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Enabled DriverFramework drivers for SITL build

Browse Source 
The code here works only for SITL at the present time.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-11-18 11:58:21 -08:00
parent d2cacb9bc6
commit b8c40ecb6b
14 changed files with 1099 additions and 77 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
cmake/configs/posix_sitl_simple.cmake
View File

@@ -3,11 +3,9 @@ include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(config_module_list
drivers/led
drivers/device
drivers/boards/sitl
drivers/pwm_out_sim
drivers/rgbled
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
@@ -18,6 +16,8 @@ set(config_module_list
platforms/posix/drivers/airspeedsim
platforms/posix/drivers/barosim
platforms/posix/drivers/gyrosim
platforms/posix/drivers/rgbledsim
platforms/posix/drivers/ledsim
systemcmds/param
systemcmds/mixer
systemcmds/ver

2
posix-configs/SITL/init/rcS_jmavsim
View File

@@ -27,7 +27,7 @@ param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_D 0.005
param set SENS_BOARD_ROT 0
param set COM_RC_IN_MODE 2
rgbled start
rgbledsim start
tone_alarm start
gyrosim start
accelsim start

1
src/drivers/drv_led.h
View File

@@ -43,6 +43,7 @@
#include <stdint.h>
#include <sys/ioctl.h>
#define LED_BASE_DEVICE_PATH "/dev/led"
#define LED0_DEVICE_PATH "/dev/led0"
#define _LED_BASE 0x2800

2
src/drivers/drv_rgbled.h
View File

@@ -42,6 +42,8 @@
#include <stdint.h>
#include <sys/ioctl.h>
#define RGBLED_BASE_DEVICE_PATH "/dev/rgbled"
/* more devices will be 1, 2, etc */
#define RGBLED0_DEVICE_PATH "/dev/rgbled0"

