Merge pull request #1024 from PX4/pca8574

PCA port expander

ROMFS/px4fmu_common/init.d/rcS

@@ -93,14 +93,18 @@ then
 	#
 	if rgbled start
 	then
-		echo "[init] Using external RGB Led"
+		echo "[init] RGB Led"
 	else
 		if blinkm start
 		then
-			echo "[init] Using blinkm"
+			echo "[init] BlinkM"
 			blinkm systemstate
 		fi
 	fi
+
+	if pca8574 start
+	then
+	fi
 	
 	#
 	# Set default values

makefiles/config_px4fmu-v2_default.mk

@@ -40,6 +40,7 @@ MODULES		+= drivers/meas_airspeed
 MODULES		+= drivers/frsky_telemetry
 MODULES		+= modules/sensors
 MODULES		+= drivers/mkblctrl
+MODULES		+= drivers/pca8574
 
 
 # Needs to be burned to the ground and re-written; for now,

makefiles/config_px4fmu-v2_test.mk

@@ -24,6 +24,7 @@ MODULES		+= drivers/lsm303d
 MODULES		+= drivers/l3gd20
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
+MODULES		+= drivers/pca8574
 MODULES		+= systemcmds/perf
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/tests

src/drivers/drv_io_expander.h

@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   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))
+
+/** set a bitmask (non-blocking) */
+#define IOX_SET_MASK		_IOXIOC(1)
+
+/** get a bitmask (blocking) */
+#define IOX_GET_MASK		_IOXIOC(2)
+
+/** set device mode (non-blocking) */
+#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 IOX_MODE {
+	IOX_MODE_OFF,
+	IOX_MODE_ON,
+	IOX_MODE_TEST_OUT
+};

src/drivers/pca8574/module.mk

@@ -0,0 +1,6 @@
+#
+# PCA8574 driver for RGB LED
+#
+
+MODULE_COMMAND	 = pca8574
+SRCS		 = pca8574.cpp

src/drivers/pca8574/pca8574.cpp

@@ -0,0 +1,554 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 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 pca8574.cpp
+ *
+ * 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 <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)
+
+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);
+	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;
+	int			_led_interval;
+	bool			_should_run;
+	bool			_update_out;
+	int			_counter;
+
+	static void		led_trampoline(void *arg);
+	void			led();
+
+	int			send_led_enable(uint8_t arg);
+	int			send_led_values();
+
+	int			get(uint8_t &vals);
+};
+
+/* 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),
+	_values_out(0),
+	_values_in(0),
+	_blinking(0),
+	_blink_phase(0),
+	_mode(IOX_MODE_OFF),
+	_running(false),
+	_led_interval(80),
+	_should_run(false),
+	_update_out(false),
+	_counter(0)
+{
+	memset(&_work, 0, sizeof(_work));
+}
+
+PCA8574::~PCA8574()
+{
+}
+
+int
+PCA8574::init()
+{
+	int ret;
+	ret = I2C::init();
+
+	if (ret != OK) {
+		return ret;
+	}
+
+	return OK;
+}
+
+int
+PCA8574::probe()
+{
+	uint8_t val;
+	return get(val);
+}
+
+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 on / off state
+			uint8_t position = (1 << (cmd - IOX_SET_VALUE));
+			uint8_t prev = _values_out;
+
+			if (arg) {
+				_values_out |= position;
+
+			} else {
+				_values_out &= ~(position);
+			}
+
+			if (_values_out != prev) {
+				if (_values_out) {
+					_mode = IOX_MODE_ON;
+				}
+				send_led_values();
+			}
+
+			return OK;
+		}
+
+	case IOX_SET_MASK:
+		send_led_enable(arg);
+		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:
+		// 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 (_mode == IOX_MODE_TEST_OUT) {
+
+		// we count only seven states
+		_counter &= 0xF;
+		_counter++;
+
+		for (int i = 0; i < 8; i++) {
+			if (i < _counter) {
+				_values_out |= (1 << i);
+
+			} else {
+				_values_out &= ~(1 << i);
+			}
+		}
+
+		_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;
+
+		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);
+
+		if (!ret) {
+			_update_out = false;
+		}
+	}
+
+	// check if any activity remains, else stp
+	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);
+}
+
+/**
+ * Sent ENABLE flag to LED driver
+ */
+int
+PCA8574::send_led_enable(uint8_t arg)
+{
+
+	int ret = transfer(&arg, sizeof(arg), nullptr, 0);
+
+	return ret;
+}
+
+/**
+ * Send 8 outputs
+ */
+int
+PCA8574::send_led_values()
+{
+	_update_out = true;
+
+	// if not active, kick it
+	if (!_running) {
+		_running = true;
+		work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1);
+	}
+
+	return 0;
+}
+
+int
+PCA8574::get(uint8_t &vals)
+{
+	uint8_t result;
+	int ret;
+
+	ret = transfer(nullptr, 0, &result, 1);
+
+	if (ret == OK) {
+		_values_in = result;
+		vals = result;
+	}
+
+	return ret;
+}
+
+void
+pca8574_usage()
+{
+	warnx("missing command: try 'start', 'test', 'info', 'off', 'stop', 'val 0 1'");
+	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, run pca8574 start");
+		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_MODE, (unsigned long)IOX_MODE_TEST_OUT);
+
+		close(fd);
+		exit(ret);
+	}
+
+	if (!strcmp(verb, "info")) {
+		g_pca8574->info();
+		exit(0);
+	}
+
+	if (!strcmp(verb, "off")) {
+		fd = open(PCA8574_DEVICE_PATH, 0);
+
+		if (fd < 0) {
+			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")) {
+		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")) {
+		if (argc < 4) {
+			errx(1, "Usage: pca8574 val <channel> <0 or 1>");
+		}
+
+		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);
+
+		if (channel < 8) {
+			ret = ioctl(fd, (IOX_SET_VALUE + channel), val);
+		} else {
+			ret = -1;
+		}
+		close(fd);
+		exit(ret);
+	}
+
+	pca8574_usage();
+	exit(0);
+}