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PCA8574 driver: Cleanup, ready for final testing and production

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This commit is contained in:
Lorenz Meier
2014-05-29 12:24:50 +02:00
parent 6341737384
commit 17d8e2a166
2 changed files with 149 additions and 212 deletions
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src/drivers/drv_io_expander.h
+12 -6
View File
@@ -49,17 +49,23 @@
#define _IOXIOCBASE (0x2800) #define _IOXIOCBASE (0x2800)
#define _IOXIOC(_n) (_IOC(_IOXIOCBASE, _n)) #define _IOXIOC(_n) (_IOC(_IOXIOCBASE, _n))
/** enable the device */ /** set a bitmask (non-blocking) */
#define IOX_ENABLE _IOXIOC(1) #define IOX_SET_MASK _IOXIOC(1)
/** set constant values */ /** get a bitmask (blocking) */
#define IOX_SET_VALUE _IOXIOC(2) #define IOX_GET_MASK _IOXIOC(2)
/** set constant values */ /** set device mode (non-blocking) */
#define IOX_SET_MODE _IOXIOC(3) #define IOX_SET_MODE _IOXIOC(3)
/** set constant values (non-blocking) */
#define IOX_SET_VALUE _IOXIOC(4)
/* ... to IOX_SET_VALUE + 8 */
/* enum passed to RGBLED_SET_MODE ioctl()*/ /* enum passed to RGBLED_SET_MODE ioctl()*/
enum IOX_MODE { enum IOX_MODE {
IOX_MODE_OFF, IOX_MODE_OFF,
IOX_MODE_ON IOX_MODE_ON,
IOX_MODE_TEST_OUT
}; };
src/drivers/pca8574/pca8574.cpp
+137 -206
View File
@@ -1,8 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved. * Copyright (c) 2012-2014 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 * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -36,8 +34,11 @@
/** /**
* @file pca8574.cpp * @file pca8574.cpp
* *
* Driver for the onboard RGB LED controller (TCA62724FMG) connected via I2C. * Driver for an 8 I/O controller (PC8574) connected via I2C.
* *
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/ */
#include <nuttx/config.h> #include <nuttx/config.h>
@@ -68,16 +69,7 @@
#define PCA8574_OFFTIME 120 #define PCA8574_OFFTIME 120
#define PCA8574_DEVICE_PATH "/dev/pca8574" #define PCA8574_DEVICE_PATH "/dev/pca8574"
#define ADDR 0x20 /**< I2C adress of PCA8574 (default, A0-A2 pulled to GND) */ #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 class PCA8574 : public device::I2C
{ {
@@ -94,20 +86,23 @@ public:
private: private:
work_s _work; work_s _work;
uint8_t _values[8]; uint8_t _values_out;
float _brightness; uint8_t _values_in;
enum IOX_MODE _mode; enum IOX_MODE _mode;
bool _running; bool _running;
int _led_interval; int _led_interval;
bool _should_run; bool _should_run;
bool _update_out;
int _counter; int _counter;
static void led_trampoline(void *arg); static void led_trampoline(void *arg);
void led(); void led();
int send_led_enable(bool enable); int send_led_enable(uint8_t arg);
int send_led_values(); int send_led_values();
int get(uint8_t &vals);
}; };
/* for now, we only support one PCA8574 */ /* for now, we only support one PCA8574 */
@@ -122,12 +117,13 @@ extern "C" __EXPORT int pca8574_main(int argc, char *argv[]);
PCA8574::PCA8574(int bus, int pca8574) : PCA8574::PCA8574(int bus, int pca8574) :
I2C("pca8574", PCA8574_DEVICE_PATH, bus, pca8574, 100000), I2C("pca8574", PCA8574_DEVICE_PATH, bus, pca8574, 100000),
_values_out(0),
_values_in(0),
_mode(IOX_MODE_OFF), _mode(IOX_MODE_OFF),
_values({}),
_brightness(1.0f),
_running(false), _running(false),
_led_interval(0), _led_interval(0),
_should_run(false), _should_run(false),
_update_out(false),
_counter(0) _counter(0)
{ {
memset(&_work, 0, sizeof(_work)); memset(&_work, 0, sizeof(_work));
@@ -147,10 +143,10 @@ PCA8574::init()
return ret; return ret;
} }
/* switch off LED on start */ // switch off LED on start (active low on Pixhawk)
send_led_enable(false); send_led_enable(0xFF);
/* kick it in */ // kick it in
_should_run = true; _should_run = true;
