add rgbled_aw2023 drivers (#25158)

* add rgbled_aw2023 drivers

* delete a newline to the end of the file

src/drivers/drv_sensor.h

@@ -166,6 +166,7 @@
 #define DRV_LED_DEVTYPE_RGBLED_NCP5623C 0x7b
 #define DRV_LED_DEVTYPE_RGBLED_IS31FL3195    0xbf
 #define DRV_LED_DEVTYPE_RGBLED_LP5562    0xc0
+#define DRV_LED_DEVTYPE_RGBLED_AW2023    0xe9
 
 #define DRV_BAT_DEVTYPE_SMBUS         0x7c
 #define DRV_SENS_DEVTYPE_IRLOCK       0x7d

src/drivers/lights/CMakeLists.txt

@@ -36,4 +36,5 @@ add_subdirectory(rgbled)
 add_subdirectory(rgbled_ncp5623c)
 add_subdirectory(rgbled_is31fl3195)
 add_subdirectory(rgbled_lp5562)
+add_subdirectory(rgbled_aw2023)
 #add_subdirectory(rgbled_pwm) # requires board support (BOARD_HAS_LED_PWM/BOARD_HAS_UI_LED_PWM)

src/drivers/lights/Kconfig

@@ -6,6 +6,7 @@ menu "Lights"
         select DRIVERS_LIGHTS_RGBLED_NCP5623C
         select DRIVERS_LIGHTS_RGBLED_IS31FL3195
         select DRIVERS_LIGHTS_RGBLED_LP5562
+        select DRIVERS_LIGHTS_RGBLED_AW2023
         ---help---
             Enable default set of light drivers
     rsource "*/Kconfig"

src/drivers/lights/rgbled_aw2023/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2025 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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE drivers__rgbled_aw2023
+	MAIN rgbled_aw2023
+	SRCS
+		rgbled_aw2023.cpp
+	DEPENDS
+		drivers__device
+		led
+	)

src/drivers/lights/rgbled_aw2023/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_LIGHTS_RGBLED_AW2023
+	bool "rgbled_aw2013"
+	default n
+	---help---
+		Enable support for rgbled_aw2023

