mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-08 04:01:35 +08:00
add updated spi_led driver.
This commit is contained in:
Benjamin Perseghetti
@@ -0,0 +1,45 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2021 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__spi_led
|
||||
MAIN spi_led_driver
|
||||
COMPILE_FLAGS
|
||||
#-DDEBUG_BUILD # uncomment for PX4_DEBUG output
|
||||
#-O0 # uncomment when debugging
|
||||
SRCS
|
||||
spi_led.cpp
|
||||
spi_led.hpp
|
||||
DEPENDS
|
||||
px4_work_queue
|
||||
)
|
||||
@@ -0,0 +1,5 @@
|
||||
menuconfig DRIVERS_SPI_LED
|
||||
bool "spi_led"
|
||||
default n
|
||||
---help---
|
||||
Enable support for spi_led
|
||||
@@ -0,0 +1,167 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "spi_led.hpp"
|
||||
|
||||
spi_led::spi_led(int bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
|
||||
SPI(DRV_DEVTYPE_UNUSED, MODULE_NAME, bus, device, spi_mode, bus_frequency),
|
||||
ModuleParams(nullptr),
|
||||
ScheduledWorkItem("spi_led", px4::wq_configurations::test1)
|
||||
{
|
||||
}
|
||||
|
||||
spi_led::~spi_led()
|
||||
{
|
||||
perf_free(_loop_perf);
|
||||
perf_free(_loop_interval_perf);
|
||||
}
|
||||
|
||||
int spi_led::init()
|
||||
{
|
||||
if(SPI::init() != OK) {
|
||||
printf("SPI::init() failed\n");
|
||||
DEVICE_DEBUG("SPI init failed");
|
||||
return false;
|
||||
}
|
||||
|
||||
// execute Run() on every spi_led publication
|
||||
if (!_spi_led_sub.registerCallback()) {
|
||||
PX4_ERR("callback registration failed");
|
||||
return false;
|
||||
}
|
||||
|
||||
// alternatively, Run on fixed interval
|
||||
// ScheduleOnInterval(5000_us); // 2000 us interval, 200 Hz rate
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void spi_led::Run()
|
||||
{
|
||||
if (should_exit()) {
|
||||
delete _buf;
|
||||
delete _rbuf;
|
||||
ScheduleClear();
|
||||
exit_and_cleanup();
|
||||
return;
|
||||
}
|
||||
|
||||
perf_begin(_loop_perf);
|
||||
perf_count(_loop_interval_perf);
|
||||
|
||||
if (_spi_led_sub.updated()) {
|
||||
spi_led_s led_struct;
|
||||
|
||||
if (_spi_led_sub.copy(&led_struct)) {
|
||||
// DO WORK
|
||||
uint32_t size = led_struct.number_leds + 2;
|
||||
if(size != _size) {
|
||||
_size = size;
|
||||
delete _buf;
|
||||
delete _rbuf;
|
||||
_buf = new uint32_t[size];
|
||||
_rbuf = new uint32_t[size];
|
||||
for(uint32_t i = 0; i < size; i++) {
|
||||
_buf[i] = 0x00000000;
|
||||
}
|
||||
_buf[size-1] = 0xFFFFFFFF;
|
||||
}
|
||||
|
||||
memcpy(_buf + (led_struct.offset_group*13)+1, &led_struct.led_values, 13);
|
||||
|
||||
transfer((uint8_t *)_buf, (uint8_t *)_rbuf, _size*4);
|
||||
}
|
||||
}
|
||||
|
||||
perf_end(_loop_perf);
|
||||
}
|
||||
|
||||
int spi_led::task_spawn(int argc, char *argv[])
|
||||
{
|
||||
spi_led *instance = new spi_led(1, 0, 4000000, SPIDEV_MODE0);
|
||||
|
||||
if (instance) {
|
||||
_object.store(instance);
|
||||
_task_id = task_id_is_work_queue;
|
||||
|
||||
if (instance->init()) {
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_ERR("alloc failed");
|
||||
}
|
||||
|
||||
delete instance;
|
||||
_object.store(nullptr);
|
||||
_task_id = -1;
|
||||
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
int spi_led::print_status()
|
||||
{
|
||||
perf_print_counter(_loop_perf);
|
||||
perf_print_counter(_loop_interval_perf);
|
||||
return 0;
|
||||
}
|
||||
|
||||
int spi_led::custom_command(int argc, char *argv[])
|
||||
{
|
||||
return print_usage("unknown command");
|
||||
}
|
||||
|
||||
int spi_led::print_usage(const char *reason)
|
||||
{
|
||||
if (reason) {
|
||||
PX4_WARN("%s\n", reason);
|
||||
}
|
||||
|
||||
PRINT_MODULE_DESCRIPTION(
|
||||
R"DESCR_STR(
|
||||
### Description
|
||||
spi_led driver for leds like apa102c and sk9822.
|
||||
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("spi_led", "driver");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int spi_led_driver_main(int argc, char *argv[])
|
||||
{
|
||||
return spi_led::main(argc, argv);
|
||||
}
|
||||
@@ -0,0 +1,90 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_platform_common/defines.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
#include <px4_platform_common/posix.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
|
||||
#include <uORB/SubscriptionCallback.hpp>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
#include <uORB/topics/spi_led.h>
|
||||
#include <drivers/device/spi.h>
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
class spi_led : public device::SPI, public ModuleBase<spi_led>, public ModuleParams, public px4::ScheduledWorkItem
|
||||
{
|
||||
public:
|
||||
spi_led(int bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
|
||||
~spi_led() override;
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int task_spawn(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int custom_command(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int print_usage(const char *reason = nullptr);
|
||||
|
||||
int init();
|
||||
|
||||
int print_status() override;
|
||||
|
||||
private:
|
||||
void Run() override;
|
||||
|
||||
// Subscriptions
|
||||
uORB::SubscriptionCallbackWorkItem _spi_led_sub{this, ORB_ID(spi_led)}; // subscription that schedules spi_led when updated
|
||||
|
||||
// Performance (perf) counters
|
||||
perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, "spi_led: cycle")};
|
||||
perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, "spi_led: interval")};
|
||||
|
||||
// Parameters
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamInt<px4::params::SYS_AUTOSTART>) _param_sys_autostart, /**< example parameter */
|
||||
(ParamInt<px4::params::SYS_AUTOCONFIG>) _param_sys_autoconfig /**< another parameter */
|
||||
)
|
||||
|
||||
uint32_t *_buf;
|
||||
uint32_t *_rbuf;
|
||||
uint32_t _size;
|
||||
};
|
||||
Reference in New Issue
Block a user