diff options
-rw-r--r-- | src/drivers/rgbled/rgbled.cpp | 469 |
1 files changed, 271 insertions, 198 deletions
diff --git a/src/drivers/rgbled/rgbled.cpp b/src/drivers/rgbled/rgbled.cpp index ee1d472a2..74ea6d9e1 100644 --- a/src/drivers/rgbled/rgbled.cpp +++ b/src/drivers/rgbled/rgbled.cpp @@ -92,16 +92,14 @@ public: private: work_s _work; - rgbled_color_t _color; rgbled_mode_t _mode; rgbled_pattern_t _pattern; - float _brightness; uint8_t _r; uint8_t _g; uint8_t _b; + float _brightness; - bool _should_run; bool _running; int _led_interval; int _counter; @@ -109,35 +107,33 @@ private: void set_color(rgbled_color_t ledcolor); void set_mode(rgbled_mode_t mode); void set_pattern(rgbled_pattern_t *pattern); - void set_brightness(float brightness); 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); + 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; +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), - _color(RGBLED_COLOR_OFF), _mode(RGBLED_MODE_OFF), - _running(false), - _brightness(1.0f), _r(0), _g(0), _b(0), + _brightness(1.0f), + _running(false), _led_interval(0), _counter(0) { @@ -159,8 +155,9 @@ RGBLED::init() return ret; } - /* start off */ - set(false, 0, 0, 0); + /* switch off LED on start */ + send_led_enable(false); + send_led_rgb(); return OK; } @@ -169,10 +166,10 @@ int RGBLED::probe() { int ret; - bool on, not_powersave; + bool on, powersave; uint8_t r, g, b; - ret = get(on, not_powersave, r, g, b); + ret = get(on, powersave, r, g, b); return ret; } @@ -181,15 +178,16 @@ int RGBLED::info() { int ret; - bool on, not_powersave; + bool on, powersave; uint8_t r, g, b; - ret = get(on, not_powersave, 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"); } @@ -201,28 +199,30 @@ 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); + /* 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 blink speed */ + /* 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); + set_pattern((rgbled_pattern_t *)arg); return OK; default: @@ -247,33 +247,47 @@ 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_BREATHE: - if (_counter >= 30) - _counter = 0; - if (_counter <= 15) { - set_brightness(((float)_counter)*((float)_counter)/(15.0f*15.0f)); - } else { - set_brightness(((float)(30-_counter))*((float)(30-_counter))/(15.0f*15.0f)); - } - 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; + case RGBLED_MODE_BLINK_SLOW: + case RGBLED_MODE_BLINK_NORMAL: + case RGBLED_MODE_BLINK_FAST: + if (_counter >= 2) + _counter = 0; - set_color(_pattern.color[_counter]); - _led_interval = _pattern.duration[_counter]; - break; - default: - break; + 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++; @@ -282,60 +296,106 @@ RGBLED::led() 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) { +RGBLED::set_color(rgbled_color_t color) +{ + switch (color) { + case RGBLED_COLOR_OFF: + _r = 0; + _g = 0; + _b = 0; + break; - _color = color; + case RGBLED_COLOR_RED: + _r = 255; + _g = 0; + _b = 0; + break; - 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; - case RGBLED_COLOR_DIM_RED: // red - set_rgb(90,0,0); - break; - case RGBLED_COLOR_DIM_YELLOW: // yellow - set_rgb(80,30,0); - break; - case RGBLED_COLOR_DIM_PURPLE: // purple - set_rgb(45,0,45); - break; - case RGBLED_COLOR_DIM_GREEN: // green - set_rgb(0,90,0); - break; - case RGBLED_COLOR_DIM_BLUE: // blue - set_rgb(0,0,90); - break; - case RGBLED_COLOR_DIM_WHITE: // white - set_rgb(30,30,30); - break; - case RGBLED_COLOR_DIM_AMBER: // amber - set_rgb(80,20,0); - break; - default: - warnx("color unknown"); - break; + case RGBLED_COLOR_YELLOW: + _r = 255; + _g = 70; + _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 = 20; + _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; } } @@ -343,51 +403,70 @@ void RGBLED::set_mode(rgbled_mode_t mode) { _mode = mode; + bool should_run = false; 