2
src/lib/DriverFramework

Submodule src/lib/DriverFramework updated: 94abaa2067...2d8d3a0cfa

52
src/modules/commander/PreflightCheck.cpp
View File

@@ -69,21 +69,23 @@
#include "PreflightCheck.h"
#include "DevMgr.hpp"
using namespace DriverFramework;
namespace Commander
{
static int check_calibration(int fd, const char* param_template, int &devid);
int check_calibration(int fd, const char* param_template, int &devid)
static int check_calibration(DevHandle &h, const char* param_template, int &devid)
{
bool calibration_found;
/* new style: ask device for calibration state */
int ret = px4_ioctl(fd, SENSORIOCCALTEST, 0);
int ret = h.ioctl(SENSORIOCCALTEST, 0);
calibration_found = (ret == OK);
devid = px4_ioctl(fd, DEVIOCGDEVICEID, 0);
devid = h.ioctl(DEVIOCGDEVICEID, 0);
char s[20];
int instance = 0;
@@ -120,9 +122,10 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, in
char s[30];
sprintf(s, "%s%u", MAG_BASE_DEVICE_PATH, instance);
int fd = px4_open(s, 0);
DevHandle h;
DevMgr::getHandle(s, h);
if (fd < 0) {
if (!h.isValid()) {
if (!optional) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: NO MAG SENSOR #%u", instance);
@@ -131,7 +134,7 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, in
return false;
}
int ret = check_calibration(fd, "CAL_MAG%u_ID", device_id);
int ret = check_calibration(h, "CAL_MAG%u_ID", device_id);
if (ret) {
mavlink_and_console_log_critical(mavlink_fd,
@@ -140,7 +143,7 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, in
goto out;
}
ret = px4_ioctl(fd, MAGIOCSELFTEST, 0);
ret = h.ioctl(MAGIOCSELFTEST, 0);
if (ret != OK) {
mavlink_and_console_log_critical(mavlink_fd,
@@ -150,7 +153,7 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional, in
}
out:
px4_close(fd);
DevMgr::releaseHandle(h);
return success;
}
@@ -160,9 +163,10 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
char s[30];
sprintf(s, "%s%u", ACCEL_BASE_DEVICE_PATH, instance);
int fd = px4_open(s, O_RDONLY);
DevHandle h;
DevMgr::getHandle(s, h);
if (fd < 0) {
if (!h.isValid()) {
if (!optional) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: NO ACCEL SENSOR #%u", instance);
@@ -171,7 +175,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
return false;
}
int ret = check_calibration(fd, "CAL_ACC%u_ID", device_id);
int ret = check_calibration(h, "CAL_ACC%u_ID", device_id);
if (ret) {
mavlink_and_console_log_critical(mavlink_fd,
@@ -180,7 +184,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
goto out;
}
ret = px4_ioctl(fd, ACCELIOCSELFTEST, 0);
ret = h.ioctl(ACCELIOCSELFTEST, 0);
if (ret != OK) {
mavlink_and_console_log_critical(mavlink_fd,
@@ -215,7 +219,9 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
#endif
out:
#ifdef __PX4_NUTTX
px4_close(fd);
#endif
return success;
}
@@ -225,9 +231,10 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
char s[30];
sprintf(s, "%s%u", GYRO_BASE_DEVICE_PATH, instance);
int fd = px4_open(s, 0);
DevHandle h;
DevMgr::getHandle(s, h);
if (fd < 0) {
if (!h.isValid()) {
if (!optional) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: NO GYRO SENSOR #%u", instance);
@@ -236,7 +243,7 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
return false;
}
int ret = check_calibration(fd, "CAL_GYRO%u_ID", device_id);
int ret = check_calibration(h, "CAL_GYRO%u_ID", device_id);
if (ret) {
mavlink_and_console_log_critical(mavlink_fd,
@@ -245,7 +252,7 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
goto out;
}
ret = px4_ioctl(fd, GYROIOCSELFTEST, 0);
ret = h.ioctl(GYROIOCSELFTEST, 0);
if (ret != OK) {
mavlink_and_console_log_critical(mavlink_fd,
@@ -255,7 +262,7 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
}
out:
px4_close(fd);
DevMgr::releaseHandle(h);
return success;
}
@@ -265,9 +272,10 @@ static bool baroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
char s[30];
sprintf(s, "%s%u", BARO_BASE_DEVICE_PATH, instance);
int fd = px4_open(s, 0);
DevHandle h;
DevMgr::getHandle(s, h);
if (fd < 0) {
if (!h.isValid()) {
if (!optional) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: NO BARO SENSOR #%u", instance);
@@ -290,7 +298,7 @@ static bool baroCheck(int mavlink_fd, unsigned instance, bool optional, int &dev
//out:
px4_close(fd);
DevMgr::releaseHandle(h);
return success;
}

