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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-29 13:52:47 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-29 13:52:47 +0200 |
commit | eb02e74d30a215ff415983913bf569a23e916a2b (patch) | |
tree | 19535a10dba392b2ca9f8d9ebc53e51b3ee53cc7 /src/drivers | |
parent | 0c2e70d30f3e1d927a22fdd066a4a14ecc698de1 (diff) | |
download | px4-firmware-eb02e74d30a215ff415983913bf569a23e916a2b.tar.gz px4-firmware-eb02e74d30a215ff415983913bf569a23e916a2b.tar.bz2 px4-firmware-eb02e74d30a215ff415983913bf569a23e916a2b.zip |
PCA cleanup: Full interfaces ready for AP use
Diffstat (limited to 'src/drivers')
-rw-r--r-- | src/drivers/pca8574/pca8574.cpp | 108 |
1 files changed, 81 insertions, 27 deletions
diff --git a/src/drivers/pca8574/pca8574.cpp b/src/drivers/pca8574/pca8574.cpp index cd1ffc82c..904ce18e8 100644 --- a/src/drivers/pca8574/pca8574.cpp +++ b/src/drivers/pca8574/pca8574.cpp @@ -82,12 +82,15 @@ public: 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; @@ -119,9 +122,11 @@ 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(0), + _led_interval(80), _should_run(false), _update_out(false), _counter(0) @@ -143,22 +148,14 @@ PCA8574::init() return ret; } - // switch off LED on start (active low on Pixhawk) - send_led_enable(0xFF); - - // kick it in - _should_run = true; - _led_interval = 80; - work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1); - return OK; } int PCA8574::probe() { - - return send_led_enable(false); + uint8_t val; + return get(val); } int @@ -188,6 +185,9 @@ PCA8574::ioctl(struct file *filp, int cmd, unsigned long arg) } if (_values_out != prev) { + if (_values_out) { + _mode = IOX_MODE_ON; + } send_led_values(); } @@ -260,11 +260,6 @@ PCA8574::led_trampoline(void *arg) void PCA8574::led() { - if (!_should_run) { - _running = false; - return; - } - if (_mode == IOX_MODE_TEST_OUT) { // we count only seven states @@ -281,10 +276,37 @@ PCA8574::led() } _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 = _values_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); @@ -294,12 +316,13 @@ PCA8574::led() } // check if any activity remains, else stp - if (!_update_out) { + 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); } @@ -322,10 +345,10 @@ int PCA8574::send_led_values() { _update_out = true; - _should_run = true; // if not active, kick it if (!_running) { + _running = true; work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1); } @@ -436,8 +459,7 @@ pca8574_main(int argc, char *argv[]) // need the driver past this point if (g_pca8574 == nullptr) { - warnx("not started"); - pca8574_usage(); + warnx("not started, run pca8574 start"); exit(1); } @@ -459,10 +481,10 @@ pca8574_main(int argc, char *argv[]) exit(0); } - if (!strcmp(verb, "off") || !strcmp(verb, "stop")) { + if (!strcmp(verb, "off")) { fd = open(PCA8574_DEVICE_PATH, 0); - if (fd == -1) { + if (fd < 0) { errx(1, "Unable to open " PCA8574_DEVICE_PATH); } @@ -472,9 +494,36 @@ pca8574_main(int argc, char *argv[]) } if (!strcmp(verb, "stop")) { - delete g_pca8574; - g_pca8574 = nullptr; - exit(0); + 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")) { @@ -490,7 +539,12 @@ pca8574_main(int argc, char *argv[]) unsigned channel = strtol(argv[2], NULL, 0); unsigned val = strtol(argv[3], NULL, 0); - ret = ioctl(fd, (IOX_SET_VALUE + channel), val); + + if (channel < 8) { + ret = ioctl(fd, (IOX_SET_VALUE + channel), val); + } else { + ret = -1; + } close(fd); exit(ret); } |