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Merge pull request #90 from PX4/#89-BlinkM-driver 

BlinkM driver
This commit is contained in:
px4dev 2012-12-01 22:59:36 -08:00
parent b02c69243d 269bd9f403
commit ad6c60c77c
6 changed files with 580 additions and 3 deletions
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42
apps/drivers/blinkm/Makefile Normal file
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@ -0,0 +1,42 @@
############################################################################
#
# 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.
#
############################################################################
#
# BlinkM I2C LED driver
#
APPNAME = blinkm
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk

465
apps/drivers/blinkm/blinkm.cpp Normal file
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/****************************************************************************
*
* 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 blinkm.cpp
*
* Driver for the BlinkM LED controller connected via I2C.
*/
#include <nuttx/config.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
#include <ctype.h>
#include <drivers/drv_blinkm.h>
#include <nuttx/wqueue.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
class BlinkM : public device::I2C
{
public:
BlinkM(int bus);
~BlinkM();
virtual int init();
virtual int probe();
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
static const char *script_names[];
private:
enum ScriptID {
USER = 0,
RGB,
WHITE_FLASH,
RED_FLASH,
GREEN_FLASH,
BLUE_FLASH,
CYAN_FLASH,
MAGENTA_FLASH,
YELLOW_FLASH,
BLACK,
HUE_CYCLE,
MOOD_LIGHT,
VIRTUAL_CANDLE,
WATER_REFLECTIONS,
OLD_NEON,
THE_SEASONS,
THUNDERSTORM,
STOP_LIGHT,
MORSE_CODE
};
work_s _work;
static const unsigned _monitor_interval = 250;
static void monitor_trampoline(void *arg);
void monitor();
int set_rgb(uint8_t r, uint8_t g, uint8_t b);
int fade_rgb(uint8_t r, uint8_t g, uint8_t b);
int fade_hsb(uint8_t h, uint8_t s, uint8_t b);
int fade_rgb_random(uint8_t r, uint8_t g, uint8_t b);
int fade_hsb_random(uint8_t h, uint8_t s, uint8_t b);
int set_fade_speed(uint8_t s);
int play_script(uint8_t script_id);
int play_script(const char *script_name);
int stop_script();
int write_script_line(uint8_t line, uint8_t ticks, uint8_t cmd, uint8_t arg1, uint8_t arg2, uint8_t arg3);
int read_script_line(uint8_t line, uint8_t &ticks, uint8_t cmd[4]);
int set_script(uint8_t length, uint8_t repeats);
int get_rgb(uint8_t &r, uint8_t &g, uint8_t &b);
int get_firmware_version(uint8_t version[2]);
};
/* for now, we only support one BlinkM */
namespace
{
BlinkM *g_blinkm;
}
/* list of script names, must match script ID numbers */
const char *BlinkM::script_names[] = {
"USER",
"RGB",
"WHITE_FLASH",
"RED_FLASH",
"GREEN_FLASH",
"BLUE_FLASH",
"CYAN_FLASH",
"MAGENTA_FLASH",
"YELLOW_FLASH",
"BLACK",
"HUE_CYCLE",
"MOOD_LIGHT",
"VIRTUAL_CANDLE",
"WATER_REFLECTIONS",
"OLD_NEON",
"THE_SEASONS",
"THUNDERSTORM",
"STOP_LIGHT",
"MORSE_CODE",
nullptr
};
extern "C" __EXPORT int blinkm_main(int argc, char *argv[]);
BlinkM::BlinkM(int bus) :
I2C("blinkm", BLINKM_DEVICE_PATH, bus, 0x09, 100000)
{
}
BlinkM::~BlinkM()
{
}
int
BlinkM::init()
{
int ret;
ret = I2C::init();
if (ret != OK) {
warnx("I2C init failed");
return ret;
}
/* set some sensible defaults */
set_fade_speed(25);
/* turn off by default */
play_script(BLACK);
/* start the system monitor as a low-priority workqueue entry */
work_queue(LPWORK, &_work, (worker_t)&BlinkM::monitor_trampoline, this, 1);
return OK;
}
int
BlinkM::probe()
{
uint8_t version[2];
int ret;
ret = get_firmware_version(version);
if (ret == OK)
log("found BlinkM firmware version %c%c", version[1], version[0]);
return ret;
}
int
BlinkM::ioctl(struct file *filp, int cmd, unsigned long arg)
{
int ret = ENOTTY;
switch (cmd) {
case BLINKM_PLAY_SCRIPT_NAMED:
if (arg == 0) {
ret = EINVAL;
break;
}
ret = play_script((const char *)arg);
break;
case BLINKM_PLAY_SCRIPT:
ret = play_script(arg);
break;
case BLINKM_SET_USER_SCRIPT: {
if (arg == 0) {
ret = EINVAL;
break;
}
unsigned lines = 0;
const uint8_t *script = (const uint8_t *)arg;
