forked from Archive/PX4-Autopilot
Add the RGB LED driver as an example.
This commit is contained in:
px4dev
parent
c1f6f81e9d
commit
c558ad15ab
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@ -7,6 +7,11 @@
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#
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ROMFS_ROOT = $(PX4_BASE)/ROMFS/$(CONFIG)
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#
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# Board support modules
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#
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MODULES += device/rgbled
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#
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# Transitional support - add commands from the NuttX export archive.
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#
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@ -42,7 +42,7 @@
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# and is consistent with joining the results of $(dir) and $(notdir).
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#
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export PX4_INCLUDE_DIR = $(abspath $(PX4_BASE)/src/include)/
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export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src/modules)/
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export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src)/
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export PX4_MK_DIR = $(abspath $(PX4_BASE)/makefiles)/
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export NUTTX_SRC = $(abspath $(PX4_BASE)/nuttx)/
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export NUTTX_APP_SRC = $(abspath $(PX4_BASE)/apps)/
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@ -0,0 +1,6 @@
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#
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# TCA62724FMG driver for RGB LED
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#
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MODULE_COMMAND = rgbled
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SRCS = rgbled.cpp
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@ -0,0 +1,490 @@
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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 rgbled.cpp
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*
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* Driver for the onboard RGB LED controller (TCA62724FMG) connected via I2C.
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*
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*
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*/
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#include <nuttx/config.h>
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#include <arch/board/board.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 <nuttx/wqueue.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/err.h>
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#include <systemlib/systemlib.h>
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#define LED_ONTIME 120
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#define LED_OFFTIME 120
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#define RGBLED_DEVICE_PATH "/dev/rgbled"
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#define ADDR 0x55 /**< I2C adress of TCA62724FMG */
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#define SUB_ADDR_START 0x01 /**< write everything (with auto-increment) */
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#define SUB_ADDR_PWM0 0x81 /**< blue (without auto-increment) */
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#define SUB_ADDR_PWM1 0x82 /**< green (without auto-increment) */
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#define SUB_ADDR_PWM2 0x83 /**< red (without auto-increment) */
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#define SUB_ADDR_SETTINGS 0x84 /**< settings (without auto-increment)*/
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#define SETTING_NOT_POWERSAVE 0x01 /**< power-save mode not off */
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#define SETTING_ENABLE 0x02 /**< on */
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enum ledModes {
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LED_MODE_TEST,
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LED_MODE_SYSTEMSTATE,
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LED_MODE_OFF
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};
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class RGBLED : public device::I2C
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{
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public:
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RGBLED(int bus, int rgbled);
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virtual ~RGBLED();
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virtual int init();
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virtual int probe();
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virtual int info();
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virtual int setMode(enum ledModes mode);
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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private:
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enum ledColors {
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LED_COLOR_OFF,
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LED_COLOR_RED,
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LED_COLOR_YELLOW,
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LED_COLOR_PURPLE,
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LED_COLOR_GREEN,
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LED_COLOR_BLUE,
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LED_COLOR_WHITE,
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LED_COLOR_AMBER,
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};
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enum ledBlinkModes {
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LED_BLINK_ON,
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LED_BLINK_OFF
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};
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work_s _work;
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int led_colors[8];
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int led_blink;
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int mode;
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int running;
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void setLEDColor(int ledcolor);
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static void led_trampoline(void *arg);
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void led();
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int set(bool on, uint8_t r, uint8_t g, uint8_t b);
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int set_on(bool on);
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int set_rgb(uint8_t r, uint8_t g, uint8_t b);
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int get(bool &on, bool ¬_powersave, uint8_t &r, uint8_t &g, uint8_t &b);
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};
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/* for now, we only support one RGBLED */
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namespace
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{
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RGBLED *g_rgbled;
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}
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extern "C" __EXPORT int rgbled_main(int argc, char *argv[]);
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RGBLED::RGBLED(int bus, int rgbled) :
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I2C("rgbled", RGBLED_DEVICE_PATH, bus, rgbled, 100000),
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led_colors({0,0,0,0,0,0,0,0}),
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led_blink(LED_BLINK_OFF),
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mode(LED_MODE_OFF),
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running(false)
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{
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memset(&_work, 0, sizeof(_work));
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}
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RGBLED::~RGBLED()
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{
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}
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int
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RGBLED::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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/* start off */
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set(false, 0, 0, 0);