67
src/modules/commander/commander_helper.cpp
View File

@@ -63,6 +63,9 @@
#include <drivers/drv_rgbled.h>
#include "commander_helper.h"
#include "DevMgr.hpp"
using namespace DriverFramework;
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
@@ -136,7 +139,7 @@ int buzzer_init()
buzzer = px4_open(TONEALARM0_DEVICE_PATH, O_WRONLY);
if (buzzer < 0) {
warnx("Buzzer: px4_open fail\n");
PX4_WARN("Buzzer: px4_open fail\n");
return ERROR;
}
@@ -264,30 +267,30 @@ int blink_msg_state()
}
}
static int leds = -1;
static int rgbleds = -1;
static DevHandle h_leds;
static DevHandle h_rgbleds;
int led_init()
{
blink_msg_end = 0;
/* first open normal LEDs */
leds = px4_open(LED0_DEVICE_PATH, 0);
DevMgr::getHandle(LED0_DEVICE_PATH, h_leds);
if (leds < 0) {
warnx("LED: px4_open fail\n");
if (!h_leds.isValid()) {
PX4_WARN("LED: getHandle fail\n");
return ERROR;
}
/* the blue LED is only available on FMUv1 & AeroCore but not FMUv2 */
(void)px4_ioctl(leds, LED_ON, LED_BLUE);
(void)h_leds.ioctl(LED_ON, LED_BLUE);
/* switch blue off */
led_off(LED_BLUE);
/* we consider the amber led mandatory */
if (px4_ioctl(leds, LED_ON, LED_AMBER)) {
warnx("Amber LED: px4_ioctl fail\n");
if (h_leds.ioctl(LED_ON, LED_AMBER)) {
PX4_WARN("Amber LED: ioctl fail\n");
return ERROR;
}
@@ -295,10 +298,11 @@ int led_init()
led_off(LED_AMBER);
/* then try RGB LEDs, this can fail on FMUv1*/
rgbleds = px4_open(RGBLED0_DEVICE_PATH, 0);
DevHandle h;
DevMgr::getHandle(RGBLED0_DEVICE_PATH, h_rgbleds);
if (rgbleds < 0) {
warnx("No RGB LED found at " RGBLED0_DEVICE_PATH);
if (!h_rgbleds.isValid()) {
PX4_WARN("No RGB LED found at " RGBLED0_DEVICE_PATH);
}
return 0;
@@ -306,64 +310,41 @@ int led_init()
void led_deinit()
{
if (leds >= 0) {
px4_close(leds);
}
if (rgbleds >= 0) {
px4_close(rgbleds);
}
DevMgr::releaseHandle(h_leds);
DevMgr::releaseHandle(h_rgbleds);
}
int led_toggle(int led)
{
if (leds < 0) {
return leds;
}
return px4_ioctl(leds, LED_TOGGLE, led);
return h_leds.ioctl(LED_TOGGLE, led);
}
int led_on(int led)
{
if (leds < 0) {
return leds;
}
return px4_ioctl(leds, LED_ON, led);
return h_leds.ioctl(LED_ON, led);
}
int led_off(int led)
{
if (leds < 0) {
return leds;
}
return px4_ioctl(leds, LED_OFF, led);
return h_leds.ioctl(LED_OFF, led);
}
void rgbled_set_color(rgbled_color_t color)
{
if (rgbleds < 0) {
return;
}
px4_ioctl(rgbleds, RGBLED_SET_COLOR, (unsigned long)color);
h_rgbleds.ioctl(RGBLED_SET_COLOR, (unsigned long)color);
}
void rgbled_set_mode(rgbled_mode_t mode)
{
if (rgbleds < 0) {
return;
}
px4_ioctl(rgbleds, RGBLED_SET_MODE, (unsigned long)mode);
h_rgbleds.ioctl(RGBLED_SET_MODE, (unsigned long)mode);
}
void rgbled_set_pattern(rgbled_pattern_t *pattern)
{
if (rgbleds < 0) {
return;
}
px4_ioctl(rgbleds, RGBLED_SET_PATTERN, (unsigned long)pattern);
h_rgbleds.ioctl(RGBLED_SET_PATTERN, (unsigned long)pattern);
}
unsigned battery_get_n_cells() {

3
src/platforms/posix/drivers/accelsim/accelsim.cpp
View File

@@ -349,16 +349,19 @@ ACCELSIM::~ACCELSIM()
int
ACCELSIM::init()
{
PX4_INFO("ACCELSIM::init");
int ret = -1;
struct mag_report mrp = {};
struct accel_report arp = {};
PX4_INFO("ACCELSIM::init before VirtDevObj::init()");
/* do SIM init first */
if (VirtDevObj::init() != 0) {
PX4_WARN("SIM init failed");
goto out;
}
PX4_INFO("ACCELSIM::init after VirtDevObj::init()");
/* allocate basic report buffers */
_accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));

42
src/platforms/posix/drivers/ledsim/CMakeLists.txt Normal file
View File

@@ -0,0 +1,42 @@
############################################################################
#
# Copyright (c) 2015 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 platforms__posix__drivers__ledsim
COMPILE_FLAGS
-Os
SRCS
led.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