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_BREATHE: - _should_run = true; - set_on(true); - _counter = 0; - _led_interval = 1000/15; - break; - case RGBLED_MODE_PATTERN: - _should_run = true; - set_on(true); - _counter = 0; - break; - default: - warnx("mode unknown"); - break; + case RGBLED_MODE_OFF: + 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) { + 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) { + if (!should_run && _running) { _running = false; work_cancel(LPWORK, &_work); } @@ -397,66 +476,44 @@ void RGBLED::set_pattern(rgbled_pattern_t *pattern) { memcpy(&_pattern, pattern, sizeof(rgbled_pattern_t)); - set_mode(RGBLED_MODE_PATTERN); } -void -RGBLED::set_brightness(float brightness) { - - _brightness = brightness; - set_rgb(_r, _g, _b); -} - -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); -} - +/** + * Sent ENABLE flag to LED driver + */ int -RGBLED::set_on(bool on) +RGBLED::send_led_enable(bool enable) { uint8_t settings_byte = 0; - if (on) + if (enable) settings_byte |= SETTING_ENABLE; -/* powersave not used */ -// if (not_powersave) - settings_byte |= SETTING_NOT_POWERSAVE; + 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::set_rgb(uint8_t r, uint8_t g, uint8_t b) +RGBLED::send_led_rgb() { - /* save the RGB values in case we want to change the brightness later */ - _r = r; - _g = g; - _b = b; - - const uint8_t msg[6] = { SUB_ADDR_PWM0, (uint8_t)((float)b/255.0f*15.0f*_brightness), SUB_ADDR_PWM1, (uint8_t)((float)g/255.0f*15.0f*_brightness), SUB_ADDR_PWM2, (uint8_t)((float)r/255.0f*15.0f*_brightness)}; - + /* 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) +RGBLED::get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b) { uint8_t result[2]; int ret; @@ -465,24 +522,23 @@ RGBLED::get(bool &on, bool ¬_powersave, uint8_t &r, uint8_t &g, uint8_t &b) if (ret == OK) { on = result[0] & SETTING_ENABLE; - not_powersave = result[0] & SETTING_NOT_POWERSAVE; + 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; + r = (result[0] & 0x0f) << 4; + g = (result[1] & 0xf0); + b = (result[1] & 0x0f) << 4; } return ret; } -void rgbled_usage(); - - -void rgbled_usage() { - warnx("missing command: try 'start', 'test', 'info', 'stop'/'off', 'rgb 30 40 50'"); +void +rgbled_usage() +{ + warnx("missing command: try 'start', 'test', 'info', 'off', 'rgb 30 40 50'"); warnx("options:"); warnx(" -b i2cbus (%d)", PX4_I2C_BUS_LED); - errx(0, " -a addr (0x%x)", ADDR); + warnx(" -a addr (0x%x)", ADDR); } int @@ -492,17 +548,21 @@ rgbled_main(int argc, char *argv[]) int rgbledadr = ADDR; /* 7bit */ int ch; + /* jump over start/off/etc and look at options first */ - while ((ch = getopt(argc-1, &argv[1], "a:b:")) != EOF) { + while ((ch = getopt(argc - 1, &argv[1], "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); } } @@ -519,17 +579,21 @@ rgbled_main(int argc, char *argv[]) // 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"); @@ -545,21 +609,24 @@ rgbled_main(int argc, char *argv[]) /* need the driver past this point */ if (g_rgbled == nullptr) { - warnx("not started"); - rgbled_usage(); - exit(0); + 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 } }; + 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 } + }; ret = ioctl(fd, RGBLED_SET_PATTERN, (unsigned long)&pattern); + ret = ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_PATTERN); close(fd); exit(ret); @@ -570,33 +637,39 @@ rgbled_main(int argc, char *argv[]) exit(0); } - if (!strcmp(verb, "stop") || !strcmp(verb, "off")) { - /* although technically it doesn't stop, this is the excepted syntax */ + 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")) { + 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); } - if (argc < 5) { - errx(1, "Usage: rgbled rgb <red> <green> <blue>"); - } + 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); } |