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diff --git a/src/drivers/pca8574/pca8574.cpp b/src/drivers/pca8574/pca8574.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 pca8574.cpp
+ *
+ * Driver for an 8 I/O controller (PC8574) connected via I2C.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.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 <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+
+#include <board_config.h>
+
+#include <drivers/drv_io_expander.h>
+
+#define PCA8574_ONTIME 120
+#define PCA8574_OFFTIME 120
+#define PCA8574_DEVICE_PATH "/dev/pca8574"
+
+#define ADDR 0x20 ///< I2C adress of PCA8574 (default, A0-A2 pulled to GND)
+
+class PCA8574 : public device::I2C
+{
+public:
+ PCA8574(int bus, int pca8574);
+ virtual ~PCA8574();
+
+
+ virtual int init();
+ virtual int probe();
+ virtual int info();
+ virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
+ bool is_running() { return _running; }
+
+private:
+ work_s _work;
+
+ uint8_t _values_out;
+ uint8_t _values_in;
+ uint8_t _blinking;
+ uint8_t _blink_phase;
+
+ enum IOX_MODE _mode;
+ bool _running;
+ int _led_interval;
+ bool _should_run;
+ bool _update_out;
+ int _counter;
+
+ static void led_trampoline(void *arg);
+ void led();
+
+ int send_led_enable(uint8_t arg);
+ int send_led_values();
+
+ int get(uint8_t &vals);
+};
+
+/* for now, we only support one PCA8574 */
+namespace
+{
+PCA8574 *g_pca8574;
+}
+
+void pca8574_usage();
+
+extern "C" __EXPORT int pca8574_main(int argc, char *argv[]);
+
+PCA8574::PCA8574(int bus, int pca8574) :
+ I2C("pca8574", PCA8574_DEVICE_PATH, bus, pca8574, 100000),
+ _values_out(0),
+ _values_in(0),
+ _blinking(0),
+ _blink_phase(0),
+ _mode(IOX_MODE_OFF),
+ _running(false),
+ _led_interval(80),
+ _should_run(false),
+ _update_out(false),
+ _counter(0)
+{
+ memset(&_work, 0, sizeof(_work));
+}
+
+PCA8574::~PCA8574()
+{
+}
+
+int
+PCA8574::init()
+{
+ int ret;
+ ret = I2C::init();
+
+ if (ret != OK) {
+ return ret;
+ }
+
+ return OK;
+}
+
+int
+PCA8574::probe()
+{
+ uint8_t val;
+ return get(val);
+}
+
+int
+PCA8574::info()
+{
+ int ret = OK;
+
+ return ret;
+}
+
+int
+PCA8574::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+ int ret = ENOTTY;
+
+ switch (cmd) {
+ case IOX_SET_VALUE ...(IOX_SET_VALUE + 8): {
+ // set the specified on / off state
+ uint8_t position = (1 << (cmd - IOX_SET_VALUE));
+ uint8_t prev = _values_out;
+
+ if (arg) {
+ _values_out |= position;
+
+ } else {
+ _values_out &= ~(position);
+ }
+
+ if (_values_out != prev) {
+ if (_values_out) {
+ _mode = IOX_MODE_ON;
+ }
+ send_led_values();
+ }
+
+ return OK;
+ }
+
+ case IOX_SET_MASK:
+ send_led_enable(arg);
+ return OK;
+
+ case IOX_GET_MASK: {
+ uint8_t val;
+ ret = get(val);
+
+ if (ret == OK) {
+ return val;
+
+ } else {
+ return -1;
+ }
+ }
+
+ case IOX_SET_MODE:
+
+ if (_mode != (IOX_MODE)arg) {
+
+ switch ((IOX_MODE)arg) {
+ case IOX_MODE_OFF:
+ _values_out = 0xFF;
+ break;
+
+ case IOX_MODE_ON:
+ _values_out = 0;
+ break;
+
+ case IOX_MODE_TEST_OUT:
+ break;
+
+ default:
+ return -1;
+ }
+
+ _mode = (IOX_MODE)arg;
+ send_led_values();
+ }
+
+ return OK;
+
+ default:
+ // see if the parent class can make any use of it
+ ret = CDev::ioctl(filp, cmd, arg);
+ break;
+ }
+
+ return ret;
+}
+
+
+void
+PCA8574::led_trampoline(void *arg)
+{
+ PCA8574 *rgbl = reinterpret_cast<PCA8574 *>(arg);
+
+ rgbl->led();
+}
+
+/**
+ * Main loop function
+ */
+void
+PCA8574::led()
+{
+ if (_mode == IOX_MODE_TEST_OUT) {
+
+ // we count only seven states
+ _counter &= 0xF;
+ _counter++;
+
+ for (int i = 0; i < 8; i++) {
+ if (i < _counter) {
+ _values_out |= (1 << i);
+
+ } else {
+ _values_out &= ~(1 << i);
+ }
+ }
+
+ _update_out = true;
+ _should_run = true;
+ } else if (_mode == IOX_MODE_OFF) {
+ _update_out = true;
+ _should_run = false;
+ } else {
+
+ // Any of the normal modes
+ if (_blinking > 0) {
+ /* we need to be running to blink */
+ _should_run = true;
+ } else {
+ _should_run = false;
+ }
+ }
+
+ if (_update_out) {
+ uint8_t msg;
+
+ if (_blinking) {
+ msg = (_values_out & _blinking & _blink_phase);
+
+ // wipe out all positions that are marked as blinking
+ msg &= ~(_blinking);
+
+ // fill blink positions
