/****************************************************************************
*
* Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Julian Oes <joes@student.ethz.ch>
* Anton Babushkin <anton.babushkin@me.com>
*
* 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 <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_mode_t _mode;
rgbled_pattern_t _pattern;
uint8_t _r;
uint8_t _g;
uint8_t _b;
float _brightness;
bool _running;
int _led_interval;
bool _should_run;
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 send_led_enable(bool enable);
int send_led_rgb();
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;
}
void rgbled_usage();
extern "C" __EXPORT int rgbled_main(int argc, char *argv[]);
RGBLED::RGBLED(int bus, int rgbled) :
I2C("rgbled", RGBLED_DEVICE_PATH, bus, rgbled, 100000),
_mode(RGBLED_MODE_OFF),
_r(0),
_g(0),
_b(0),
_brightness(1.0f),
_running(false),
_led_interval(0),
_should_run(false),
_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;
}
/* switch off LED on start */
send_led_enable(false);
send_led_rgb();
return OK;
}
int
RGBLED::probe()
{
int ret;
bool on, powersave;
uint8_t r, g, b;
/**
this may look strange, but is needed. There is a serial
EEPROM (Microchip-24aa01) on the PX4FMU-v1 that responds to
a bunch of I2C addresses, including the 0x55 used by this
LED device. So we need to do enough operations to be sure
we are talking to the right device. These 3 operations seem
to be enough, as the 3rd one consistently fails if no
RGBLED is on the bus.
*/
if ((ret=get(on, powersave, r, g, b)) != OK ||
(ret=send_led_enable(false) != OK) ||
(ret=send_led_enable(false) != OK)) {
return ret;
}
return ret;
}
int
RGBLED::info()
{
int ret;
bool on, powersave;
uint8_t r, g, b;
ret = get(on, 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 color */
_r = ((rgbled_rgbset_t *) arg)->red;
_g = ((rgbled_rgbset_t *) arg)->green;
_b = ((rgbled_rgbset_t *) arg)->blue;
send_led_rgb();
return OK;
case RGBLED_SET_COLOR:
/* set the specified color name */
set_color((rgbled_color_t)arg);
send_led_rgb();
return OK;
case RGBLED_SET_MODE:
/* set the specified mode */
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();
}
/**
* Main loop function
*/
void
RGBLED::led()
{
if (!_should_run) {
_running = false;
return;
}
switch (_mode) {
case RGBLED_MODE_BLINK_SLOW:
case RGBLED_MODE_BLINK_NORMAL:
case RGBLED_MODE_BLINK_FAST:
if (_counter >= 2)
_counter = 0;
send_led_enable(_counter == 0);
break;
case RGBLED_MODE_BREATHE:
if (_counter >= 62)
_counter = 0;
int n;
if (_counter < 32) {
n = _counter;
} else {
n = 62 - _counter;
}
_brightness = n * n / (31.0f * 31.0f);
send_led_rgb();
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]);
send_led_rgb();
_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);
}
/**
* Parse color constant and set _r _g _b values
*/
void
RGBLED::set_color(rgbled_color_t color)
{
switch (color) {
case RGBLED_COLOR_OFF:
_r = 0;
_g = 0;
_b = 0;
break;
case RGBLED_COLOR_RED:
_r = 255;
_g = 0;
_b = 0;
break;
case RGBLED_COLOR_YELLOW:
_r = 255;
_g = 200;
_b = 0;
break;
case RGBLED_COLOR_PURPLE:
_r = 255;
_g = 0;
_b = 255;
break;
case RGBLED_COLOR_GREEN:
_r = 0;
_g = 255;
_b = 0;
break;
case RGBLED_COLOR_BLUE:
_r = 0;
_g = 0;
_b = 255;
break;
case RGBLED_COLOR_WHITE:
_r = 255;
_g = 255;
_b = 255;
break;
case RGBLED_COLOR_AMBER:
_r = 255;
_g = 80;
_b = 0;
break;
case RGBLED_COLOR_DIM_RED:
_r = 90;
_g = 0;
_b = 0;
break;
case RGBLED_COLOR_DIM_YELLOW:
_r = 80;
_g = 30;
_b = 0;
break;
case RGBLED_COLOR_DIM_PURPLE:
_r = 45;
_g = 0;
_b = 45;
break;
case RGBLED_COLOR_DIM_GREEN:
_r = 0;
_g = 90;
_b = 0;
break;
case RGBLED_COLOR_DIM_BLUE:
_r = 0;
_g = 0;
_b = 90;
break;
case RGBLED_COLOR_DIM_WHITE:
_r = 30;
_g = 30;
_b = 30;
break;
case RGBLED_COLOR_DIM_AMBER:
_r = 80;
_g = 20;
_b = 0;
break;
default:
warnx("color unknown");
break;
}
}
/**
