1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
|
/****************************************************************************
*
* 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
* 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 "device/rgbled.h"
#define LED_ONTIME 120
#define LED_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 */
enum ledModes {
LED_MODE_TEST,
LED_MODE_SYSTEMSTATE,
LED_MODE_OFF,
LED_MODE_RGB
};
class RGBLED : public device::I2C
{
public:
RGBLED(int bus, int rgbled);
virtual ~RGBLED();
virtual int init();
virtual int probe();
virtual int info();
virtual int setMode(enum ledModes mode);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
private:
enum ledColors {
LED_COLOR_OFF,
LED_COLOR_RED,
LED_COLOR_YELLOW,
LED_COLOR_PURPLE,
LED_COLOR_GREEN,
LED_COLOR_BLUE,
LED_COLOR_WHITE,
LED_COLOR_AMBER,
};
enum ledBlinkModes {
LED_BLINK_ON,
LED_BLINK_OFF
};
work_s _work;
int led_colors[8];
int led_blink;
// RGB values for MODE_RGB
struct RGBLEDSet rgb;
int mode;
int running;
void setLEDColor(int ledcolor);
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),
led_colors({0,0,0,0,0,0,0,0}),
led_blink(LED_BLINK_OFF),
mode(LED_MODE_OFF),
running(false)
{
memset(&_work, 0, sizeof(_work));
}
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::setMode(enum ledModes new_mode)
{
switch (new_mode) {
case LED_MODE_SYSTEMSTATE:
case LED_MODE_TEST:
case LED_MODE_RGB:
mode = new_mode;
if (!running) {
running = true;
set_on(true);
work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, 1);
}
break;
case LED_MODE_OFF:
default:
if (running) {
running = false;
set_on(false);
}
mode = LED_MODE_OFF;
break;
}
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: {
/* set the specified RGB values */
memcpy(&rgb, (struct RGBLEDSet *)arg, sizeof(rgb));
setMode(LED_MODE_RGB);
return OK;
}
default:
break;
}
return ret;
}
void
RGBLED::led_trampoline(void *arg)
{
RGBLED *rgbl = reinterpret_cast<RGBLED *>(arg);
rgbl->led();
}
void
RGBLED::led()
{
static int led_thread_runcount=0;
static int led_interval = 1000;
switch (mode) {
case LED_MODE_TEST:
/* Demo LED pattern for now */
led_colors[0] = LED_COLOR_YELLOW;
led_colors[1] = LED_COLOR_AMBER;
led_colors[2] = LED_COLOR_RED;
led_colors[3] = LED_COLOR_PURPLE;
led_colors[4] = LED_COLOR_BLUE;
led_colors[5] = LED_COLOR_GREEN;
led_colors[6] = LED_COLOR_WHITE;
led_colors[7] = LED_COLOR_OFF;
led_blink = LED_BLINK_ON;
break;
case LED_MODE_SYSTEMSTATE:
/* XXX TODO set pattern */
led_colors[0] = LED_COLOR_OFF;
led_colors[1] = LED_COLOR_OFF;
led_colors[2] = LED_COLOR_OFF;
led_colors[3] = LED_COLOR_OFF;
led_colors[4] = LED_COLOR_OFF;
led_colors[5] = LED_COLOR_OFF;
led_colors[6] = LED_COLOR_OFF;
led_colors[7] = LED_COLOR_OFF;
led_blink = LED_BLINK_OFF;
break;
case LED_MODE_RGB:
set_rgb(rgb.red, rgb.green, rgb.blue);
running = false;
return;
case LED_MODE_OFF:
default:
return;
break;
}
if (led_thread_runcount & 1) {
if (led_blink == LED_BLINK_ON)
setLEDColor(LED_COLOR_OFF);
led_interval = LED_OFFTIME;
} else {
setLEDColor(led_colors[(led_thread_runcount/2) % 8]);
led_interval = LED_ONTIME;
}
led_thread_runcount++;
if(running) {
/* re-queue ourselves to run again later */
work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, led_interval);
} else if (mode == LED_MODE_RGB) {
// no need to run again until the colour changes
set_on(true);
} else {
set_on(false);
}
}
void RGBLED::setLEDColor(int ledcolor) {
switch (ledcolor) {
case LED_COLOR_OFF: // off
set_rgb(0,0,0);
break;
case LED_COLOR_RED: // red
set_rgb(255,0,0);
break;
case LED_COLOR_YELLOW: // yellow
set_rgb(255,70,0);
break;
case LED_COLOR_PURPLE: // purple
set_rgb(255,0,255);
break;
case LED_COLOR_GREEN: // green
set_rgb(0,255,0);
break;
case LED_COLOR_BLUE: // blue
set_rgb(0,0,255);
break;
case LED_COLOR_WHITE: // white
set_rgb(255,255,255);
break;
case LED_COLOR_AMBER: // amber
set_rgb(255,20,0);
break;
}
}
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', 'systemstate', '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];
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) {
fprintf(stderr, "not started\n");
rgbled_usage();
exit(0);
}
if (!strcmp(verb, "test")) {
g_rgbled->setMode(LED_MODE_TEST);
exit(0);
}
if (!strcmp(verb, "systemstate")) {
g_rgbled->setMode(LED_MODE_SYSTEMSTATE);
exit(0);
}
if (!strcmp(verb, "info")) {
g_rgbled->info();
exit(0);
}
if (!strcmp(verb, "off")) {
g_rgbled->setMode(LED_MODE_OFF);
exit(0);
}
if (!strcmp(verb, "rgb")) {
int 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>");
}
struct RGBLEDSet v;
v.red = strtol(argv[1], NULL, 0);
v.green = strtol(argv[2], NULL, 0);
v.blue = strtol(argv[3], NULL, 0);
int ret = ioctl(fd, RGBLED_SET, (unsigned long)&v);
close(fd);
exit(ret);
}
rgbled_usage();
}
|