141
src/platforms/posix/drivers/ledsim/led.cpp Normal file
View File

@@ -0,0 +1,141 @@
/****************************************************************************
*
* Copyright (c) 2013 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.
*
****************************************************************************/
/**
* @file led.cpp
*
* LED driver.
*/
#include <px4_config.h>
#include <drivers/drv_led.h>
#include <stdio.h>
#include "VirtDevObj.hpp"
using namespace DriverFramework;
#define DEVICE_DEBUG PX4_INFO
/*
* Ideally we'd be able to get these from up_internal.h,
* but since we want to be able to disable the NuttX use
* of leds for system indication at will and there is no
* separate switch, we need to build independent of the
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
extern void led_init();
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
class LED : public VirtDevObj
{
public:
LED();
virtual ~LED();
virtual int init();
virtual int devIOCTL(unsigned long cmd, unsigned long arg);
protected:
virtual void _measure() {}
};
LED::LED() :
VirtDevObj("led", "/dev/ledsim", LED_BASE_DEVICE_PATH, 0)
{
// force immediate init/device registration
init();
}
LED::~LED()
{
}
int
LED::init()
{
DEVICE_DEBUG("LED::init");
int ret = VirtDevObj::init();
if (ret == 0) {
led_init();
}
return ret;
}
int
LED::devIOCTL(unsigned long cmd, unsigned long arg)
{
int result = OK;
switch (cmd) {
case LED_ON:
led_on(arg);
break;
case LED_OFF:
led_off(arg);
break;
case LED_TOGGLE:
led_toggle(arg);
break;
default:
result = VirtDevObj::devIOCTL(cmd, arg);
}
return result;
}
namespace
{
LED *gLED;
}
void
drv_led_start(void)
{
if (gLED == nullptr) {
gLED = new LED;
if (gLED != nullptr) {
gLED->init();
}
}
}

43
src/platforms/posix/drivers/rgbledsim/CMakeLists.txt Normal file
View File

@@ -0,0 +1,43 @@
############################################################################
#
# Copyright (c) 2015 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 platforms__posix__drivers__rgbledsim
MAIN rgbledsim
COMPILE_FLAGS
-Os
SRCS
rgbled.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

