mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-21 05:47:35 +08:00
Port expander driver first hacky version
This commit is contained in:
Lorenz Meier
@@ -40,6 +40,7 @@ MODULES += drivers/meas_airspeed
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MODULES += drivers/frsky_telemetry
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MODULES += modules/sensors
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MODULES += drivers/mkblctrl
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MODULES += drivers/pca8574
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# Needs to be burned to the ground and re-written; for now,
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@@ -24,6 +24,7 @@ MODULES += drivers/lsm303d
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MODULES += drivers/l3gd20
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MODULES += drivers/hmc5883
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MODULES += drivers/ms5611
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MODULES += drivers/pca8574
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MODULES += systemcmds/perf
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MODULES += systemcmds/reboot
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MODULES += systemcmds/tests
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@@ -0,0 +1,65 @@
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/****************************************************************************
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*
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* Copyright (c) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
|
||||
* are met:
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||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
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||||
* 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.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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||||
* without specific prior written permission.
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||||
*
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||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
* "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.
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*
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****************************************************************************/
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/**
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* @file drv_io_expander.h
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*
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* IO expander device API
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*/
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#pragma once
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#include <stdint.h>
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#include <sys/ioctl.h>
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/*
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* ioctl() definitions
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*/
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#define _IOXIOCBASE (0x2800)
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#define _IOXIOC(_n) (_IOC(_IOXIOCBASE, _n))
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/** enable the device */
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#define IOX_ENABLE _IOXIOC(1)
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/** set constant values */
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#define IOX_SET_VALUE _IOXIOC(2)
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/** set constant values */
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#define IOX_SET_MODE _IOXIOC(3)
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/* enum passed to RGBLED_SET_MODE ioctl()*/
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enum IOX_MODE {
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IOX_MODE_OFF,
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IOX_MODE_ON
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};
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@@ -0,0 +1,6 @@
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#
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# PCA8574 driver for RGB LED
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#
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MODULE_COMMAND = pca8574
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SRCS = pca8574.cpp
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@@ -0,0 +1,569 @@
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/****************************************************************************
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*
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* Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
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* Author: Julian Oes <joes@student.ethz.ch>
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* Anton Babushkin <anton.babushkin@me.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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||||
* 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
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||||
* without specific prior written permission.
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||||
*
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||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
* "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.
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*
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****************************************************************************/
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/**
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* @file pca8574.cpp
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*
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* Driver for the onboard RGB LED controller (TCA62724FMG) connected via I2C.
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*
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*/
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#include <nuttx/config.h>
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#include <drivers/device/i2c.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <string.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <ctype.h>
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#include <nuttx/wqueue.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/err.h>
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#include <systemlib/systemlib.h>
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#include <board_config.h>
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#include <drivers/drv_io_expander.h>
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#define PCA8574_ONTIME 120
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#define PCA8574_OFFTIME 120
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#define PCA8574_DEVICE_PATH "/dev/pca8574"
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#define ADDR 0x20 /**< I2C adress of PCA8574 (default, A0-A2 pulled to GND) */
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#define SUB_ADDR_START 0x01 /**< write everything (with auto-increment) */
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#define SUB_ADDR_PWM0 0x81 /**< blue (without auto-increment) */
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#define SUB_ADDR_PWM1 0x82 /**< green (without auto-increment) */
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#define SUB_ADDR_PWM2 0x83 /**< red (without auto-increment) */
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#define SUB_ADDR_SETTINGS 0x84 /**< settings (without auto-increment)*/
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#define SETTING_NOT_POWERSAVE 0x01 /**< power-save mode not off */
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#define SETTING_ENABLE 0x02 /**< on */
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class PCA8574 : public device::I2C
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{
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public:
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PCA8574(int bus, int pca8574);
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virtual ~PCA8574();
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virtual int init();
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virtual int probe();
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virtual int info();
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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private:
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work_s _work;
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uint8_t _values[8];
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float _brightness;
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enum IOX_MODE _mode;
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bool _running;
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int _led_interval;
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bool _should_run;
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int _counter;
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static void led_trampoline(void *arg);
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void led();
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int send_led_enable(bool enable);
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int send_led_values();
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};
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/* for now, we only support one PCA8574 */
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namespace
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{
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PCA8574 *g_pca8574;
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}
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void pca8574_usage();
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extern "C" __EXPORT int pca8574_main(int argc, char *argv[]);
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PCA8574::PCA8574(int bus, int pca8574) :
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I2C("pca8574", PCA8574_DEVICE_PATH, bus, pca8574, 100000),
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_mode(IOX_MODE_OFF),
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_values({}),
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_brightness(1.0f),
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_running(false),
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_led_interval(0),
