's firmware.

boards/cuav/can-gps-v1/src/led.cpp

@@ -41,6 +41,7 @@
 #include <hardware/stm32_tim.h>
 #include <dwt.h>
 #include <nvic.h>
+#include <drivers/drv_neopixel.h>
 
 #include "led.h"
 
@@ -48,67 +49,15 @@
 #define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
 #define TMR_REG(o)      (TMR_BASE+(o))
 
-#define LED_COUNT       8 // Eight LEDs in ring
+static  uint8_t _rgb[] = {0, 0, 0};
-
-typedef union {
-	uint8_t  grb[3];
-	uint32_t l;
-} led_data_t;
-
-static  uint8_t off[] =  {0, 0, 0};
-
-#define REG(_addr)       (*(volatile uint32_t *)(_addr))
-#define rDEMCR           REG(NVIC_DEMCR)
-#define rDWT_CTRL        REG(DWT_CTRL)
-#define rDWT_CNT         REG(DWT_CYCCNT)
-#define PORT_B           REG(STM32_GPIOB_ODR)
-#define D0               REG(STM32_GPIOB_ODR) &= ~1;
-#define D1               REG(STM32_GPIOB_ODR) |= 1;
-
-#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/800000)
-
-static void setled(uint8_t *p, int count)
-{
-	rDEMCR    |= NVIC_DEMCR_TRCENA;
-	rDWT_CTRL |= DWT_CTRL_CYCCNTENA_MASK;
-
-	while (count--) {
-		uint8_t l = *p++;
-		uint32_t  deadline = DWT_DEADLINE(TW);
-
-		for (uint32_t mask = (1 << 7);  mask != 0;  mask >>= 1) {
-			DWT_WAIT(deadline, TW);
-			deadline = rDWT_CNT;
-			D1;
-
-			if (l & mask) {
-				DWT_WAIT(deadline, T1H);
-
-			} else {
-				DWT_WAIT(deadline, T0H);
-			}
-
-			D0;
-		}
-
-		DWT_WAIT(deadline, TW);
-	}
-}
-
-
-static led_data_t led_data = {0};
 
 static int timerInterrupt(int irq, void *context, void *arg)
 {
 	putreg16(~getreg16(TMR_REG(STM32_GTIM_SR_OFFSET)), TMR_REG(STM32_GTIM_SR_OFFSET));
 
 	static int d2 = 1;
-	setled((d2++ & 1) ? led_data.grb : off, sizeof(led_data.grb));
+	(d2++ & 1) ? neopixel_write_no_dma(0, 0, 0, 1) : neopixel_write_no_dma(_rgb[0], _rgb[1], _rgb[2], 1);
+
 	return 0;
 }
 
@@ -126,11 +75,7 @@ void rgb_led(int r, int g, int b, int freqs)
 
 		stm32_configgpio(GPIO_RGB_S);
 
-		for (int i = 0; i < LED_COUNT; i++) {
+		neopixel_write_no_dma(0, 0, 0, BOARD_HAS_N_S_RGB_LED);
-			setled(off, sizeof(off));
-		}
-
-		/* Enable Clock to Block */
 
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
 
@@ -156,10 +101,10 @@ void rgb_led(int r, int g, int b, int freqs)
 	long p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
 	putreg32(p + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));
 	putreg32(p, TMR_REG(STM32_GTIM_CCR1_OFFSET));
-	led_data.grb[0] = g;
+	_rgb[0] = r;
-	led_data.grb[1] = r;
+	_rgb[1] = g;
-	led_data.grb[2] = b;
+	_rgb[2] = b;
-	setled(led_data.grb, sizeof(led_data.grb));
+	neopixel_write_no_dma(_rgb[0], _rgb[1], _rgb[2], 1);
 
 	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));