skeleton for adafruiti2cpwm driver

src/drivers/adafruiti2cpwm/adafruiti2cpwm.cpp

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+/****************************************************************************
+ *
+ *   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 adafruiti2cpwm.cpp
+ *
+ * Driver for the adafruit I2C PWM converter based on the PCA9685
+ * https://www.adafruit.com/product/815
+ *
+ * some code is adapted from the arduino library for the board
+ * https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library
+ * see the arduino_Adafruit_PWM_Servo_Driver_Library_license.txt file
+ * see https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library for contributors
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#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 <nuttx/wqueue.h>
+#include <nuttx/clock.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+
+#include <board_config.h>
+#include <drivers/drv_io_expander.h>
+
+#define PCA9685_SUBADR1 0x2
+#define PCA9685_SUBADR2 0x3
+#define PCA9685_SUBADR3 0x4
+
+#define PCA9685_MODE1 0x0
+#define PCA9685_PRESCALE 0xFE
+
+#define LED0_ON_L 0x6
+#define LED0_ON_H 0x7
+#define LED0_OFF_L 0x8
+#define LED0_OFF_H 0x9
+
+#define ALLLED_ON_L 0xFA
+#define ALLLED_ON_H 0xFB
+#define ALLLED_OFF_L 0xFC
+#define ALLLED_OFF_H 0xFD
+
+#define ADDR PCA9685_SUBADR1	///< I2C adress
+
+#define ADAFRUITI2CPWM_DEVICE_PATH "/dev/adafruiti2cpwm"
+#define ADAFRUITI2CPWM_BUS PX4_I2C_BUS_EXPANSION
+
+class ADAFRUITI2CPWM : public device::I2C
+{
+public:
+	ADAFRUITI2CPWM(int bus=ADAFRUITI2CPWM_BUS, uint8_t address=ADDR);
+	virtual ~ADAFRUITI2CPWM();
+
+
+	virtual int		init();
+	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+	bool			is_running() { return _running; }
+
+private:
+	work_s			_work;
+
+
+	enum IOX_MODE		_mode;
+	bool			_running;
+	int			_i2cpwm_interval;
+	bool			_should_run;
+
+	static void		i2cpwm_trampoline(void *arg);
+	void			i2cpwm();
+
+};
+
+/* for now, we only support one board */
+namespace
+{
+ADAFRUITI2CPWM *g_adafruiti2cpwm;
+}
+
+void adafruiti2cpwm_usage();
+
+extern "C" __EXPORT int adafruiti2cpwm_main(int argc, char *argv[]);
+
+ADAFRUITI2CPWM::ADAFRUITI2CPWM(int bus, uint8_t address) :
+	I2C("adafruiti2cpwm", ADAFRUITI2CPWM_DEVICE_PATH, bus, address, 100000),
+	_mode(IOX_MODE_OFF),
+	_running(false),
+	_i2cpwm_interval(SEC2TICK(1.0f/60.0f)),
+	_should_run(false)
+{
+	memset(&_work, 0, sizeof(_work));
+}
+
+ADAFRUITI2CPWM::~ADAFRUITI2CPWM()
+{
+}
+
+int
+ADAFRUITI2CPWM::init()
+{
+	int ret;
+	ret = I2C::init();
+
+	if (ret != OK) {
+		return ret;
+	}
+
+	return OK;
+}
+
+int
+ADAFRUITI2CPWM::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	int ret = -EINVAL;
+	switch (cmd) {
+
+	case IOX_SET_MODE:
+
+		if (_mode != (IOX_MODE)arg) {
+
+			switch ((IOX_MODE)arg) {
+			case IOX_MODE_OFF:
+			case IOX_MODE_ON:
+			case IOX_MODE_TEST_OUT:
+				break;
+
+			default:
+				return -1;
+			}
+
+			_mode = (IOX_MODE)arg;
+		}
+
+		return OK;
+
+	default:
+		// see if the parent class can make any use of it
+		ret = CDev::ioctl(filp, cmd, arg);
+		break;
+	}
+
+	return ret;
+}
+
+void
+ADAFRUITI2CPWM::i2cpwm_trampoline(void *arg)
+{
+	ADAFRUITI2CPWM *i2cpwm = reinterpret_cast<ADAFRUITI2CPWM *>(arg);
+
+	i2cpwm->i2cpwm();
+}
+
+/**
+ * Main loop function
+ */
+void
+ADAFRUITI2CPWM::i2cpwm()
+{
+
+	if (_mode == IOX_MODE_TEST_OUT) {
+
+		_should_run = true;
+	} else if (_mode == IOX_MODE_OFF) {
+		_should_run = false;
+	} else {
+
+	}
+
+
+	// check if any activity remains, else stop
+	if (!_should_run) {
+		_running = false;
+		return;
+	}
+
+	// re-queue ourselves to run again later
+	_running = true;