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_should_run(false),
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_counter(0)
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{
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memset(&_work, 0, sizeof(_work));
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}
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PCA8574::~PCA8574()
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{
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}
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int
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PCA8574::init()
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{
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int ret;
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ret = I2C::init();
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if (ret != OK) {
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return ret;
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}
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/* switch off LED on start */
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send_led_enable(false);
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/* kick it in */
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_should_run = true;
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_led_interval = 80;
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work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1);
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return OK;
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}
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int
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PCA8574::probe()
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{
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return send_led_enable(false);
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}
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int
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PCA8574::info()
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{
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int ret = OK;
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return ret;
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}
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int
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PCA8574::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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int ret = ENOTTY;
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switch (cmd) {
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case IOX_SET_VALUE ... (IOX_SET_VALUE + 8):
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{
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/* set the specified color */
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unsigned prev = _values[cmd - IOX_SET_VALUE];
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_values[cmd - IOX_SET_VALUE] = arg;
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if (_values[cmd - IOX_SET_VALUE] != prev) {
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// XXX will be done with a change flag
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send_led_values();
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}
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return OK;
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}
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case IOX_ENABLE:
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send_led_enable(arg);
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return OK;
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default:
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/* see if the parent class can make any use of it */
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ret = CDev::ioctl(filp, cmd, arg);
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break;
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}
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return ret;
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}
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void
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PCA8574::led_trampoline(void *arg)
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{
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PCA8574 *rgbl = reinterpret_cast<PCA8574 *>(arg);
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rgbl->led();
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}
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/**
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* Main loop function
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*/
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void
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PCA8574::led()
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{
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if (!_should_run) {
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_running = false;
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return;
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}
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// switch (_mode) {
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// case PCA8574_MODE_BLINK_SLOW:
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// case PCA8574_MODE_BLINK_NORMAL:
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// case PCA8574_MODE_BLINK_FAST:
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// if (_counter >= 2)
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// _counter = 0;
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// send_led_enable(_counter == 0);
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// break;
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// case PCA8574_MODE_BREATHE:
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// if (_counter >= 62)
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// _counter = 0;
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// int n;
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// if (_counter < 32) {
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// n = _counter;
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// } else {
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// n = 62 - _counter;
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// }
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// _brightness = n * n / (31.0f * 31.0f);
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// send_led_rgb();
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// break;
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// case PCA8574_MODE_PATTERN:
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// /* don't run out of the pattern array and stop if the next frame is 0 */
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// if (_counter >= PCA8574_PATTERN_LENGTH || _pattern.duration[_counter] <= 0)
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// _counter = 0;
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// set_color(_pattern.color[_counter]);
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// send_led_rgb();
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// _led_interval = _pattern.duration[_counter];
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// break;
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// default:
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// break;
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// }
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// we count only seven states
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_counter &= 0xF;
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_counter++;
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for (int i = 0; i < 8; i++) {
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if (i < _counter) {
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_values[i] = 1;
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} else {
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_values[i] = 0;
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}
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}
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send_led_values();
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/* re-queue ourselves to run again later */
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work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, _led_interval);
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}
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// /**
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// * Set mode, if mode not changed has no any effect (doesn't reset blinks phase)
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// */
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// void
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// PCA8574::set_mode(pca8574_mode_t mode)
|
||||
// {
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// if (mode != _mode) {
|
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// _mode = mode;
|
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// switch (mode) {
|
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// // case PCA8574_MODE_OFF:
|
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// // _should_run = false;
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// // send_led_enable(false);
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// // break;
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// // case PCA8574_MODE_ON:
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// // _brightness = 1.0f;
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||||
// // send_led_rgb();
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// // send_led_enable(true);
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||||
// // break;
|
||||
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// // case PCA8574_MODE_BLINK_SLOW:
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// // _should_run = true;
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// // _counter = 0;
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||||
// // _led_interval = 2000;
|
||||
// // _brightness = 1.0f;
|
||||
// // send_led_rgb();
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||||
// // break;
|
||||
|
||||
// // case PCA8574_MODE_BLINK_NORMAL:
|
||||
// // _should_run = true;
|
||||
// // _counter = 0;
|
||||
// // _led_interval = 500;
|
||||
// // _brightness = 1.0f;
|
||||
// // send_led_rgb();
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||||
// // 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);
|
||||
}
|
||||
Reference in New Issue
Block a user