+ msg |= ((_blink_phase) ? _blinking : 0);
+
+ _blink_phase = !_blink_phase;
+ } else {
+ msg = _values_out;
+ }
+
+ int ret = transfer(&msg, sizeof(msg), nullptr, 0);
+
+ if (!ret) {
+ _update_out = false;
+ }
+ }
+
+ // check if any activity remains, else stp
+ if (!_should_run) {
+ _running = false;
+ return;
+ }
+
+ // re-queue ourselves to run again later
+ _running = true;
+ work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, _led_interval);
+}
+
+/**
+ * Sent ENABLE flag to LED driver
+ */
+int
+PCA8574::send_led_enable(uint8_t arg)
+{
+
+ int ret = transfer(&arg, sizeof(arg), nullptr, 0);
+
+ return ret;
+}
+
+/**
+ * Send 8 outputs
+ */
+int
+PCA8574::send_led_values()
+{
+ _update_out = true;
+
+ // if not active, kick it
+ if (!_running) {
+ _running = true;
+ work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1);
+ }
+
+ return 0;
+}
+
+int
+PCA8574::get(uint8_t &vals)
+{
+ uint8_t result;
+ int ret;
+
+ ret = transfer(nullptr, 0, &result, 1);
+
+ if (ret == OK) {
+ _values_in = result;
+ vals = result;
+ }
+
+ return ret;
+}
+
+void
+pca8574_usage()
+{
+ warnx("missing command: try 'start', 'test', 'info', 'off', 'stop', 'val 0 1'");
+ warnx("options:");
+ warnx(" -b i2cbus (%d)", PX4_I2C_BUS_LED);
+ warnx(" -a addr (0x%x)", ADDR);
+}
+
+int
+pca8574_main(int argc, char *argv[])
+{
+ int i2cdevice = -1;
+ int pca8574adr = 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':
+ pca8574adr = strtol(optarg, NULL, 0);
+ break;
+
+ case 'b':
+ i2cdevice = strtol(optarg, NULL, 0);
+ break;
+
+ default:
+ pca8574_usage();
+ exit(0);
+ }
+ }
+
+ if (optind >= argc) {
+ pca8574_usage();
+ exit(1);
+ }
+
+ const char *verb = argv[optind];
+
+ int fd;
+ int ret;
+
+ if (!strcmp(verb, "start")) {
+ if (g_pca8574 != nullptr) {
+ errx(1, "already started");
+ }
+
+ if (i2cdevice == -1) {
+ // try the external bus first
+ i2cdevice = PX4_I2C_BUS_EXPANSION;
+ g_pca8574 = new PCA8574(PX4_I2C_BUS_EXPANSION, pca8574adr);
+
+ if (g_pca8574 != nullptr && OK != g_pca8574->init()) {
+ delete g_pca8574;
+ g_pca8574 = nullptr;
+ }
+
+ if (g_pca8574 == nullptr) {
+ // fall back to default bus
+ if (PX4_I2C_BUS_LED == PX4_I2C_BUS_EXPANSION) {
+ errx(1, "init failed");
+ }
+
+ i2cdevice = PX4_I2C_BUS_LED;
+ }
+ }
+
+ if (g_pca8574 == nullptr) {
+ g_pca8574 = new PCA8574(i2cdevice, pca8574adr);
+
+ if (g_pca8574 == nullptr) {
+ errx(1, "new failed");
+ }
+
+ if (OK != g_pca8574->init()) {
+ delete g_pca8574;
+ g_pca8574 = nullptr;
+ errx(1, "init failed");
+ }
+ }
+
+ exit(0);
+ }
+
+ // need the driver past this point
+ if (g_pca8574 == nullptr) {
+ warnx("not started, run pca8574 start");
+ exit(1);
+ }
+
+ if (!strcmp(verb, "test")) {
+ fd = open(PCA8574_DEVICE_PATH, 0);
+
+ if (fd == -1) {
+ errx(1, "Unable to open " PCA8574_DEVICE_PATH);
+ }
+
+ ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_TEST_OUT);
+
+ close(fd);
+ exit(ret);
+ }
+
+ if (!strcmp(verb, "info")) {
+ g_pca8574->info();
+ exit(0);
+ }
+
+ if (!strcmp(verb, "off")) {
+ fd = open(PCA8574_DEVICE_PATH, 0);
+
+ if (fd < 0) {
+ errx(1, "Unable to open " PCA8574_DEVICE_PATH);
+ }
+
+ ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_OFF);
+ close(fd);
+ exit(ret);
+ }
+
+ if (!strcmp(verb, "stop")) {
+ fd = open(PCA8574_DEVICE_PATH, 0);
+
+ if (fd == -1) {
+ errx(1, "Unable to open " PCA8574_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_pca8574->is_running()) {
+ break;
+ }
+
+ usleep(50000);
+ printf(".");
+ fflush(stdout);
+ }
+ printf("\n");
+ fflush(stdout);
+
+ if (!g_pca8574->is_running()) {
+ delete g_pca8574;
+ g_pca8574 = nullptr;
+ exit(0);
+ } else {
+ warnx("stop failed.");
+ exit(1);
+ }
+ }
+
+ if (!strcmp(verb, "val")) {
+ if (argc < 4) {
+ errx(1, "Usage: pca8574 val <channel> <0 or 1>");
+ }
+
+ fd = open(PCA8574_DEVICE_PATH, 0);
+
+ if (fd == -1) {
+ errx(1, "Unable to open " PCA8574_DEVICE_PATH);
+ }
+
+ unsigned channel = strtol(argv[2], NULL, 0);
+ unsigned val = strtol(argv[3], NULL, 0);
+
+ if (channel < 8) {
+ ret = ioctl(fd, (IOX_SET_VALUE + channel), val);
+ } else {
+ ret = -1;
+ }
+ close(fd);
+ exit(ret);
+ }
+
+ pca8574_usage();
+ exit(0);
+}
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