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Navio: add rgbled test and tweak implementation

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This commit is contained in:
Hidenori 2016-07-20 14:07:58 -04:00 committed by Lorenz Meier
parent 9a5f88d6bf
commit eded7bf772
8 changed files with 185 additions and 71 deletions
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4
src/drivers/navio_gpio/navio_gpio.cpp
View File

@ -113,10 +113,10 @@ void Gpio::gpiowrite(uint32_t pinset, bool value)
pin = (pinset & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT;
if (value == 0) {
addr = (uint32_t)_gpio_map + GPIO_GPSET0_OFFSET + pin / 32;
addr = (uint32_t)_gpio_map + GPIO_GPCLR0_OFFSET + pin / 32;
} else {
addr = (uint32_t)_gpio_map + GPIO_GPCLR0_OFFSET + pin / 32;
addr = (uint32_t)_gpio_map + GPIO_GPSET0_OFFSET + pin / 32;
}
shift = pin % 32;

34
src/drivers/navio_gpio/test/test.cpp
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@ -8,6 +8,9 @@
#define LED_pinG GPIO_PIN27
#define LED_pinB GPIO_PIN6
#define LED_OFF 1
#define LED_ON 0
using namespace navio_gpio;
int do_test();
@ -24,33 +27,34 @@ int do_test()
gpio.configgpio(LED_CNF | LED_pinG);
gpio.configgpio(LED_CNF | LED_pinB);
gpio.gpiowrite(LED_pinR, 0);
gpio.gpiowrite(LED_pinG, 0);
gpio.gpiowrite(LED_pinB, 0);
gpio.gpiowrite(LED_pinR, LED_OFF);
gpio.gpiowrite(LED_pinG, LED_OFF);
gpio.gpiowrite(LED_pinB, LED_OFF);
printf("off\n");
sleep(2);
gpio.gpiowrite(LED_pinR, 1);
gpio.gpiowrite(LED_pinG, 0);
gpio.gpiowrite(LED_pinB, 0);
gpio.gpiowrite(LED_pinR, LED_ON);
gpio.gpiowrite(LED_pinG, LED_OFF);
gpio.gpiowrite(LED_pinB, LED_OFF);
printf("red\n");
sleep(2);
gpio.gpiowrite(LED_pinR, 0);
gpio.gpiowrite(LED_pinG, 1);
gpio.gpiowrite(LED_pinB, 0);
gpio.gpiowrite(LED_pinR, LED_OFF);
gpio.gpiowrite(LED_pinG, LED_ON);
gpio.gpiowrite(LED_pinB, LED_OFF);
printf("green\n");
sleep(2);
gpio.gpiowrite(LED_pinR, 0);
gpio.gpiowrite(LED_pinG, 0);
gpio.gpiowrite(LED_pinB, 1);
gpio.gpiowrite(LED_pinR, LED_OFF);
gpio.gpiowrite(LED_pinG, LED_OFF);
gpio.gpiowrite(LED_pinB, LED_ON);
printf("blue\n");
sleep(2);
gpio.gpiowrite(LED_pinR, 0);
gpio.gpiowrite(LED_pinG, 0);
gpio.gpiowrite(LED_pinB, 0);
gpio.gpiowrite(LED_pinR, LED_OFF);
gpio.gpiowrite(LED_pinG, LED_OFF);
gpio.gpiowrite(LED_pinB, LED_OFF);
printf("off\n");
gpio.stop();

1
src/drivers/navio_rgbled/CMakeLists.txt
View File

@ -43,4 +43,5 @@ px4_add_module(
drivers__navio_gpio
)
#add_subdirectory(test)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