_led_interval = 80; _led_interval = 80;
work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1); work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1);
@@ -179,24 +175,69 @@ PCA8574::ioctl(struct file *filp, int cmd, unsigned long arg)
int ret = ENOTTY; int ret = ENOTTY;
switch (cmd) { switch (cmd) {
case IOX_SET_VALUE ... (IOX_SET_VALUE + 8): case IOX_SET_VALUE ...(IOX_SET_VALUE + 8): {
{ // set the specified on / off state
/* set the specified color */ uint8_t position = (1 << (cmd - IOX_SET_VALUE));
unsigned prev = _values[cmd - IOX_SET_VALUE]; uint8_t prev = _values_out;
_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: if (arg) {
_values_out |= position;
} else {
_values_out &= ~(position);
}
if (_values_out != prev) {
send_led_values();
}
return OK;
}
case IOX_SET_MASK:
send_led_enable(arg); send_led_enable(arg);
return OK; return OK;
case IOX_GET_MASK: {
uint8_t val;
ret = get(val);
if (ret == OK) {
return val;
} else {
return -1;
}
}
case IOX_SET_MODE:
if (_mode != (IOX_MODE)arg) {
switch ((IOX_MODE)arg) {
case IOX_MODE_OFF:
_values_out = 0xFF;
break;
case IOX_MODE_ON:
_values_out = 0;
break;
case IOX_MODE_TEST_OUT:
break;
default:
return -1;
}
_mode = (IOX_MODE)arg;
send_led_values();
}
return OK;
default: default:
/* see if the parent class can make any use of it */ // see if the parent class can make any use of it
ret = CDev::ioctl(filp, cmd, arg); ret = CDev::ioctl(filp, cmd, arg);
break; break;
} }
@@ -224,204 +265,93 @@ PCA8574::led()
return; return;
} }
// switch (_mode) { if (_mode == IOX_MODE_TEST_OUT) {
// 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); // we count only seven states
_counter &= 0xF;
_counter++;
// break; for (int i = 0; i < 8; i++) {
if (i < _counter) {
_values_out |= (1 << i);
// case PCA8574_MODE_BREATHE: } else {
_values_out &= ~(1 << i);
}
}
// if (_counter >= 62) _update_out = true;
// _counter = 0; }
// int n; if (_update_out) {
uint8_t msg = _values_out;
// if (_counter < 32) { int ret = transfer(&msg, sizeof(msg), nullptr, 0);
// n = _counter;
// } else { if (!ret) {
// n = 62 - _counter; _update_out = false;
// }
// _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(); // check if any activity remains, else stp
if (!_update_out) {
_running = false;
return;
}
/* re-queue ourselves to run again later */ // re-queue ourselves to run again later
work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, _led_interval); 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 * Sent ENABLE flag to LED driver
*/ */
int int
PCA8574::send_led_enable(bool enable) PCA8574::send_led_enable(uint8_t arg)
{ {
uint8_t msg;
if (enable) { int ret = transfer(&arg, sizeof(arg), nullptr, 0);
/* active low */
msg = 0x00;
} else {
/* active low, so off */
msg = 0xFF;
}
int ret = transfer(&msg, sizeof(msg), nullptr, 0);
return ret; return ret;
} }
/** /**
* Send RGB PWM settings to LED driver according to current color and brightness * Send 8 outputs
*/ */
int int
PCA8574::send_led_values() PCA8574::send_led_values()
{ {
uint8_t msg = 0; _update_out = true;
_should_run = true;
for (int i = 0; i < 8; i++) { // if not active, kick it
if (_values[i]) { if (!_running) {
msg |= (1 << i); work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1);
}
} }
int ret = transfer(&msg, sizeof(msg), nullptr, 0); return 0;
} }
// int int
// PCA8574::get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b) PCA8574::get(uint8_t &vals)
// { {
// uint8_t result[2]; uint8_t result;
// int ret; int ret;
// ret = transfer(nullptr, 0, &result[0], 2); ret = transfer(nullptr, 0, &result, 1);
// if (ret == OK) { if (ret == OK) {
// on = result[0] & SETTING_ENABLE; _values_in = result;
// powersave = !(result[0] & SETTING_NOT_POWERSAVE); vals = result;
