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Add the RGB LED driver as an example.

sbg
px4dev 12 years ago
parent
c1f6f81e9d
commit
c558ad15ab
4 changed files with 502 additions and 1 deletions
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  1. 5
      makefiles/config_px4fmuv2_default.mk
  2. 2
      makefiles/setup.mk
  3. 6
      src/device/rgbled/module.mk
  4. 490
      src/device/rgbled/rgbled.cpp

5
makefiles/config_px4fmuv2_default.mk
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@ -7,6 +7,11 @@
# #
ROMFS_ROOT = $(PX4_BASE)/ROMFS/$(CONFIG) ROMFS_ROOT = $(PX4_BASE)/ROMFS/$(CONFIG)
#
# Board support modules
#
MODULES += device/rgbled
# #
# Transitional support - add commands from the NuttX export archive. # Transitional support - add commands from the NuttX export archive.
# #

2
makefiles/setup.mk
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@ -42,7 +42,7 @@
# and is consistent with joining the results of $(dir) and $(notdir). # and is consistent with joining the results of $(dir) and $(notdir).
# #
export PX4_INCLUDE_DIR = $(abspath $(PX4_BASE)/src/include)/ 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 PX4_MK_DIR = $(abspath $(PX4_BASE)/makefiles)/
export NUTTX_SRC = $(abspath $(PX4_BASE)/nuttx)/ export NUTTX_SRC = $(abspath $(PX4_BASE)/nuttx)/
export NUTTX_APP_SRC = $(abspath $(PX4_BASE)/apps)/ export NUTTX_APP_SRC = $(abspath $(PX4_BASE)/apps)/

6
src/device/rgbled/module.mk
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@ -0,0 +1,6 @@
#
# TCA62724FMG driver for RGB LED
#
MODULE_COMMAND = rgbled
SRCS = rgbled.cpp

490
src/device/rgbled/rgbled.cpp
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@ -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);
}
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