From e41766256dbdccc444addc1d6ff96f5eadd822a9 Mon Sep 17 00:00:00 2001 From: Benjamin Perseghetti Date: Wed, 8 Jun 2022 10:49:09 -0400 Subject: [PATCH] add updated spi_led driver. --- src/drivers/spi_led/CMakeLists.txt | 45 ++++++++ src/drivers/spi_led/Kconfig | 5 + src/drivers/spi_led/spi_led.cpp | 167 +++++++++++++++++++++++++++++ src/drivers/spi_led/spi_led.hpp | 90 ++++++++++++++++ 4 files changed, 307 insertions(+) create mode 100644 src/drivers/spi_led/CMakeLists.txt create mode 100644 src/drivers/spi_led/Kconfig create mode 100644 src/drivers/spi_led/spi_led.cpp create mode 100644 src/drivers/spi_led/spi_led.hpp diff --git a/src/drivers/spi_led/CMakeLists.txt b/src/drivers/spi_led/CMakeLists.txt new file mode 100644 index 0000000000..0e22c42a7b --- /dev/null +++ b/src/drivers/spi_led/CMakeLists.txt @@ -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 + ) diff --git a/src/drivers/spi_led/Kconfig b/src/drivers/spi_led/Kconfig new file mode 100644 index 0000000000..3a572164cb --- /dev/null +++ b/src/drivers/spi_led/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_SPI_LED + bool "spi_led" + default n + ---help--- + Enable support for spi_led diff --git a/src/drivers/spi_led/spi_led.cpp b/src/drivers/spi_led/spi_led.cpp new file mode 100644 index 0000000000..0e917800bf --- /dev/null +++ b/src/drivers/spi_led/spi_led.cpp @@ -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); +} diff --git a/src/drivers/spi_led/spi_led.hpp b/src/drivers/spi_led/spi_led.hpp new file mode 100644 index 0000000000..3a4a7bd207 --- /dev/null +++ b/src/drivers/spi_led/spi_led.hpp @@ -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 +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include + +using namespace time_literals; + +class spi_led : public device::SPI, public ModuleBase, 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) _param_sys_autostart, /**< example parameter */ + (ParamInt) _param_sys_autoconfig /**< another parameter */ + ) + + uint32_t *_buf; + uint32_t *_rbuf; + uint32_t _size; +};