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return OK;
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}
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int
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RGBLED::setMode(enum ledModes new_mode)
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{
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switch (new_mode) {
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case LED_MODE_SYSTEMSTATE:
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case LED_MODE_TEST:
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mode = new_mode;
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if (!running) {
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running = true;
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set_on(true);
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work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, 1);
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}
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break;
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case LED_MODE_OFF:
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default:
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if (running) {
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running = false;
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set_on(false);
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}
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mode = LED_MODE_OFF;
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break;
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}
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return OK;
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}
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int
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RGBLED::probe()
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{
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int ret;
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bool on, not_powersave;
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uint8_t r, g, b;
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ret = get(on, not_powersave, r, g, b);
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return ret;
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}
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int
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RGBLED::info()
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{
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int ret;
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bool on, not_powersave;
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uint8_t r, g, b;
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ret = get(on, not_powersave, r, g, b);
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/* we don't care about power-save mode */
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log("State: %s", on ? "ON" : "OFF");
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log("Red: %d, Green: %d, Blue: %d", r, g, b);
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return ret;
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}
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int
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RGBLED::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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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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RGBLED::led_trampoline(void *arg)
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{
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RGBLED *rgbl = (RGBLED *)arg;
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rgbl->led();
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}
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void
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RGBLED::led()
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{
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static int led_thread_runcount=0;
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static int led_interval = 1000;
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switch (mode) {
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case LED_MODE_TEST:
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/* Demo LED pattern for now */
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led_colors[0] = LED_COLOR_YELLOW;
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led_colors[1] = LED_COLOR_AMBER;
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led_colors[2] = LED_COLOR_RED;
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led_colors[3] = LED_COLOR_PURPLE;
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led_colors[4] = LED_COLOR_BLUE;
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led_colors[5] = LED_COLOR_GREEN;
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led_colors[6] = LED_COLOR_WHITE;
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led_colors[7] = LED_COLOR_OFF;
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led_blink = LED_BLINK_ON;
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break;
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case LED_MODE_SYSTEMSTATE:
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/* XXX TODO set pattern */
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led_colors[0] = LED_COLOR_OFF;
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led_colors[1] = LED_COLOR_OFF;
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led_colors[2] = LED_COLOR_OFF;
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led_colors[3] = LED_COLOR_OFF;
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led_colors[4] = LED_COLOR_OFF;
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led_colors[5] = LED_COLOR_OFF;
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led_colors[6] = LED_COLOR_OFF;
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led_colors[7] = LED_COLOR_OFF;
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led_blink = LED_BLINK_OFF;
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break;
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case LED_MODE_OFF:
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default:
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return;
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break;
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}
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if (led_thread_runcount & 1) {
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if (led_blink == LED_BLINK_ON)
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setLEDColor(LED_COLOR_OFF);
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led_interval = LED_OFFTIME;
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} else {
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setLEDColor(led_colors[(led_thread_runcount/2) % 8]);
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led_interval = LED_ONTIME;
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}
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led_thread_runcount++;
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if(running) {
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/* re-queue ourselves to run again later */
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work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, led_interval);
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} else {
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set_on(false);
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}
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}
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void RGBLED::setLEDColor(int ledcolor) {
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switch (ledcolor) {
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case LED_COLOR_OFF: // off
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set_rgb(0,0,0);
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break;
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case LED_COLOR_RED: // red
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set_rgb(255,0,0);
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break;
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case LED_COLOR_YELLOW: // yellow
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set_rgb(255,70,0);
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break;
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case LED_COLOR_PURPLE: // purple
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set_rgb(255,0,255);
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break;
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case LED_COLOR_GREEN: // green
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set_rgb(0,255,0);
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break;
