/****************************************************************************
*
* 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
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****************************************************************************/
/**
* @file rgbled.cpp
*
* Driver for the onboard RGB LED controller (TCA62724FMG) connected via I2C.
*
*
*/
#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_rgbled.h>
#define RGBLED_ONTIME 120
#define RGBLED_OFFTIME 120
#define ADDR PX4_I2C_OBDEV_LED /**< 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 */
class RGBLED : public device::I2C
{
public:
RGBLED(int bus, int rgbled);
virtual ~RGBLED();
virtual int init();
virtual int probe();
virtual int info();
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
private:
work_s _work;
rgbled_color_t _color;
rgbled_mode_t _mode;
rgbled_pattern_t _pattern;
bool _should_run;
bool _running;
int _led_interval;
int _counter;
void set_color(rgbled_color_t ledcolor);
void set_mode(rgbled_mode_t mode);
void set_pattern(rgbled_pattern_t *pattern);
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 ¬_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),
_color(RGBLED_COLOR_OFF),
_mode(RGBLED_MODE_OFF),
_running(false),
_led_interval(0),
_counter(0)
{
memset(&_work, 0, sizeof(_work));
memset(&_pattern, 0, sizeof(_pattern));
}
RGBLED::~RGBLED()
{
}
int
RGBLED::init()
{
int ret;
ret = I2C::init();
if (ret != OK) {
return ret;
}
/* start off */
set(false, 0, 0, 0);
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);
if (ret == OK) {
/* we don't care about power-save mode */
log("state: %s", on ? "ON" : "OFF");
log("red: %u, green: %u, blue: %u", (unsigned)r, (unsigned)g, (unsigned)b);
} else {
warnx("failed to read led");
}
return ret;
}
int
RGBLED::ioctl(struct file *filp, int cmd, unsigned long arg)
{
int ret = ENOTTY;
switch (cmd) {
case RGBLED_SET_RGB:
/* set the specified RGB values */
rgbled_rgbset_t rgbset;
memcpy(&rgbset, (rgbled_rgbset_t*)arg, sizeof(rgbset));
set_rgb(rgbset.red, rgbset.green, rgbset.blue);
set_mode(RGBLED_MODE_ON);
return OK;
case RGBLED_SET_COLOR:
/* set the specified color name */
set_color((rgbled_color_t)arg);
return OK;
case RGBLED_SET_MODE:
/* set the specified blink speed */
set_mode((rgbled_mode_t)arg);
return OK;
case RGBLED_SET_PATTERN:
/* set a special pattern */
set_pattern((rgbled_pattern_t*)arg);
return OK;
default:
break;
}
return ret;
}
void
RGBLED::led_trampoline(void *arg)
{
RGBLED *rgbl = reinterpret_cast<RGBLED *>(arg);
rgbl->led();
}
void
RGBLED::led()
{
switch (_mode) {
case RGBLED_MODE_BLINK_SLOW:
case RGBLED_MODE_BLINK_NORMAL:
case RGBLED_MODE_BLINK_FAST:
if(_counter % 2 == 0)
set_on(true);
else
set_on(false);
break;
case RGBLED_MODE_PATTERN:
/* don't run out of the pattern array and stop if the next frame is 0 */
if (_counter >= RGBLED_PATTERN_LENGTH || _pattern.duration[_counter] <= 0)
_counter = 0;
set_color(_pattern.color[_counter]);
_led_interval = _pattern.duration[_counter];
break;
default:
break;
}
_counter++;
/* re-queue ourselves to run again later */
work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, _led_interval);
}
void
RGBLED::set_color(rgbled_color_t color) {
_color = color;
switch (color) {
case RGBLED_COLOR_OFF: // off
set_rgb(0,0,0);
break;
case RGBLED_COLOR_RED: // red
set_rgb(255,0,0);
break;
case RGBLED_COLOR_YELLOW: // yellow
set_rgb(255,70,0);
break;
case RGBLED_COLOR_PURPLE: // purple
set_rgb(255,0,255);
break;
case RGBLED_COLOR_GREEN: // green
set_rgb(0,255,0);
break;
case RGBLED_COLOR_BLUE: // blue
set_rgb(0,0,255);
break;
case RGBLED_COLOR_WHITE: // white