* Set mode, if mode not changed has no any effect (doesn't reset blinks phase)
*/
void
RGBLED::set_mode(rgbled_mode_t mode)
{
if (mode != _mode) {
_mode = mode;
switch (mode) {
case RGBLED_MODE_OFF:
_should_run = false;
send_led_enable(false);
break;
case RGBLED_MODE_ON:
_brightness = 1.0f;
send_led_rgb();
send_led_enable(true);
break;
case RGBLED_MODE_BLINK_SLOW:
_should_run = true;
_counter = 0;
_led_interval = 2000;
_brightness = 1.0f;
send_led_rgb();
break;
case RGBLED_MODE_BLINK_NORMAL:
_should_run = true;
_counter = 0;
_led_interval = 500;
_brightness = 1.0f;
send_led_rgb();
break;
case RGBLED_MODE_BLINK_FAST:
_should_run = true;
_counter = 0;
_led_interval = 100;
_brightness = 1.0f;
send_led_rgb();
break;
case RGBLED_MODE_BREATHE:
_should_run = true;
_counter = 0;
_led_interval = 25;
send_led_enable(true);
break;
case RGBLED_MODE_PATTERN:
_should_run = true;
_counter = 0;
_brightness = 1.0f;
send_led_enable(true);
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);
}
}
}
/**
* Set pattern for PATTERN mode, but don't change current mode
*/
void
RGBLED::set_pattern(rgbled_pattern_t *pattern)
{
memcpy(&_pattern, pattern, sizeof(rgbled_pattern_t));
}
/**
* Sent ENABLE flag to LED driver
*/
int
RGBLED::send_led_enable(bool enable)
{
uint8_t settings_byte = 0;
if (enable)
settings_byte |= SETTING_ENABLE;
settings_byte |= SETTING_NOT_POWERSAVE;
const uint8_t msg[2] = { SUB_ADDR_SETTINGS, settings_byte};
return transfer(msg, sizeof(msg), nullptr, 0);
}
/**
* Send RGB PWM settings to LED driver according to current color and brightness
*/
int
RGBLED::send_led_rgb()
{
/* To scale from 0..255 -> 0..15 shift right by 4 bits */
const uint8_t msg[6] = {
SUB_ADDR_PWM0, (uint8_t)((int)(_b * _brightness) >> 4),
SUB_ADDR_PWM1, (uint8_t)((int)(_g * _brightness) >> 4),
SUB_ADDR_PWM2, (uint8_t)((int)(_r * _brightness) >> 4)
};
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;
powersave = !(result[0] & SETTING_NOT_POWERSAVE);
/* XXX check, looks wrong */
r = (result[0] & 0x0f) << 4;
g = (result[1] & 0xf0);
b = (result[1] & 0x0f) << 4;
}
return ret;
}
void
rgbled_usage()
{
warnx("missing command: try 'start', 'test', 'info', 'off', 'stop', 'rgb 30 40 50'");
warnx("options:");
warnx(" -b i2cbus (%d)", PX4_I2C_BUS_LED);
warnx(" -a addr (0x%x)", ADDR);
}
int
rgbled_main(int argc, char *argv[])
{
int i2cdevice = -1;
int rgbledadr = 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':
rgbledadr = strtol(optarg, NULL, 0);
break;
case 'b':
i2cdevice = strtol(optarg, NULL, 0);
break;
default:
rgbled_usage();
exit(0);
}
}
if (optind >= argc) {
rgbled_usage();
exit(1);
}
const char *verb = argv[optind];
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
if (PX4_I2C_BUS_LED == PX4_I2C_BUS_EXPANSION) {
errx(1, "init failed");
}
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(1);
}
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_WHITE, RGBLED_COLOR_OFF, RGBLED_COLOR_OFF},
{500, 500, 500, 500, 1000, 0 } // "0" indicates end of pattern
};
ret = ioctl(fd, RGBLED_SET_PATTERN, (unsigned long)&pattern);
ret = ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_PATTERN);
close(fd);
exit(ret);
}
if (!strcmp(verb, "info")) {
g_rgbled->info();
exit(0);
}
if (!strcmp(verb, "off") || !strcmp(verb, "stop")) {
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, "stop")) {
delete g_rgbled;
g_rgbled = nullptr;
exit(0);
}
if (!strcmp(verb, "rgb")) {
if (argc < 5) {
errx(1, "Usage: rgbled rgb <red> <green> <blue>");
}
fd = open(RGBLED_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " RGBLED_DEVICE_PATH);
}
rgbled_rgbset_t v;
v.red = strtol(argv[2], NULL, 0);
v.green = strtol(argv[3], NULL, 0);
v.blue = strtol(argv[4], NULL, 0);
ret = ioctl(fd, RGBLED_SET_RGB, (unsigned long)&v);
ret = ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_ON);
close(fd);
exit(ret);
}
rgbled_usage();
exit(0);
}