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-rw-r--r--src/drivers/drv_io_expander.h65
-rw-r--r--src/drivers/pca8574/module.mk6
-rw-r--r--src/drivers/pca8574/pca8574.cpp569
3 files changed, 640 insertions, 0 deletions
diff --git a/src/drivers/drv_io_expander.h b/src/drivers/drv_io_expander.h
new file mode 100644
index 000000000..2705d6f9e
--- /dev/null
+++ b/src/drivers/drv_io_expander.h
@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ * Copyright (c) 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 drv_io_expander.h
+ *
+ * IO expander device API
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+/*
+ * ioctl() definitions
+ */
+
+#define _IOXIOCBASE (0x2800)
+#define _IOXIOC(_n) (_IOC(_IOXIOCBASE, _n))
+
+/** enable the device */
+#define IOX_ENABLE _IOXIOC(1)
+
+/** set constant values */
+#define IOX_SET_VALUE _IOXIOC(2)
+
+/** set constant values */
+#define IOX_SET_MODE _IOXIOC(3)
+
+/* enum passed to RGBLED_SET_MODE ioctl()*/
+enum IOX_MODE {
+ IOX_MODE_OFF,
+ IOX_MODE_ON
+};
diff --git a/src/drivers/pca8574/module.mk b/src/drivers/pca8574/module.mk
new file mode 100644
index 000000000..825ee9bb7
--- /dev/null
+++ b/src/drivers/pca8574/module.mk
@@ -0,0 +1,6 @@
+#
+# PCA8574 driver for RGB LED
+#
+
+MODULE_COMMAND = pca8574
+SRCS = pca8574.cpp
diff --git a/src/drivers/pca8574/pca8574.cpp b/src/drivers/pca8574/pca8574.cpp
new file mode 100644
index 000000000..ce882b636
--- /dev/null
+++ b/src/drivers/pca8574/pca8574.cpp
@@ -0,0 +1,569 @@
+/****************************************************************************
+ *
+ * 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 pca8574.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_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) */
+#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 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);
+
+private:
+ work_s _work;
+
+ uint8_t _values[8];
+ float _brightness;
+
+ enum IOX_MODE _mode;
+ bool _running;
+ int _led_interval;
+ bool _should_run;
+ int _counter;
+
+ static void led_trampoline(void *arg);
+ void led();
+
+ int send_led_enable(bool enable);
+ int send_led_values();
+};
+
+/* 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),
+ _mode(IOX_MODE_OFF),
+ _values({}),
+ _brightness(1.0f),
+ _running(false),
+ _led_interval(0),
+ _should_run(false),
+ _counter(0)
+{
+ memset(&_work, 0, sizeof(_work));
+}
+
+PCA8574::~PCA8574()
+{
+}
+
+int
+PCA8574::init()
+{
+ int ret;
+ ret = I2C::init();
+
+ if (ret != OK) {
+ return ret;
+ }
+
+ /* switch off LED on start */
+ send_led_enable(false);
+
+ /* 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);
+}
+
+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 color */
+ unsigned prev = _values[cmd - IOX_SET_VALUE];
+ _values[cmd - IOX_SET_VALUE] = arg;
+ if (_values[cmd - IOX_SET_VALUE] != prev) {
+ // XXX will be done with a change flag
+ send_led_values();
+ }
+ return OK;
+ }
+
+ case IOX_ENABLE:
+ send_led_enable(arg);
+ 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 (!_should_run) {
+ _running = false;
+ return;
+ }
+
+ // switch (_mode) {
+ // case PCA8574_MODE_BLINK_SLOW:
+ // case PCA8574_MODE_BLINK_NORMAL:
+ // case PCA8574_MODE_BLINK_FAST:
+ // if (_counter >= 2)
+ // _counter = 0;
+
+ // send_led_enable(_counter == 0);
+
+ // break;
+
+ // case PCA8574_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 PCA8574_MODE_PATTERN:
+
+ // /* don't run out of the pattern array and stop if the next frame is 0 */