src/drivers/lights/rgbled_aw2023/rgbled_aw2023.cpp

@@ -0,0 +1,282 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 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_aw2023.cpp
+ *
+ * Driver for the onboard RGB LED controller (AW2023) connected via I2C.
+ *
+ * @author Amovlab Lv Guofei <service@amovauto.com>
+ */
+
+#include <string.h>
+
+#include <drivers/device/i2c.h>
+#include <lib/led/led.h>
+#include <lib/parameters/param.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <px4_platform_common/module.h>
+
+using namespace time_literals;
+
+/**
+ * @brief register address
+ *
+ */
+#define AW2023_REG_RSTR                      0x00      /**< chip id and software reset register*/
+#define AW2023_REG_GCR1                      0x01      /**< global control register*/
+
+#define AW2023_REG_LCTR                      0x30      /**< led control register*/
+#define AW2023_REG_LCFG0                     0x31      /**< led0 mode configuration register*/
+#define AW2023_REG_LCFG1                     0x32      /**< led1 mode configuration register*/
+#define AW2023_REG_LCFG2                     0x33      /**< led2 mode configuration register*/
+#define AW2023_REG_PWM0		             0x34      /** Ppwm dimming register*/
+#define AW2023_REG_PWM1	                     0x35      /** pwm dimming register*/
+#define AW2023_REG_PWM2		             0x36      /** pwm dimming register*/
+
+#define AW2023_ADDR                          0x45      /**< I2C address of AW2023   */
+
+/**
+ * @brief register bits
+ *
+ */
+
+#define AW2023_CHIPEN			     0X01  /**< enable, the device enters active state*/
+#define AW2023_CHIPID       		     0x09  /**< chip ID*/
+#define AW2023_LED0_ENABLE   	             0x01  /**< LED0 Enable (blue)*/
+#define AW2023_LED2_ENABLE  	             0x02  /**< LED2 Enable (green)*/
+#define AW2023_LED1_ENABLE    	   	     0x04  /**< LED1 Enable (red)*/
+#define AW2023_LED2_CUR  	             0x0F  /**< LED output current*/
+#define AW2023_LED_PWM  		     0XFF  /**< full brightness */
+
+class RGBLED_AW2023 : public device::I2C, public I2CSPIDriver<RGBLED_AW2023>
+{
+public:
+	RGBLED_AW2023(const I2CSPIDriverConfig &config);
+	virtual ~RGBLED_AW2023() = default;
+
+	static void print_usage();
+
+	int		init() override;
+	int		probe() override;
+
+	void			RunImpl();
+
+private:
+	int			send_led_enable(uint8_t color_);
+	int			send_led_rgb();
+
+	bool			_led_opened{true};
+
+	LedController		_led_controller;
+};
+
+RGBLED_AW2023::RGBLED_AW2023(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config)
+{
+}
+
+int
+RGBLED_AW2023::init()
+{
+	int ret = I2C::init();
+
+	if (ret != OK) {
+		return ret;
+	}
+
+	/* switch off LED on start */
+	send_led_enable(false);
+	send_led_rgb();
+
+	// kick off work queue
+	ScheduleNow();
+
+	return OK;
+}
+
+int
+RGBLED_AW2023::probe()
+{
+	// Check if device responds by reading RSTR register (should return 0x09)
+	uint8_t data = 0;
+	const uint8_t reg = AW2023_REG_RSTR;
+
+	for (id_t i = 0; i < 3; i++) {
+		if (transfer(&reg, 1, &data, 1) == PX4_OK) {
+
+			// Expected chip ID is 0x09
+			if (data == AW2023_CHIPID) {
+				return PX4_OK;
+			}
+		}
+	}
+
+	return PX4_ERROR;
+}
+
+void
+RGBLED_AW2023::RunImpl()
+{
+	LedControlData led_control_data;
+
+	if (_led_controller.update(led_control_data) == 1) {
+		switch (led_control_data.leds[0].color) {
+		case led_control_s::COLOR_RED:
+			send_led_enable(AW2023_LED1_ENABLE);
+			break;
+
+		case led_control_s::COLOR_GREEN:
+			send_led_enable(AW2023_LED2_ENABLE);
+			break;
+
+		case led_control_s::COLOR_BLUE:
+			send_led_enable(AW2023_LED0_ENABLE);
+			break;
+
+		case led_control_s::COLOR_AMBER: //make it the same as yellow
+		case led_control_s::COLOR_YELLOW:
+			send_led_enable(AW2023_LED1_ENABLE | AW2023_LED2_ENABLE);
+			break;
+
+		case led_control_s::COLOR_PURPLE:
+			send_led_enable(AW2023_LED1_ENABLE | AW2023_LED0_ENABLE);
+			break;
+
+		case led_control_s::COLOR_CYAN:
+			send_led_enable(AW2023_LED2_ENABLE | AW2023_LED0_ENABLE);
+			break;
+
+		case led_control_s::COLOR_WHITE:
+			send_led_enable(AW2023_LED1_ENABLE | AW2023_LED2_ENABLE | AW2023_LED0_ENABLE);
+			break;
+
+		default: // led_control_s::COLOR_OFF
+			send_led_enable(0);
+			break;
+		}
+	}
+
+	/* re-queue ourselves to run again later */
+	ScheduleDelayed(_led_controller.maximum_update_interval());
+}
+
+/**
+ * Sent ENABLE flag to LED driveer
+ */
+int
+RGBLED_AW2023::send_led_enable(uint8_t color_)
+{
+	uint8_t msg[2] = {AW2023_REG_LCTR, color_};
+	return transfer(msg, sizeof(msg), nullptr, 0);
+}
+
+/**
+ * Send RGB PWM settings to LED driver according to current color and brightness
+ */
+int
+RGBLED_AW2023::send_led_rgb()
+{
+	uint8_t msg[2] = {AW2023_REG_GCR1, AW2023_CHIPEN};
+	int ret = transfer(msg, 2, nullptr, 0);
+
+	if (ret == PX4_OK) {
+		uint8_t msg0[2] = {0, 0};
+		uint8_t msg1[2] = {0, 0};
+		msg0[1] = AW2023_LED2_CUR;
+		msg1[1] = AW2023_LED_PWM;
+
+		msg0[0] = AW2023_REG_LCFG0;
+		transfer(msg0, 2, nullptr, 0);
+		msg0[0] = AW2023_REG_LCFG1;
+		transfer(msg0, 2, nullptr, 0);
+		msg0[0] = AW2023_REG_LCFG2;
+		transfer(msg0, 2, nullptr, 0);
+
+
+		msg1[0] = AW2023_REG_PWM2;
+		transfer(msg1, 2, nullptr, 0);
+		msg1[0] = AW2023_REG_PWM1;
+		transfer(msg1, 2, nullptr, 0);
+		msg1[0] = AW2023_REG_PWM0;
+		transfer(msg1, 2, nullptr, 0);
+
+	} else {
+		PX4_DEBUG("chipen failed");
+	}
+
+	return 0;
+}
+
+void
+RGBLED_AW2023::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("rgbled_aw2023", "driver");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x45);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+extern "C" __EXPORT int rgbled_aw2023_main(int argc, char *argv[])
+{
+	using ThisDriver = RGBLED_AW2023;
+	BusCLIArguments cli{true, false};
+	cli.default_i2c_frequency = 100000;
+	cli.i2c_address = AW2023_ADDR;
+	const char *verb = cli.parseDefaultArguments(argc, argv);
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_LED_DEVTYPE_RGBLED_AW2023);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}