while ((lines < 50) && (script[1] != 0)) {
ret = write_script_line(lines, script[0], script[1], script[2], script[3], script[4]);
if (ret != OK)
break;
script += 5;
}
if (ret == OK)
ret = set_script(lines, 0);
break;
}
default:
break;
}
return ret;
}
void
BlinkM::monitor_trampoline(void *arg)
{
BlinkM *bm = (BlinkM *)arg;
bm->monitor();
}
void
BlinkM::monitor()
{
/* check system state, possibly update LED to suit */
/* re-queue ourselves to run again later */
work_queue(LPWORK, &_work, (worker_t)&BlinkM::monitor_trampoline, this, _monitor_interval);
}
int
BlinkM::set_rgb(uint8_t r, uint8_t g, uint8_t b)
{
const uint8_t msg[4] = { 'n', r, g, b };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::fade_rgb(uint8_t r, uint8_t g, uint8_t b)
{
const uint8_t msg[4] = { 'c', r, g, b };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::fade_hsb(uint8_t h, uint8_t s, uint8_t b)
{
const uint8_t msg[4] = { 'h', h, s, b };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::fade_rgb_random(uint8_t r, uint8_t g, uint8_t b)
{
const uint8_t msg[4] = { 'C', r, g, b };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::fade_hsb_random(uint8_t h, uint8_t s, uint8_t b)
{
const uint8_t msg[4] = { 'H', h, s, b };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::set_fade_speed(uint8_t s)
{
const uint8_t msg[2] = { 'f', s };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::play_script(uint8_t script_id)
{
const uint8_t msg[4] = { 'p', script_id, 0, 0 };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::play_script(const char *script_name)
{
/* handle HTML colour encoding */
if (isxdigit(script_name[0]) && (strlen(script_name) == 6)) {
char code[3];
uint8_t r, g, b;
code[2] = '\0';
code[0] = script_name[1];
code[1] = script_name[2];
r = strtol(code, 0, 16);
code[0] = script_name[3];
code[1] = script_name[4];
g = strtol(code, 0, 16);
code[0] = script_name[5];
code[1] = script_name[6];
b = strtol(code, 0, 16);
stop_script();
return set_rgb(r, g, b);
}
for (unsigned i = 0; script_names[i] != nullptr; i++)
if (!strcasecmp(script_name, script_names[i]))
return play_script(i);
return -1;
}
int
BlinkM::stop_script()
{
const uint8_t msg[1] = { 'o' };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::write_script_line(uint8_t line, uint8_t ticks, uint8_t cmd, uint8_t arg1, uint8_t arg2, uint8_t arg3)
{
const uint8_t msg[8] = { 'W', 0, line, ticks, cmd, arg1, arg2, arg3 };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::read_script_line(uint8_t line, uint8_t &ticks, uint8_t cmd[4])
{
const uint8_t msg[3] = { 'R', 0, line };
uint8_t result[5];
int ret = transfer(msg, sizeof(msg), result, sizeof(result));
if (ret == OK) {
ticks = result[0];
cmd[0] = result[1];
cmd[1] = result[2];
cmd[2] = result[3];
cmd[3] = result[4];
}
return ret;
}
int
BlinkM::set_script(uint8_t len, uint8_t repeats)
{
const uint8_t msg[4] = { 'L', 0, len, repeats };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::get_rgb(uint8_t &r, uint8_t &g, uint8_t &b)
{
const uint8_t msg = 'g';
uint8_t result[3];
int ret = transfer(&msg, sizeof(msg), result, sizeof(result));
if (ret == OK) {
r = result[0];
g = result[1];
b = result[2];
}
return ret;
}
int
BlinkM::get_firmware_version(uint8_t version[2])
{
const uint8_t msg = 'Z';
return transfer(&msg, sizeof(msg), version, sizeof(version));
}
int
blinkm_main(int argc, char *argv[])
{
if (!strcmp(argv[1], "start")) {
if (g_blinkm != nullptr)
errx(1, "already started");
g_blinkm = new BlinkM(3);
if (g_blinkm == nullptr)
errx(1, "new failed");
if (OK != g_blinkm->init()) {
delete g_blinkm;
g_blinkm = nullptr;
errx(1, "init failed");
}
exit(0);
}
if (g_blinkm == nullptr)
errx(1, "not started");
if (!strcmp(argv[1], "list")) {
for (unsigned i = 0; BlinkM::script_names[i] != nullptr; i++)
fprintf(stderr, " %s\n", BlinkM::script_names[i]);
fprintf(stderr, " <html color number>\n");
exit(0);
}
/* things that require access to the device */
int fd = open(BLINKM_DEVICE_PATH, 0);
if (fd < 0)
err(1, "can't open BlinkM device");
if (ioctl(fd, BLINKM_PLAY_SCRIPT_NAMED, (unsigned long)argv[1]) == OK)
exit(0);
errx(1, "missing command, try 'start', 'list' or a script name");
}

