Add the RGB LED driver as an example.

makefiles/config_px4fmuv2_default.mk

@@ -7,6 +7,11 @@
 #
 ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/$(CONFIG)
 
+#
+# Board support modules
+#
+MODULES		 += device/rgbled
+
 #
 # Transitional support - add commands from the NuttX export archive.
 #

makefiles/setup.mk

@@ -42,7 +42,7 @@
 # and is consistent with joining the results of $(dir) and $(notdir).
 #
 export PX4_INCLUDE_DIR	 = $(abspath $(PX4_BASE)/src/include)/
-export PX4_MODULE_SRC	 = $(abspath $(PX4_BASE)/src/modules)/
+export PX4_MODULE_SRC	 = $(abspath $(PX4_BASE)/src)/
 export PX4_MK_DIR	 = $(abspath $(PX4_BASE)/makefiles)/
 export NUTTX_SRC	 = $(abspath $(PX4_BASE)/nuttx)/
 export NUTTX_APP_SRC	 = $(abspath $(PX4_BASE)/apps)/

src/device/rgbled/module.mk

@@ -0,0 +1,6 @@
+#
+# TCA62724FMG driver for RGB LED
+#
+
+MODULE_COMMAND	 = rgbled
+SRCS		 = rgbled.cpp

src/device/rgbled/rgbled.cpp

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