/**************************************************************************** * * Copyright (C) 2015 PX4 Development Team. All rights reserved. * Author: David Sidrane * * 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 #include #include #include #include "led.h" #include #include #include __BEGIN_DECLS #include "cxx_init.h" void board_autoled_on(int led); void board_autoled_off(int led); __END_DECLS using namespace time_literals; #define MODULE_NAME "LED" #define ADDR 0x39 /**< I2C adress of NCP5623C */ #define NCP5623_LED_CURRENT 0x20 /**< Current register */ #define NCP5623_LED_PWM0 0x40 /**< pwm0 register */ #define NCP5623_LED_PWM1 0x60 /**< pwm1 register */ #define NCP5623_LED_PWM2 0x80 /**< pwm2 register */ #define NCP5623_LED_BRIGHT 0x1f /**< full brightness */ #define NCP5623_LED_OFF 0x00 /**< off */ class RGBLED_NCP5623C : public device::I2C { public: RGBLED_NCP5623C(const int bus, int bus_frequency, const int address); virtual ~RGBLED_NCP5623C() = default; int init() override; int probe() override; int send_led_rgb(uint8_t red, uint8_t green, uint8_t blue); private: float _brightness{1.0f}; float _max_brightness{1.0f}; int write(uint8_t reg, uint8_t data); }; RGBLED_NCP5623C::RGBLED_NCP5623C(const int bus, int bus_frequency, const int address) : I2C(DRV_LED_DEVTYPE_RGBLED_NCP5623C, MODULE_NAME, bus, address, bus_frequency) { } int RGBLED_NCP5623C::write(uint8_t reg, uint8_t data) { uint8_t msg[1] = { 0x00 }; msg[0] = ((reg & 0xe0) | (data & 0x1f)); int ret = transfer(&msg[0], 1, nullptr, 0); return ret; } int RGBLED_NCP5623C::init() { int ret = I2C::init(); if (ret != OK) { return ret; } return OK; } int RGBLED_NCP5623C::probe() { return write(NCP5623_LED_CURRENT, 0x00); } /** * Send RGB PWM settings to LED driver according to current color and brightness */ int RGBLED_NCP5623C::send_led_rgb(uint8_t red, uint8_t green, uint8_t blue) { uint8_t msg[7] = {0x20, 0x70, 0x40, 0x70, 0x60, 0x70, 0x80}; uint8_t brightness = 0x1f * _max_brightness; msg[0] = NCP5623_LED_CURRENT | (brightness & 0x1f); msg[2] = NCP5623_LED_PWM0 | (uint8_t(red * _brightness) & 0x1f); msg[4] = NCP5623_LED_PWM1 | (uint8_t(green * _brightness) & 0x1f); msg[6] = NCP5623_LED_PWM2 | (uint8_t(blue * _brightness) & 0x1f); return transfer(&msg[0], 7, nullptr, 0); } static RGBLED_NCP5623C instance(1, 100000, ADDR); #define TMR_BASE STM32_TIM1_BASE #define TMR_FREQUENCY STM32_APB2_TIM1_CLKIN #define TMR_REG(o) (TMR_BASE+(o)) static uint8_t _rgb[] = {0, 0, 0}; static int timerInterrupt(int irq, void *context, void *arg) { putreg16(~getreg16(TMR_REG(STM32_GTIM_SR_OFFSET)), TMR_REG(STM32_GTIM_SR_OFFSET)); static int d2 = 1; (d2++ & 1) ? instance.send_led_rgb(0, 0, 0) : instance.send_led_rgb(_rgb[0], _rgb[1], _rgb[2]); return 0; } void rgb_led(int r, int g, int b, int freqs) { long fosc = TMR_FREQUENCY; long prescale = 1536; long p1s = fosc / prescale; long p0p5s = p1s / 2; uint16_t val; static bool once = false; if (!once) { cxx_initialize(); if (instance.init() != PX4_OK) { return; } modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN); /* Reload */ val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET)); val |= ATIM_EGR_UG; putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET)); /* Set Prescaler STM32_TIM_SETCLOCK */ putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET)); /* Enable STM32_TIM_SETMODE*/ putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET)); putreg32(p0p5s + 1, TMR_REG(STM32_BTIM_ARR_OFFSET)); irq_attach(STM32_IRQ_TIM1CC, timerInterrupt, NULL); up_enable_irq(STM32_IRQ_TIM1CC); putreg16(GTIM_DIER_CC1IE, TMR_REG(STM32_GTIM_DIER_OFFSET)); once = true; } long p = freqs == 0 ? p1s + 1 : p0p5s / freqs; putreg32(p + 1, TMR_REG(STM32_BTIM_ARR_OFFSET)); putreg32(p, TMR_REG(STM32_GTIM_CCR1_OFFSET)); _rgb[0] = r; _rgb[1] = g; _rgb[2] = b; val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET)); if (freqs == 0) { val &= ~ATIM_CR1_CEN; } else { val |= ATIM_CR1_CEN; } putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET)); } /**************************************************************************** * Name: board_autoled_on ****************************************************************************/ __EXPORT void board_autoled_on(int led) { if (led == LED_ASSERTION || led == LED_PANIC) { stm32_gpiowrite(GPIO_LED_SAFETY, true); } } /**************************************************************************** * Name: board_autoled_off ****************************************************************************/ __EXPORT void board_autoled_off(int led) { if (led == LED_ASSERTION || led == LED_PANIC) { stm32_gpiowrite(GPIO_LED_SAFETY, false); } }