mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Andrew Tridgell
220 lines
6.1 KiB
C
220 lines
6.1 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
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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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/**
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* @file drv_oreoled.h
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*
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* Oreo led device API
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*/
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#pragma once
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#include <stdint.h>
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#include <sys/ioctl.h>
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/* oreoled device path */
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#define OREOLED0_DEVICE_PATH "/dev/oreoled0"
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/*
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* ioctl() definitions
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*/
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#define _OREOLEDIOCBASE (0x2d00)
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#define _OREOLEDIOC(_n) (_IOC(_OREOLEDIOCBASE, _n))
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/** set constant RGB values */
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#define OREOLED_SET_RGB _OREOLEDIOC(1)
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/** run macro */
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#define OREOLED_RUN_MACRO _OREOLEDIOC(2)
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/** send bytes */
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#define OREOLED_SEND_BYTES _OREOLEDIOC(3)
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/** send reset */
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#define OREOLED_SEND_RESET _OREOLEDIOC(4)
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/** boot ping */
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#define OREOLED_BL_PING _OREOLEDIOC(5)
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/** boot version */
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#define OREOLED_BL_VER _OREOLEDIOC(6)
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/** boot write flash */
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#define OREOLED_BL_FLASH _OREOLEDIOC(7)
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/** boot application version */
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#define OREOLED_BL_APP_VER _OREOLEDIOC(8)
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/** boot application crc */
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#define OREOLED_BL_APP_CRC _OREOLEDIOC(9)
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/** boot startup colour */
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#define OREOLED_BL_SET_COLOUR _OREOLEDIOC(10)
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/** boot application */
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#define OREOLED_BL_BOOT_APP _OREOLEDIOC(11)
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/** force an i2c gencall */
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#define OREOLED_FORCE_SYNC _OREOLEDIOC(12)
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/* Oreo LED driver supports up to 4 leds */
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#define OREOLED_NUM_LEDS 4
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/* instance of 0xff means apply to all instances */
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#define OREOLED_ALL_INSTANCES 0xff
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/* maximum command length that can be sent to LEDs */
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#define OREOLED_CMD_LENGTH_MAX 70
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/* maximum command length that can be read from LEDs */
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#define OREOLED_CMD_READ_LENGTH_MAX 10
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/* maximum number of commands retries */
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#define OEROLED_COMMAND_RETRIES 10
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/* magic number used to verify the software reset is valid */
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#define OEROLED_RESET_NONCE 0x2A
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/* microseconds to hold-off between write and reads */
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#define OREOLED_WRITE_READ_HOLDOFF_US 500
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/* microseconds to hold-off between retries */
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#define OREOLED_RETRY_HOLDOFF_US 200
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#define OEROLED_BOOT_COMMAND_RETRIES 25
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#define OREOLED_BOOT_FLASH_WAITMS 10
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#define OREOLED_BOOT_SUPPORTED_VER 0x01
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#define OREOLED_BOOT_CMD_PING 0x40
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#define OREOLED_BOOT_CMD_BL_VER 0x41
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#define OREOLED_BOOT_CMD_APP_VER 0x42
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#define OREOLED_BOOT_CMD_APP_CRC 0x43
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#define OREOLED_BOOT_CMD_SET_COLOUR 0x44
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#define OREOLED_BOOT_CMD_WRITE_FLASH_A 0x50
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#define OREOLED_BOOT_CMD_WRITE_FLASH_B 0x51
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#define OREOLED_BOOT_CMD_FINALISE_FLASH 0x55
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#define OREOLED_BOOT_CMD_BOOT_APP 0x60
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#define OREOLED_BOOT_CMD_PING_NONCE 0x2A
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#define OREOLED_BOOT_CMD_BOOT_NONCE 0xA2
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#define OREOLED_FW_FILE_HEADER_LENGTH 2
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#define OREOLED_FW_FILE_SIZE_LIMIT 6144
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#define OREOLED_FW_FILE "/etc/firmware/oreoled.bin"
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/* enum passed to OREOLED_SET_MODE ioctl()
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* defined by hardware */
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enum oreoled_pattern {
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OREOLED_PATTERN_OFF = 0,
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OREOLED_PATTERN_SINE = 1,
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OREOLED_PATTERN_SOLID = 2,
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OREOLED_PATTERN_SIREN = 3,
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OREOLED_PATTERN_STROBE = 4,
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OREOLED_PATTERN_FADEIN = 5,
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OREOLED_PATTERN_FADEOUT = 6,
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OREOLED_PATTERN_PARAMUPDATE = 7,
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OREOLED_PATTERN_ENUM_COUNT
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};
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/* enum passed to OREOLED_SET_MODE ioctl()
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* defined by hardware */
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enum oreoled_param {
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OREOLED_PARAM_BIAS_RED = 0,
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OREOLED_PARAM_BIAS_GREEN = 1,
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OREOLED_PARAM_BIAS_BLUE = 2,
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OREOLED_PARAM_AMPLITUDE_RED = 3,
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OREOLED_PARAM_AMPLITUDE_GREEN = 4,
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OREOLED_PARAM_AMPLITUDE_BLUE = 5,
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OREOLED_PARAM_PERIOD = 6,
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OREOLED_PARAM_REPEAT = 7,
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OREOLED_PARAM_PHASEOFFSET = 8,
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OREOLED_PARAM_MACRO = 9,
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OREOLED_PARAM_RESET = 10,
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OREOLED_PARAM_APP_CHECKSUM = 11,
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OREOLED_PARAM_ENUM_COUNT
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};
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/* enum of available macros
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* defined by hardware */
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enum oreoled_macro {
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OREOLED_PARAM_MACRO_RESET = 0,
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OREOLED_PARAM_MACRO_COLOUR_CYCLE = 1,
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OREOLED_PARAM_MACRO_BREATH = 2,
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OREOLED_PARAM_MACRO_STROBE = 3,
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OREOLED_PARAM_MACRO_FADEIN = 4,
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OREOLED_PARAM_MACRO_FADEOUT = 5,
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OREOLED_PARAM_MACRO_RED = 6,
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OREOLED_PARAM_MACRO_GREEN = 7,
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OREOLED_PARAM_MACRO_BLUE = 8,
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OREOLED_PARAM_MACRO_YELLOW = 9,
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OREOLED_PARAM_MACRO_WHITE = 10,
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OREOLED_PARAM_MACRO_AUTOMOBILE = 11,
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OREOLED_PARAM_MACRO_AVIATION = 12,
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OREOLED_PARAM_MACRO_ENUM_COUNT
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};
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/*
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structure passed to OREOLED_SET_RGB ioctl()
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Note that the driver scales the brightness to 0 to 255, regardless
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of the hardware scaling
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*/
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typedef struct {
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uint8_t instance;
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oreoled_pattern pattern;
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uint8_t red;
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uint8_t green;
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uint8_t blue;
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} oreoled_rgbset_t;
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/*
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structure passed to OREOLED_RUN_MACRO ioctl()
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*/
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typedef struct {
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uint8_t instance;
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oreoled_macro macro;
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} oreoled_macrorun_t;
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/*
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structure passed to send_bytes method (only used for testing)
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*/
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typedef struct {
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uint8_t led_num;
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uint8_t num_bytes;
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uint8_t buff[OREOLED_CMD_LENGTH_MAX];
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} oreoled_cmd_t;
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