801
src/platforms/posix/drivers/rgbledsim/rgbled.cpp Normal file
View File

@@ -0,0 +1,801 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 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.
*
****************************************************************************/
/**
* @file rgbled.cpp
*
* Driver for the onboard RGB LED controller (TCA62724FMG) connected via I2C.
*
* @author Julian Oes <julian@px4.io>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <px4_config.h>
#include <px4_getopt.h>
#include <sys/types.h>
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
#include <ctype.h>
#include <px4_workqueue.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <board_config.h>
#include <drivers/drv_rgbled.h>
#include "VirtDevObj.hpp"
using namespace DriverFramework;
#define DEVICE_LOG PX4_INFO
#define RGBLED_ONTIME 120
#define RGBLED_OFFTIME 120
#define ADDR PX4_I2C_OBDEV_LED /**< I2C adress of TCA62724FMG */
#define SUB_ADDR_START 0x01 /**< write everything (with auto-increment) */
#define SUB_ADDR_PWM0 0x81 /**< blue (without auto-increment) */
#define SUB_ADDR_PWM1 0x82 /**< green (without auto-increment) */
#define SUB_ADDR_PWM2 0x83 /**< red (without auto-increment) */
#define SUB_ADDR_SETTINGS 0x84 /**< settings (without auto-increment)*/
#define SETTING_NOT_POWERSAVE 0x01 /**< power-save mode not off */
#define SETTING_ENABLE 0x02 /**< on */
class RGBLEDSIM : public VirtDevObj
{
public:
RGBLEDSIM(int bus, int rgbled);
virtual ~RGBLEDSIM();
virtual int init();
virtual int probe();
virtual int info();
virtual int devIOCTL(unsigned long cmd, unsigned long arg);
// Don't use the default periodic callback
virtual void _measure() {}
private:
work_s _work;
rgbled_mode_t _mode;
rgbled_pattern_t _pattern;
uint8_t _r;
uint8_t _g;
uint8_t _b;
float _brightness;
float _max_brightness;
bool _running;
int _led_interval;
bool _should_run;
int _counter;
int _param_sub;
void set_color(rgbled_color_t ledcolor);
void set_mode(rgbled_mode_t mode);
void set_pattern(rgbled_pattern_t *pattern);
static void led_trampoline(void *arg);
void led();
int send_led_enable(bool enable);
int send_led_rgb();
int get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b);
void update_params();
/**
* Perform an I2C transaction to the device.
*
* At least one of send_len and recv_len must be non-zero.
*
* @param send Pointer to bytes to send.
* @param send_len Number of bytes to send.
* @param recv Pointer to buffer for bytes received.
* @param recv_len Number of bytes to receive.
* @return OK if the transfer was successful, -errno
* otherwise.
*/
int transfer(const uint8_t *send, unsigned send_len,
uint8_t *recv, unsigned recv_len);
};
/* for now, we only support one RGBLEDSIM */
namespace
{
RGBLEDSIM *g_rgbled = nullptr;
}
void rgbled_usage();
extern "C" __EXPORT int rgbledsim_main(int argc, char *argv[]);
RGBLEDSIM::RGBLEDSIM(int bus, int rgbled) :
VirtDevObj("rgbled", "/dev/rgbledsim", RGBLED_BASE_DEVICE_PATH, 0),
_mode(RGBLED_MODE_OFF),
_r(0),
_g(0),
_b(0),
_brightness(1.0f),
_max_brightness(1.0f),
_running(false),
_led_interval(0),
_should_run(false),
_counter(0),
_param_sub(-1)
{
memset(&_work, 0, sizeof(_work));
memset(&_pattern, 0, sizeof(_pattern));
}
RGBLEDSIM::~RGBLEDSIM()
{
}
int
RGBLEDSIM::init()
{
int ret;
ret = VirtDevObj::init();
if (ret != OK) {
return ret;
}
/* switch off LED on start */
send_led_enable(false);
send_led_rgb();