65
src/drivers/navio_rgbled/navio_rgbled.cpp
View File

@ -1,11 +1,8 @@
#include "navio_gpio.h"
#include "DevObj.hpp"
#include <px4_posix.h>
#include <drivers/drv_rgbled.h>
#define RGBLED_BASE_DEVICE_PATH "/dev/rgbled"
#define RGBLED_DEVICE_PATH "/dev/rgbled0"
#include "navio_rgbled.h"
#define GPIO_LED_CNF (GPIO_CNF_OUTPUT)
#define GPIO_LED_R (GPIO_PIN4)
@ -13,47 +10,7 @@
#define GPIO_LED_B (GPIO_PIN6)
using namespace DriverFramework;
using namespace navio_gpio;
class RGBLED : public DevObj
{
public:
RGBLED(const char *name) :
DevObj(name,
RGBLED_DEVICE_PATH,
RGBLED_BASE_DEVICE_PATH,
DeviceBusType_UNKNOWN,
0),
_rgbsets{
{0, 0, 0}, /* OFF */
{1, 0, 0}, /* red */
{1, 1, 0}, /* yellow */
{1, 0, 1}, /* purple */
{0, 1, 0}, /* green */
{0, 0, 1}, /* blue */
{1, 1, 1}, /* white */
},
_max_color(7),
_rgb{0, 0, 0},
_turn(true)
{ };
virtual ~RGBLED()
{ };
int start();
int stop();
int devIOCTL(unsigned long request, unsigned long arg);
protected:
void _measure();
private:
Gpio _gpio;
const rgbled_rgbset_t _rgbsets[7];
const int _max_color;
rgbled_rgbset_t _rgb;
bool _turn;
};
int RGBLED::start()
{
@ -101,9 +58,9 @@ int RGBLED::devIOCTL(unsigned long request, unsigned long arg)
case RGBLED_SET_RGB:
ret = 0;
rgb = (rgbled_rgbset_t *)arg;
_rgb.red = (rgb->red != 0) ? 1 : 0;
_rgb.green = (rgb->green != 0) ? 1 : 0;
_rgb.blue = (rgb->blue != 0) ? 1 : 0;
_rgb.red = (rgb->red != 0) ? LED_ON : LED_OFF;
_rgb.green = (rgb->green != 0) ? LED_ON : LED_OFF;
_rgb.blue = (rgb->blue != 0) ? LED_ON : LED_OFF;
_gpio.gpiowrite(GPIO_LED_R, _rgb.red);
_gpio.gpiowrite(GPIO_LED_G, _rgb.green);
_gpio.gpiowrite(GPIO_LED_B, _rgb.blue);
@ -132,19 +89,19 @@ int RGBLED::devIOCTL(unsigned long request, unsigned long arg)
break;
case RGBLED_MODE_BLINK_SLOW:
DevObj::setSampleInterval(20000 * 1000);
DevObj::setSampleInterval(2000 * 1000);
break;
case RGBLED_MODE_BLINK_NORMAL:
DevObj::setSampleInterval(5000 * 1000);
DevObj::setSampleInterval(500 * 1000);
break;
case RGBLED_MODE_BLINK_FAST:
DevObj::setSampleInterval(1000 * 1000);
DevObj::setSampleInterval(100 * 1000);
break;
case RGBLED_MODE_BREATHE:
DevObj::setSampleInterval(15000 * 1000);
DevObj::setSampleInterval(1500 * 1000);
break;
default:
@ -176,9 +133,9 @@ int RGBLED::devIOCTL(unsigned long request, unsigned long arg)
void RGBLED::_measure()
{
if (_turn) {
_gpio.gpiowrite(GPIO_LED_R, 0);
_gpio.gpiowrite(GPIO_LED_G, 0);
_gpio.gpiowrite(GPIO_LED_B, 0);
_gpio.gpiowrite(GPIO_LED_R, LED_OFF);
_gpio.gpiowrite(GPIO_LED_G, LED_OFF);
_gpio.gpiowrite(GPIO_LED_B, LED_OFF);
_turn = false;
} else {