+	work_queue(LPWORK, &_work, (worker_t)&ADAFRUITI2CPWM::i2cpwm_trampoline, this, _i2cpwm_interval);
+}
+
+void
+print_usage()
+{
+	warnx("missing command: try 'start', 'test', 'stop'");
+	warnx("options:");
+	warnx("    -b i2cbus (%d)", PX4_I2C_BUS_EXPANSION);
+	warnx("    -a addr (0x%x)", ADDR);
+}
+
+int
+adafruiti2cpwm_main(int argc, char *argv[])
+{
+	int i2cdevice = -1;
+	int i2caddr = ADDR; // 7bit
+
+	int ch;
+
+	// jump over start/off/etc and look at options first
+	while ((ch = getopt(argc, argv, "a:b:")) != EOF) {
+		switch (ch) {
+		case 'a':
+			i2caddr = strtol(optarg, NULL, 0);
+			break;
+
+		case 'b':
+			i2cdevice = strtol(optarg, NULL, 0);
+			break;
+
+		default:
+			print_usage();
+			exit(0);
+		}
+	}
+
+	if (optind >= argc) {
+		print_usage();
+		exit(1);
+	}
+
+	const char *verb = argv[optind];
+
+	int fd;
+	int ret;
+
+	if (!strcmp(verb, "start")) {
+		if (g_adafruiti2cpwm != nullptr) {
+			errx(1, "already started");
+		}
+
+		if (i2cdevice == -1) {
+			// try the external bus first
+			i2cdevice = PX4_I2C_BUS_EXPANSION;
+			g_adafruiti2cpwm = new ADAFRUITI2CPWM(PX4_I2C_BUS_EXPANSION, i2caddr);
+
+			if (g_adafruiti2cpwm != nullptr && OK != g_adafruiti2cpwm->init()) {
+				delete g_adafruiti2cpwm;
+				g_adafruiti2cpwm = nullptr;
+			}
+
+			if (g_adafruiti2cpwm == nullptr) {
+				errx(1, "init failed");
+			}
+		}
+
+		if (g_adafruiti2cpwm == nullptr) {
+			g_adafruiti2cpwm = new ADAFRUITI2CPWM(i2cdevice, i2caddr);
+
+			if (g_adafruiti2cpwm == nullptr) {
+				errx(1, "new failed");
+			}
+
+			if (OK != g_adafruiti2cpwm->init()) {
+				delete g_adafruiti2cpwm;
+				g_adafruiti2cpwm = nullptr;
+				errx(1, "init failed");
+			}
+		}
+
+		exit(0);
+	}
+
+	// need the driver past this point
+	if (g_adafruiti2cpwm == nullptr) {
+		warnx("not started, run adafruiti2cpwm start");
+		exit(1);
+	}
+
+	if (!strcmp(verb, "test")) {
+		fd = open(ADAFRUITI2CPWM_DEVICE_PATH, 0);
+
+		if (fd == -1) {
+			errx(1, "Unable to open " ADAFRUITI2CPWM_DEVICE_PATH);
+		}
+
+		ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_TEST_OUT);
+
+		close(fd);
+		exit(ret);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		fd = open(ADAFRUITI2CPWM_DEVICE_PATH, 0);
+
+		if (fd == -1) {
+			errx(1, "Unable to open " ADAFRUITI2CPWM_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_adafruiti2cpwm->is_running()) {
+				break;
+			}
+
+			usleep(50000);
+			printf(".");
+			fflush(stdout);
+		}
+		printf("\n");
+		fflush(stdout);
+
+		if (!g_adafruiti2cpwm->is_running()) {
+			delete g_adafruiti2cpwm;
+			g_adafruiti2cpwm= nullptr;
+			warnx("stopped, exiting");
+			exit(0);
+		} else {
+			warnx("stop failed.");
+			exit(1);
+		}
+	}
+
+	print_usage();
+	exit(0);
+}

src/drivers/adafruiti2cpwm/arduino_Adafruit_PWM_Servo_Driver_Library_license.txt

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+The following license agreement covers re-used code from the arduino driver
+for the Adafruit I2C to PWM converter.
+
+Software License Agreement (BSD License)
+
+Copyright (c) 2012, Adafruit Industries
+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 of the copyright holders 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 ''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 HOLDER 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.

src/drivers/adafruiti2cpwm/module.mk

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+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Driver for the adafruit I2C PWM converter,
+# which allow to control servos via I2C.
+# https://www.adafruit.com/product/815
+
+MODULE_COMMAND	= adafruiti2cpwm
+
+SRCS		= adafruiti2cpwm.cpp