+ // if (_counter >= PCA8574_PATTERN_LENGTH || _pattern.duration[_counter] <= 0)
+ // _counter = 0;
+
+ // set_color(_pattern.color[_counter]);
+ // send_led_rgb();
+ // _led_interval = _pattern.duration[_counter];
+ // break;
+
+ // default:
+ // break;
+ // }
+
+
+ // we count only seven states
+ _counter &= 0xF;
+ _counter++;
+
+ for (int i = 0; i < 8; i++) {
+ if (i < _counter) {
+ _values[i] = 1;
+ } else {
+ _values[i] = 0;
+ }
+ }
+
+ send_led_values();
+
+ /* re-queue ourselves to run again later */
+ work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, _led_interval);
+}
+
+// /**
+// * Set mode, if mode not changed has no any effect (doesn't reset blinks phase)
+// */
+// void
+// PCA8574::set_mode(pca8574_mode_t mode)
+// {
+// if (mode != _mode) {
+// _mode = mode;
+
+// switch (mode) {
+// // case PCA8574_MODE_OFF:
+// // _should_run = false;
+// // send_led_enable(false);
+// // break;
+
+// // case PCA8574_MODE_ON:
+// // _brightness = 1.0f;
+// // send_led_rgb();
+// // send_led_enable(true);
+// // break;
+
+// // case PCA8574_MODE_BLINK_SLOW:
+// // _should_run = true;
+// // _counter = 0;
+// // _led_interval = 2000;
+// // _brightness = 1.0f;
+// // send_led_rgb();
+// // break;
+
+// // case PCA8574_MODE_BLINK_NORMAL:
+// // _should_run = true;
+// // _counter = 0;
+// // _led_interval = 500;
+// // _brightness = 1.0f;
+// // send_led_rgb();
+// // break;
+
+// // case PCA8574_MODE_BLINK_FAST:
+// // _should_run = true;
+// // _counter = 0;
+// // _led_interval = 100;
+// // _brightness = 1.0f;
+// // send_led_rgb();
+// // break;
+
+// // case PCA8574_MODE_BREATHE:
+// // _should_run = true;
+// // _counter = 0;
+// // _led_interval = 25;
+// // send_led_enable(true);
+// // break;
+
+// // case PCA8574_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)&PCA8574::led_trampoline, this, 1);
+// }
+
+// }
+// }
+
+/**
+ * Sent ENABLE flag to LED driver
+ */
+int
+PCA8574::send_led_enable(bool enable)
+{
+ uint8_t msg;
+
+ if (enable) {
+ /* active low */
+ msg = 0x00;
+ } else {
+ /* active low, so off */
+ msg = 0xFF;
+ }
+
+ int ret = transfer(&msg, sizeof(msg), nullptr, 0);
+
+ return ret;
+}
+
+/**
+ * Send RGB PWM settings to LED driver according to current color and brightness
+ */
+int
+PCA8574::send_led_values()
+{
+ uint8_t msg = 0;
+
+ for (int i = 0; i < 8; i++) {
+ if (_values[i]) {
+ msg |= (1 << i);
+ }
+ }
+
+ int ret = transfer(&msg, sizeof(msg), nullptr, 0);
+}
+
+// int
+// PCA8574::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
+pca8574_usage()
+{
+ warnx("missing command: try 'start', 'test', 'info', 'off', 'stop', 'val 0 100'");
+ 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");
+ pca8574_usage();
+ 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_VALUE, 255);
+ // ret = ioctl(fd, PCA8574_SET_MODE, (unsigned long)PCA8574_MODE_PATTERN);
+
+ close(fd);
+ exit(ret);
+ }
+
+ if (!strcmp(verb, "info")) {
+ g_pca8574->info();
+ exit(0);
+ }
+
+ if (!strcmp(verb, "off") || !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);
+ exit(ret);
+ }
+
+ if (!strcmp(verb, "stop")) {
+ delete g_pca8574;
+ g_pca8574 = nullptr;
+ exit(0);
+ }
+
+ if (!strcmp(verb, "val")) {
+ if (argc < 4) {
+ errx(1, "Usage: pca8574 val <channel> <value>");
+ }
+
+ 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);
+ ret = ioctl(fd, (IOX_SET_VALUE+channel), val);
+ ret = ioctl(fd, IOX_ENABLE, 1);
+ close(fd);
+ exit(ret);
+ }
+
+ pca8574_usage();
+ exit(0);
+}
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