return OK;
}
int
RGBLEDSIM::probe()
{
int ret;
bool on, powersave;
uint8_t r, g, b;
/**
this may look strange, but is needed. There is a serial
EEPROM (Microchip-24aa01) on the PX4FMU-v1 that responds to
a bunch of I2C addresses, including the 0x55 used by this
LED device. So we need to do enough operations to be sure
we are talking to the right device. These 3 operations seem
to be enough, as the 3rd one consistently fails if no
RGBLEDSIM is on the bus.
*/
if ((ret = get(on, powersave, r, g, b)) != OK ||
(ret = send_led_enable(false) != OK) ||
(ret = send_led_enable(false) != OK)) {
return ret;
}
return ret;
}
int
RGBLEDSIM::info()
{
int ret;
bool on, powersave;
uint8_t r, g, b;
ret = get(on, powersave, r, g, b);
if (ret == OK) {
/* we don't care about power-save mode */
DEVICE_LOG("state: %s", on ? "ON" : "OFF");
DEVICE_LOG("red: %u, green: %u, blue: %u", (unsigned)r, (unsigned)g, (unsigned)b);
} else {
PX4_WARN("failed to read led");
}
return ret;
}
int
RGBLEDSIM::devIOCTL(unsigned long cmd, unsigned long arg)
{
int ret = ENOTTY;
switch (cmd) {
case RGBLED_SET_RGB:
/* set the specified color */
_r = ((rgbled_rgbset_t *) arg)->red;
_g = ((rgbled_rgbset_t *) arg)->green;
_b = ((rgbled_rgbset_t *) arg)->blue;
send_led_rgb();
return OK;
case RGBLED_SET_COLOR:
/* set the specified color name */
set_color((rgbled_color_t)arg);
send_led_rgb();
return OK;
case RGBLED_SET_MODE:
/* set the specified mode */
set_mode((rgbled_mode_t)arg);
return OK;
case RGBLED_SET_PATTERN:
/* set a special pattern */
set_pattern((rgbled_pattern_t *)arg);
return OK;
default:
/* see if the parent class can make any use of it */
ret = VirtDevObj::devIOCTL(cmd, arg);
break;
}
return ret;
}
void
RGBLEDSIM::led_trampoline(void *arg)
{
RGBLEDSIM *rgbl = reinterpret_cast<RGBLEDSIM *>(arg);
rgbl->led();
}
/**
* Main loop function
*/
void
RGBLEDSIM::led()
{
if (!_should_run) {
_running = false;
return;
}
if (_param_sub < 0) {
_param_sub = orb_subscribe(ORB_ID(parameter_update));
}
if (_param_sub >= 0) {
bool updated = false;
orb_check(_param_sub, &updated);
if (updated) {
parameter_update_s pupdate;
orb_copy(ORB_ID(parameter_update), _param_sub, &pupdate);
update_params();
// Immediately update to change brightness
send_led_rgb();
}
}
switch (_mode) {
case RGBLED_MODE_BLINK_SLOW:
case RGBLED_MODE_BLINK_NORMAL:
case RGBLED_MODE_BLINK_FAST:
if (_counter >= 2) {
_counter = 0;
}
send_led_enable(_counter == 0);
break;
case RGBLED_MODE_BREATHE:
if (_counter >= 62) {
_counter = 0;
}
int n;
if (_counter < 32) {
n = _counter;
} else {
n = 62 - _counter;
}
_brightness = n * n / (31.0f * 31.0f);
send_led_rgb();
break;
case RGBLED_MODE_PATTERN:
/* don't run out of the pattern array and stop if the next frame is 0 */
if (_counter >= RGBLED_PATTERN_LENGTH || _pattern.duration[_counter] <= 0) {
_counter = 0;
}
set_color(_pattern.color[_counter]);
send_led_rgb();
_led_interval = _pattern.duration[_counter];
break;
default:
break;
}
_counter++;
}
/**
* Parse color constant and set _r _g _b values
*/
void
RGBLEDSIM::set_color(rgbled_color_t color)
{
switch (color) {
case RGBLED_COLOR_OFF:
_r = 0;
_g = 0;
_b = 0;
break;
case RGBLED_COLOR_RED:
_r = 255;
_g = 0;
_b = 0;
break;
case RGBLED_COLOR_YELLOW:
_r = 255;
_g = 200;
_b = 0;
break;
case RGBLED_COLOR_PURPLE:
_r = 255;
_g = 0;
_b = 255;
break;
case RGBLED_COLOR_GREEN:
_r = 0;
_g = 255;
_b = 0;
break;
case RGBLED_COLOR_BLUE:
_r = 0;
_g = 0;