4
apps/drivers/device/i2c.cpp
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@ -115,7 +115,7 @@ I2C::probe()
} }
int int
I2C::transfer(uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len) I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
{ {
struct i2c_msg_s msgv[2]; struct i2c_msg_s msgv[2];
unsigned msgs; unsigned msgs;
@ -130,7 +130,7 @@ I2C::transfer(uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len
if (send_len > 0) { if (send_len > 0) {
msgv[msgs].addr = _address; msgv[msgs].addr = _address;
msgv[msgs].flags = 0; msgv[msgs].flags = 0;
msgv[msgs].buffer = send; msgv[msgs].buffer = const_cast<uint8_t *>(send);
msgv[msgs].length = send_len; msgv[msgs].length = send_len;
msgs++; msgs++;
} }

2
apps/drivers/device/i2c.h
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@ -97,7 +97,7 @@ protected:
* @return OK if the transfer was successful, -errno * @return OK if the transfer was successful, -errno
* otherwise. * otherwise.
*/ */
int transfer(uint8_t *send, unsigned send_len, int transfer(const uint8_t *send, unsigned send_len,
uint8_t *recv, unsigned recv_len); uint8_t *recv, unsigned recv_len);
/** /**

69
apps/drivers/drv_blinkm.h Normal file
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@ -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)

1
nuttx/configs/px4fmu/nsh/appconfig
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@ -98,6 +98,7 @@ CONFIGURED_APPS += drivers/l3gd20
CONFIGURED_APPS += drivers/px4io CONFIGURED_APPS += drivers/px4io
CONFIGURED_APPS += drivers/stm32 CONFIGURED_APPS += drivers/stm32
CONFIGURED_APPS += drivers/led CONFIGURED_APPS += drivers/led
CONFIGURED_APPS += drivers/blinkm
CONFIGURED_APPS += drivers/stm32/tone_alarm CONFIGURED_APPS += drivers/stm32/tone_alarm
CONFIGURED_APPS += drivers/px4fmu CONFIGURED_APPS += drivers/px4fmu
CONFIGURED_APPS += drivers/hil CONFIGURED_APPS += drivers/hil