// /* XXX check, looks wrong */ }
// r = (result[0] & 0x0f) << 4;
// g = (result[1] & 0xf0);
// b = (result[1] & 0x0f) << 4;
// }
// return ret; return ret;
// } }
void void
pca8574_usage() pca8574_usage()
{ {
warnx("missing command: try 'start', 'test', 'info', 'off', 'stop', 'val 0 100'"); warnx("missing command: try 'start', 'test', 'info', 'off', 'stop', 'val 0 1'");
warnx("options:"); warnx("options:");
warnx(" -b i2cbus (%d)", PX4_I2C_BUS_LED); warnx(" -b i2cbus (%d)", PX4_I2C_BUS_LED);
warnx(" -a addr (0x%x)", ADDR); warnx(" -a addr (0x%x)", ADDR);
@@ -431,11 +361,11 @@ int
pca8574_main(int argc, char *argv[]) pca8574_main(int argc, char *argv[])
{ {
int i2cdevice = -1; int i2cdevice = -1;
int pca8574adr = ADDR; /* 7bit */ int pca8574adr = ADDR; // 7bit
int ch; int ch;
/* jump over start/off/etc and look at options first */ // jump over start/off/etc and look at options first
while ((ch = getopt(argc, argv, "a:b:")) != EOF) { while ((ch = getopt(argc, argv, "a:b:")) != EOF) {
switch (ch) { switch (ch) {
case 'a': case 'a':
@@ -452,10 +382,10 @@ pca8574_main(int argc, char *argv[])
} }
} }
if (optind >= argc) { if (optind >= argc) {
pca8574_usage(); pca8574_usage();
exit(1); exit(1);
} }
const char *verb = argv[optind]; const char *verb = argv[optind];
@@ -463,8 +393,9 @@ pca8574_main(int argc, char *argv[])
int ret; int ret;
if (!strcmp(verb, "start")) { if (!strcmp(verb, "start")) {
if (g_pca8574 != nullptr) if (g_pca8574 != nullptr) {
errx(1, "already started"); errx(1, "already started");
}
if (i2cdevice == -1) { if (i2cdevice == -1) {
// try the external bus first // try the external bus first
@@ -481,6 +412,7 @@ pca8574_main(int argc, char *argv[])
if (PX4_I2C_BUS_LED == PX4_I2C_BUS_EXPANSION) { if (PX4_I2C_BUS_LED == PX4_I2C_BUS_EXPANSION) {
errx(1, "init failed"); errx(1, "init failed");
} }
i2cdevice = PX4_I2C_BUS_LED; i2cdevice = PX4_I2C_BUS_LED;
} }
} }
@@ -488,8 +420,9 @@ pca8574_main(int argc, char *argv[])
if (g_pca8574 == nullptr) { if (g_pca8574 == nullptr) {
g_pca8574 = new PCA8574(i2cdevice, pca8574adr); g_pca8574 = new PCA8574(i2cdevice, pca8574adr);
if (g_pca8574 == nullptr) if (g_pca8574 == nullptr) {
errx(1, "new failed"); errx(1, "new failed");
}
if (OK != g_pca8574->init()) { if (OK != g_pca8574->init()) {
delete g_pca8574; delete g_pca8574;
@@ -501,7 +434,7 @@ pca8574_main(int argc, char *argv[])
exit(0); exit(0);
} }
/* need the driver past this point */ // need the driver past this point
if (g_pca8574 == nullptr) { if (g_pca8574 == nullptr) {
warnx("not started"); warnx("not started");
pca8574_usage(); pca8574_usage();
@@ -515,8 +448,7 @@ pca8574_main(int argc, char *argv[])
errx(1, "Unable to open " PCA8574_DEVICE_PATH); errx(1, "Unable to open " PCA8574_DEVICE_PATH);
} }
ret = ioctl(fd, IOX_SET_VALUE, 255); ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_TEST_OUT);
// ret = ioctl(fd, PCA8574_SET_MODE, (unsigned long)PCA8574_MODE_PATTERN);
close(fd); close(fd);
exit(ret); exit(ret);
@@ -547,7 +479,7 @@ pca8574_main(int argc, char *argv[])
if (!strcmp(verb, "val")) { if (!strcmp(verb, "val")) {
if (argc < 4) { if (argc < 4) {
errx(1, "Usage: pca8574 val <channel> <value>"); errx(1, "Usage: pca8574 val <channel> <0 or 1>");
} }
fd = open(PCA8574_DEVICE_PATH, 0); fd = open(PCA8574_DEVICE_PATH, 0);
@@ -558,8 +490,7 @@ pca8574_main(int argc, char *argv[])
unsigned channel = strtol(argv[2], NULL, 0); unsigned channel = strtol(argv[2], NULL, 0);
unsigned val = strtol(argv[3], NULL, 0); unsigned val = strtol(argv[3], NULL, 0);
ret = ioctl(fd, (IOX_SET_VALUE+channel), val); ret = ioctl(fd, (IOX_SET_VALUE + channel), val);
ret = ioctl(fd, IOX_ENABLE, 1);
close(fd); close(fd);
exit(ret); exit(ret);
} }