_b = 255;
break;
case RGBLED_COLOR_WHITE:
_r = 255;
_g = 255;
_b = 255;
break;
case RGBLED_COLOR_AMBER:
_r = 255;
_g = 80;
_b = 0;
break;
case RGBLED_COLOR_DIM_RED:
_r = 90;
_g = 0;
_b = 0;
break;
case RGBLED_COLOR_DIM_YELLOW:
_r = 80;
_g = 30;
_b = 0;
break;
case RGBLED_COLOR_DIM_PURPLE:
_r = 45;
_g = 0;
_b = 45;
break;
case RGBLED_COLOR_DIM_GREEN:
_r = 0;
_g = 90;
_b = 0;
break;
case RGBLED_COLOR_DIM_BLUE:
_r = 0;
_g = 0;
_b = 90;
break;
case RGBLED_COLOR_DIM_WHITE:
_r = 30;
_g = 30;
_b = 30;
break;
case RGBLED_COLOR_DIM_AMBER:
_r = 80;
_g = 20;
_b = 0;
break;
default:
PX4_WARN("color unknown");
break;
}
}
/**
* Set mode, if mode not changed has no any effect (doesn't reset blinks phase)
*/
void
RGBLEDSIM::set_mode(rgbled_mode_t mode)
{
if (mode != _mode) {
_mode = mode;
switch (mode) {
case RGBLED_MODE_OFF:
_should_run = false;
send_led_enable(false);
break;
case RGBLED_MODE_ON:
_brightness = 1.0f;
send_led_rgb();
send_led_enable(true);
break;
case RGBLED_MODE_BLINK_SLOW:
_should_run = true;
_counter = 0;
_led_interval = 2000;
_brightness = 1.0f;
send_led_rgb();
break;
case RGBLED_MODE_BLINK_NORMAL:
_should_run = true;
_counter = 0;
_led_interval = 500;
_brightness = 1.0f;
send_led_rgb();
break;
case RGBLED_MODE_BLINK_FAST:
_should_run = true;
_counter = 0;
_led_interval = 100;
_brightness = 1.0f;
send_led_rgb();
break;
case RGBLED_MODE_BREATHE:
_should_run = true;
_counter = 0;
_led_interval = 25;
send_led_enable(true);
break;
case RGBLED_MODE_PATTERN:
_should_run = true;
_counter = 0;
_brightness = 1.0f;
send_led_enable(true);
break;
default:
PX4_WARN("mode unknown");
break;
}
/* if it should run now, start the workq */
if (_should_run && !_running) {
_running = true;
work_queue(LPWORK, &_work, (worker_t)&RGBLEDSIM::led_trampoline, this, 1);
}
}
}
/**
* Set pattern for PATTERN mode, but don't change current mode
*/
void
RGBLEDSIM::set_pattern(rgbled_pattern_t *pattern)
{
memcpy(&_pattern, pattern, sizeof(rgbled_pattern_t));
}
/**
* Sent ENABLE flag to LED driver
*/
int
RGBLEDSIM::send_led_enable(bool enable)
{
uint8_t settings_byte = 0;
if (enable) {
settings_byte |= SETTING_ENABLE;
}
settings_byte |= SETTING_NOT_POWERSAVE;
const uint8_t msg[2] = { SUB_ADDR_SETTINGS, settings_byte};
return transfer(msg, sizeof(msg), nullptr, 0);
}
/**
* Send RGB PWM settings to LED driver according to current color and brightness
*/
int
RGBLEDSIM::send_led_rgb()
{
/* To scale from 0..255 -> 0..15 shift right by 4 bits */
const uint8_t msg[6] = {
SUB_ADDR_PWM0, static_cast<uint8_t>((_b >> 4) * _brightness * _max_brightness + 0.5f),
SUB_ADDR_PWM1, static_cast<uint8_t>((_g >> 4) * _brightness * _max_brightness + 0.5f),
SUB_ADDR_PWM2, static_cast<uint8_t>((_r >> 4) * _brightness * _max_brightness + 0.5f)
};
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
RGBLEDSIM::get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b)
{
uint8_t result[2];
int ret;
ret = transfer(nullptr, 0, &result[0], 2);
if (ret == OK) {
on = result[0] & SETTING_ENABLE;
powersave = !(result[0] & SETTING_NOT_POWERSAVE);
/* XXX check, looks wrong */
r = (result[0] & 0x0f) << 4;
g = (result[1] & 0xf0);
b = (result[1] & 0x0f) << 4;
}
return ret;
}
void
RGBLEDSIM::update_params()
{
int32_t maxbrt = 15;
param_get(param_find("LED_RGB_MAXBRT"), &maxbrt);
maxbrt = maxbrt > 15 ? 15 : maxbrt;
maxbrt = maxbrt < 0 ? 0 : maxbrt;
// A minimum of 2 "on" steps is required for breathe effect
