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CAN node STM32F7 support and Freefly RTK GPS CAN node
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Daniel Agar
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/****************************************************************************
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*
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* Copyright (C) 2015 PX4 Development Team. All rights reserved.
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* Author: David Sidrane<david_s5@nscdg.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
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* 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
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <px4_config.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <arch/board/board.h>
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#include "led.h"
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#include <string.h>
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#include <hardware/stm32_tim.h>
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#include <drivers/device/i2c.h>
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#include <lib/led/led.h>
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__BEGIN_DECLS
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#include "cxx_init.h"
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void board_autoled_on(int led);
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void board_autoled_off(int led);
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__END_DECLS
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using namespace time_literals;
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#define MODULE_NAME "LED"
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#define ADDR 0x39 /**< I2C adress of NCP5623C */
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#define NCP5623_LED_CURRENT 0x20 /**< Current register */
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#define NCP5623_LED_PWM0 0x40 /**< pwm0 register */
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#define NCP5623_LED_PWM1 0x60 /**< pwm1 register */
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#define NCP5623_LED_PWM2 0x80 /**< pwm2 register */
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#define NCP5623_LED_BRIGHT 0x1f /**< full brightness */
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#define NCP5623_LED_OFF 0x00 /**< off */
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class RGBLED_NPC5623C : public device::I2C
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{
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public:
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RGBLED_NPC5623C(const int bus, int bus_frequency, const int address);
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virtual ~RGBLED_NPC5623C() = default;
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int init() override;
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int probe() override;
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int send_led_rgb(uint8_t red, uint8_t green, uint8_t blue);
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private:
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float _brightness{1.0f};
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float _max_brightness{1.0f};
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int write(uint8_t reg, uint8_t data);
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};
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RGBLED_NPC5623C::RGBLED_NPC5623C(const int bus, int bus_frequency, const int address) :
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I2C(DRV_LED_DEVTYPE_RGBLED_NCP5623C, MODULE_NAME, bus, address, bus_frequency)
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{
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}
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int
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RGBLED_NPC5623C::write(uint8_t reg, uint8_t data)
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{
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uint8_t msg[1] = { 0x00 };
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msg[0] = ((reg & 0xe0) | (data & 0x1f));
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int ret = transfer(&msg[0], 1, nullptr, 0);
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return ret;
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}
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int
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RGBLED_NPC5623C::init()
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{
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int ret = I2C::init();
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if (ret != OK) {
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return ret;
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}
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return OK;
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}
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int
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RGBLED_NPC5623C::probe()
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{
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_retries = 4;
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return write(NCP5623_LED_CURRENT, 0x00);
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}
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/**
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* Send RGB PWM settings to LED driver according to current color and brightness
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*/
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int
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RGBLED_NPC5623C::send_led_rgb(uint8_t red, uint8_t green, uint8_t blue)
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{
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uint8_t msg[7] = {0x20, 0x70, 0x40, 0x70, 0x60, 0x70, 0x80};
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uint8_t brightness = 0x1f * _max_brightness;
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msg[0] = NCP5623_LED_CURRENT | (brightness & 0x1f);
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msg[2] = NCP5623_LED_PWM0 | (uint8_t(red * _brightness) & 0x1f);
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msg[4] = NCP5623_LED_PWM1 | (uint8_t(green * _brightness) & 0x1f);
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msg[6] = NCP5623_LED_PWM2 | (uint8_t(blue * _brightness) & 0x1f);
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return transfer(&msg[0], 7, nullptr, 0);
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}
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static RGBLED_NPC5623C instance(1, 100000, ADDR);
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#define TMR_BASE STM32_TIM1_BASE
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#define TMR_FREQUENCY STM32_APB2_TIM1_CLKIN
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#define TMR_REG(o) (TMR_BASE+(o))
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static uint8_t _rgb[] = {0, 0, 0};
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static int timerInterrupt(int irq, void *context, void *arg)
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{
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putreg16(~getreg16(TMR_REG(STM32_GTIM_SR_OFFSET)), TMR_REG(STM32_GTIM_SR_OFFSET));
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static int d2 = 1;
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(d2++ & 1) ? instance.send_led_rgb(0, 0, 0) : instance.send_led_rgb(_rgb[0], _rgb[1], _rgb[2]);
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return 0;
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}
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void rgb_led(int r, int g, int b, int freqs)
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{
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long fosc = TMR_FREQUENCY;
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long prescale = 1536;
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long p1s = fosc / prescale;
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long p0p5s = p1s / 2;
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uint16_t val;
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static bool once = false;
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if (!once) {
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cxx_initialize();
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if (instance.init() != PX4_OK) {
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return;
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}
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modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
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/* Reload */
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val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
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val |= ATIM_EGR_UG;
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putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
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/* Set Prescaler STM32_TIM_SETCLOCK */
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putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
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/* Enable STM32_TIM_SETMODE*/
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putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
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putreg32(p0p5s + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));
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irq_attach(STM32_IRQ_TIM1CC, timerInterrupt, NULL);
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up_enable_irq(STM32_IRQ_TIM1CC);
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putreg16(GTIM_DIER_CC1IE, TMR_REG(STM32_GTIM_DIER_OFFSET));
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once = true;
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}
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long p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
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putreg32(p + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));
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putreg32(p, TMR_REG(STM32_GTIM_CCR1_OFFSET));
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_rgb[0] = r;
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_rgb[1] = g;
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_rgb[2] = b;
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val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
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if (freqs == 0) {
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val &= ~ATIM_CR1_CEN;
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} else {
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val |= ATIM_CR1_CEN;
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}
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putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
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}
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/****************************************************************************
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* Name: board_autoled_on
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****************************************************************************/
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__EXPORT void board_autoled_on(int led)
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{
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if (led == LED_ASSERTION || led == LED_PANIC) {
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stm32_gpiowrite(GPIO_LED_SAFETY, true);
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}
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}
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/****************************************************************************
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* Name: board_autoled_off
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****************************************************************************/
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__EXPORT void board_autoled_off(int led)
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{
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if (led == LED_ASSERTION || led == LED_PANIC) {
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stm32_gpiowrite(GPIO_LED_SAFETY, false);
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}
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}
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