set_rgb(255,255,255);
break;
case RGBLED_COLOR_AMBER: // amber
set_rgb(255,20,0);
break;
default:
warnx("color unknown");
break;
}
}
void
RGBLED::set_mode(rgbled_mode_t mode)
{
_mode = mode;
switch (mode) {
case RGBLED_MODE_OFF:
_should_run = false;
set_on(false);
break;
case RGBLED_MODE_ON:
_should_run = false;
set_on(true);
break;
case RGBLED_MODE_BLINK_SLOW:
_should_run = true;
_led_interval = 2000;
break;
case RGBLED_MODE_BLINK_NORMAL:
_should_run = true;
_led_interval = 500;
break;
case RGBLED_MODE_BLINK_FAST:
_should_run = true;
_led_interval = 100;
break;
case RGBLED_MODE_PATTERN:
_should_run = true;
set_on(true);
_counter = 0;
break;
default:
warnx("mode unknown");
break;
}
/* if it should run now, start the workq */
if (_should_run && !_running) {
_running = true;
work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, 1);
}
/* if it should stop, then cancel the workq */
if (!_should_run && _running) {
_running = false;
work_cancel(LPWORK, &_work);
}
}
void
RGBLED::set_pattern(rgbled_pattern_t *pattern)
{
memcpy(&_pattern, pattern, sizeof(rgbled_pattern_t));
set_mode(RGBLED_MODE_PATTERN);
}
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 ¬_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;
/* XXX check, looks wrong */
r = (result[0] & 0x0f)*255/15;
g = (result[1] & 0xf0)*255/15;
b = (result[1] & 0x0f)*255/15;
}
return ret;
}
void rgbled_usage();
void rgbled_usage() {
warnx("missing command: try 'start', 'test', 'info', 'off', 'rgb'");
warnx("options:");
warnx(" -b i2cbus (%d)", PX4_I2C_BUS_LED);
errx(0, " -a addr (0x%x)", ADDR);
}
int
rgbled_main(int argc, char *argv[])
{
int i2cdevice = -1;
int rgbledadr = ADDR; /* 7bit */
int ch;
while ((ch = getopt(argc, argv, "a:b:")) != EOF) {
switch (ch) {
case 'a':
rgbledadr = strtol(optarg, NULL, 0);
break;
case 'b':
i2cdevice = strtol(optarg, NULL, 0);
break;
default:
rgbled_usage();
}
}
argc -= optind;
argv += optind;
const char *verb = argv[0];
int fd;
int ret;
if (!strcmp(verb, "start")) {
if (g_rgbled != nullptr)
errx(1, "already started");
if (i2cdevice == -1) {
// try the external bus first
i2cdevice = PX4_I2C_BUS_EXPANSION;
g_rgbled = new RGBLED(PX4_I2C_BUS_EXPANSION, rgbledadr);
if (g_rgbled != nullptr && OK != g_rgbled->init()) {
delete g_rgbled;
g_rgbled = nullptr;
}
if (g_rgbled == nullptr) {
// fall back to default bus
i2cdevice = PX4_I2C_BUS_LED;
}
}
if (g_rgbled == nullptr) {
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);
}
/* need the driver past this point */
if (g_rgbled == nullptr) {
warnx("not started");
rgbled_usage();
exit(0);
}
if (!strcmp(verb, "test")) {
fd = open(RGBLED_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " RGBLED_DEVICE_PATH);
}
rgbled_pattern_t pattern = { {RGBLED_COLOR_RED, RGBLED_COLOR_GREEN, RGBLED_COLOR_BLUE, RGBLED_COLOR_OFF},
{200, 200, 200, 400 } };
ret = ioctl(fd, RGBLED_SET_PATTERN, (unsigned long)&pattern);
close(fd);
exit(ret);
}
if (!strcmp(verb, "info")) {
g_rgbled->info();
exit(0);
}
if (!strcmp(verb, "off")) {
fd = open(RGBLED_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " RGBLED_DEVICE_PATH);
}
ret = ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_OFF);
close(fd);
exit(ret);
}
if (!strcmp(verb, "rgb")) {
fd = open(RGBLED_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " RGBLED_DEVICE_PATH);
}
if (argc < 4) {
errx(1, "Usage: rgbled rgb <red> <green> <blue>");
}
rgbled_rgbset_t v;
v.red = strtol(argv[1], NULL, 0);
v.green = strtol(argv[2], NULL, 0);
v.blue = strtol(argv[3], NULL, 0);
ret = ioctl(fd, RGBLED_SET_RGB, (unsigned long)&v);
close(fd);
exit(ret);
}
rgbled_usage();
}