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case LED_COLOR_BLUE: // blue
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set_rgb(0,0,255);
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break;
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case LED_COLOR_WHITE: // white
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set_rgb(255,255,255);
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break;
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case LED_COLOR_AMBER: // amber
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set_rgb(255,20,0);
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break;
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}
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}
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int
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RGBLED::set(bool on, uint8_t r, uint8_t g, uint8_t b)
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{
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uint8_t settings_byte = 0;
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if (on)
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settings_byte |= SETTING_ENABLE;
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/* powersave not used */
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// if (not_powersave)
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settings_byte |= SETTING_NOT_POWERSAVE;
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const uint8_t msg[5] = { SUB_ADDR_START, (uint8_t)(b*15/255), (uint8_t)(g*15/255), (uint8_t)(r*15/255), settings_byte};
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return transfer(msg, sizeof(msg), nullptr, 0);
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}
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int
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RGBLED::set_on(bool on)
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{
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uint8_t settings_byte = 0;
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if (on)
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settings_byte |= SETTING_ENABLE;
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/* powersave not used */
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// if (not_powersave)
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settings_byte |= SETTING_NOT_POWERSAVE;
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const uint8_t msg[2] = { SUB_ADDR_SETTINGS, settings_byte};
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return transfer(msg, sizeof(msg), nullptr, 0);
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}
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int
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RGBLED::set_rgb(uint8_t r, uint8_t g, uint8_t b)
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{
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const uint8_t msg[6] = { SUB_ADDR_PWM0, (uint8_t)(b*15/255), SUB_ADDR_PWM1, (uint8_t)(g*15/255), SUB_ADDR_PWM2, (uint8_t)(r*15/255)};
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return transfer(msg, sizeof(msg), nullptr, 0);
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}
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int
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RGBLED::get(bool &on, bool ¬_powersave, uint8_t &r, uint8_t &g, uint8_t &b)
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{
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uint8_t result[2];
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int ret;
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ret = transfer(nullptr, 0, &result[0], 2);
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if (ret == OK) {
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on = result[0] & SETTING_ENABLE;
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not_powersave = result[0] & SETTING_NOT_POWERSAVE;
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r = (result[0] & 0x0f)*255/15;
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g = (result[1] & 0xf0)*255/15;
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b = (result[1] & 0x0f)*255/15;
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}
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return ret;
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}
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void rgbled_usage() {
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fprintf(stderr, "missing command: try 'start', 'systemstate', 'test', 'info', 'off'\n");
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fprintf(stderr, "options:\n");
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fprintf(stderr, "\t-b --bus i2cbus (3)\n");
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fprintf(stderr, "\t-a --ddr addr (9)\n");
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}
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int
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rgbled_main(int argc, char *argv[])
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{
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int i2cdevice = PX4_I2C_BUS_LED;
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int rgbledadr = ADDR; /* 7bit */
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int x;
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for (x = 1; x < argc; x++) {
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if (strcmp(argv[x], "-b") == 0 || strcmp(argv[x], "--bus") == 0) {
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if (argc > x + 1) {
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i2cdevice = atoi(argv[x + 1]);
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}
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}
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if (strcmp(argv[x], "-a") == 0 || strcmp(argv[x], "--addr") == 0) {
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if (argc > x + 1) {
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rgbledadr = atoi(argv[x + 1]);
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}
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}
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}
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if (!strcmp(argv[1], "start")) {
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if (g_rgbled != nullptr)
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errx(1, "already started");
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g_rgbled = new RGBLED(i2cdevice, rgbledadr);
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if (g_rgbled == nullptr)
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errx(1, "new failed");
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if (OK != g_rgbled->init()) {
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delete g_rgbled;
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g_rgbled = nullptr;
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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_rgbled == nullptr) {
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fprintf(stderr, "not started\n");
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rgbled_usage();
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exit(0);
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}
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if (!strcmp(argv[1], "test")) {
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g_rgbled->setMode(LED_MODE_TEST);
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exit(0);
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}
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if (!strcmp(argv[1], "systemstate")) {
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g_rgbled->setMode(LED_MODE_SYSTEMSTATE);
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exit(0);
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}
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if (!strcmp(argv[1], "info")) {
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g_rgbled->info();
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exit(0);
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}
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if (!strcmp(argv[1], "off")) {
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g_rgbled->setMode(LED_MODE_OFF);
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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(RGBLED_DEVICE_PATH, 0);
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if (fd < 0)
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err(1, "can't open RGBLED device");
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rgbled_usage();
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exit(0);
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}
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||||
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