54
src/drivers/navio_rgbled/navio_rgbled.h Normal file
View File

@ -0,0 +1,54 @@
#include "DevObj.hpp"
#include "navio_gpio.h"
#define RGBLED_BASE_DEVICE_PATH "/dev/rgbled"
#define RGBLED_DEVICE_PATH "/dev/rgbled0"
// inverted
#define LED_ON 0
#define LED_OFF 1
using namespace navio_gpio;
class RGBLED : public DevObj
{
public:
RGBLED(const char *name) :
DevObj(name,
RGBLED_DEVICE_PATH,
RGBLED_BASE_DEVICE_PATH,
DeviceBusType_UNKNOWN,
0),
_rgbsets{
{LED_OFF, LED_OFF, LED_OFF}, /* OFF */
{LED_ON, LED_OFF, LED_OFF}, /* red */
{LED_ON, LED_ON, LED_OFF}, /* yellow */
{LED_ON, LED_OFF, LED_ON}, /* purple */
{LED_OFF, LED_ON, LED_OFF}, /* green */
{LED_OFF, LED_OFF, LED_ON}, /* blue */
{LED_ON, LED_ON, LED_ON}, /* white */
},
_max_color(7),
_rgb{LED_OFF, LED_OFF, LED_OFF},
_turn(true)
{ };
virtual ~RGBLED()
{ };
int start();
int stop();
int devIOCTL(unsigned long request, unsigned long arg);
protected:
void _measure();
private:
Gpio _gpio;
const rgbled_rgbset_t _rgbsets[7];
const int _max_color;
rgbled_rgbset_t _rgb;
bool _turn;
};

13
src/drivers/navio_rgbled/test/CMakeLists.txt Normal file
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@ -0,0 +1,13 @@
include_directories(..)
add_executable(navio_rgbled_test
main.cpp
test.cpp
)
target_link_libraries(navio_rgbled_test
drivers__navio_rgbled
drivers__navio_gpio
platforms__posix__px4_layer
df_driver_framework
)

6
src/drivers/navio_rgbled/test/main.cpp Normal file
View File

@ -0,0 +1,6 @@
extern int do_test();
int main()
{
return do_test();
}

79
src/drivers/navio_rgbled/test/test.cpp Normal file
View File

@ -0,0 +1,79 @@
#include <px4_defines.h>
#include <stdio.h>
#include <unistd.h>
#include <DevMgr.hpp>
#include <drivers/drv_rgbled.h>
#include "navio_rgbled.h"
using namespace DriverFramework;
int do_test();
int do_test()
{
DevHandle h;
RGBLED *g_dev = nullptr;
if (Framework::initialize() < 0) {
printf("Framework init failed\n");
return -1;
}
g_dev = new RGBLED("navio_rgbled test");
g_dev->start();
DevMgr::getHandle(RGBLED0_DEVICE_PATH, h);
if (!h.isValid()) {
printf("No RGB LED at " RGBLED0_DEVICE_PATH);
return -1;
}
printf("off\n");
h.ioctl(RGBLED_SET_COLOR, (unsigned long)RGBLED_COLOR_OFF);
sleep(2);
printf("red\n");
h.ioctl(RGBLED_SET_COLOR, (unsigned long)RGBLED_COLOR_RED);
sleep(2);
printf("yellow\n");
h.ioctl(RGBLED_SET_COLOR, (unsigned long)RGBLED_COLOR_YELLOW);
sleep(2);
printf("purple\n");
h.ioctl(RGBLED_SET_COLOR, (unsigned long)RGBLED_COLOR_PURPLE);
sleep(2);
printf("green\n");
h.ioctl(RGBLED_SET_COLOR, (unsigned long)RGBLED_COLOR_GREEN);
sleep(2);
printf("blue\n");
h.ioctl(RGBLED_SET_COLOR, (unsigned long)RGBLED_COLOR_BLUE);
sleep(2);
printf("blue blink slow\n");
h.ioctl(RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_BLINK_SLOW);
sleep(10);
printf("green blink normal\n");
h.ioctl(RGBLED_SET_COLOR, (unsigned long)RGBLED_COLOR_GREEN);
h.ioctl(RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_BLINK_NORMAL);
sleep(10);
printf("red blink fast\n");
h.ioctl(RGBLED_SET_COLOR, (unsigned long)RGBLED_COLOR_RED);
h.ioctl(RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_BLINK_FAST);
sleep(10);
printf("blue breathe (bogus)\n");
h.ioctl(RGBLED_SET_COLOR, (unsigned long)RGBLED_COLOR_BLUE);
h.ioctl(RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_BREATHE);
sleep(10);
return 0;
}