if (maxbrt == 1) {
maxbrt = 2;
}
_max_brightness = maxbrt / 15.0f;
}
void
rgbled_usage()
{
PX4_WARN("missing command: try 'start', 'test', 'info', 'off', 'stop', 'rgb 30 40 50'");
PX4_WARN("options:");
PX4_WARN(" -b i2cbus (%d)", PX4_I2C_BUS_LED);
PX4_WARN(" -a addr (0x%x)", ADDR);
}
int
rgbledsim_main(int argc, char *argv[])
{
int i2cdevice = -1;
int rgbledadr = ADDR; /* 7bit */
int ch;
/* jump over start/off/etc and look at options first */
int myoptind = 1;
const char *myoptarg = NULL;
while ((ch = px4_getopt(argc, argv, "a:b:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'a':
rgbledadr = strtol(myoptarg, NULL, 0);
break;
case 'b':
i2cdevice = strtol(myoptarg, NULL, 0);
break;
default:
rgbled_usage();
return 1;
}
}
if (myoptind >= argc) {
rgbled_usage();
return 1;
}
const char *verb = argv[myoptind];
int ret;
if (!strcmp(verb, "start")) {
if (g_rgbled != nullptr) {
PX4_WARN("already started");
return 1;
}
if (i2cdevice == -1) {
// try the external bus first
i2cdevice = PX4_I2C_BUS_EXPANSION;
g_rgbled = new RGBLEDSIM(PX4_I2C_BUS_EXPANSION, rgbledadr);
if (g_rgbled != nullptr && OK != g_rgbled->init()) {
delete g_rgbled;
g_rgbled = nullptr;
}
if (g_rgbled == nullptr) {
// fall back to default bus
if (PX4_I2C_BUS_LED == PX4_I2C_BUS_EXPANSION) {
PX4_WARN("no RGB led on bus #%d", i2cdevice);
return 1;
}
i2cdevice = PX4_I2C_BUS_LED;
}
}
if (g_rgbled == nullptr) {
g_rgbled = new RGBLEDSIM(i2cdevice, rgbledadr);
if (g_rgbled == nullptr) {
PX4_WARN("new failed");
return 1;
}
if (OK != g_rgbled->init()) {
delete g_rgbled;
g_rgbled = nullptr;
PX4_WARN("no RGB led on bus #%d", i2cdevice);
return 1;
}
}
return 0;
}
/* need the driver past this point */
if (g_rgbled == nullptr) {
PX4_WARN("not started");
rgbled_usage();
return 1;
}
if (!strcmp(verb, "test")) {
DevHandle h;
DevMgr::getHandle(RGBLED0_DEVICE_PATH, h);
if (!h.isValid()) {
PX4_WARN("Unable to open " RGBLED0_DEVICE_PATH);
return 1;
}
rgbled_pattern_t pattern = { {RGBLED_COLOR_RED, RGBLED_COLOR_GREEN, RGBLED_COLOR_BLUE, RGBLED_COLOR_WHITE, RGBLED_COLOR_OFF, RGBLED_COLOR_OFF},
{500, 500, 500, 500, 1000, 0 } // "0" indicates end of pattern
};
ret = h.ioctl(RGBLED_SET_PATTERN, (unsigned long)&pattern);
ret = h.ioctl(RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_PATTERN);
DevMgr::releaseHandle(h);
return ret;
}
if (!strcmp(verb, "info")) {
g_rgbled->info();
return 0;
}
if (!strcmp(verb, "off") || !strcmp(verb, "stop")) {
DevHandle h;
DevMgr::getHandle(RGBLED0_DEVICE_PATH, h);
if (!h.isValid()) {
PX4_WARN("Unable to open " RGBLED0_DEVICE_PATH);
return 1;
}
ret = h.ioctl(RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_OFF);
DevMgr::releaseHandle(h);
/* delete the rgbled object if stop was requested, in addition to turning off the LED. */
if (!strcmp(verb, "stop")) {
delete g_rgbled;
g_rgbled = nullptr;
return 0;
}
return ret;
}
if (!strcmp(verb, "rgb")) {
if (argc < 5) {
PX4_WARN("Usage: rgbled rgb <red> <green> <blue>");
return 1;
}
DevHandle h;
DevMgr::getHandle(RGBLED0_DEVICE_PATH, h);
if (!h.isValid()) {
PX4_WARN("Unable to open " RGBLED0_DEVICE_PATH);
return 1;
}
rgbled_rgbset_t v;
v.red = strtol(argv[2], NULL, 0);
v.green = strtol(argv[3], NULL, 0);
v.blue = strtol(argv[4], NULL, 0);
ret = h.ioctl(RGBLED_SET_RGB, (unsigned long)&v);
ret = h.ioctl(RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_ON);
DevMgr::releaseHandle(h);
return ret;
}
rgbled_usage();
return 1;
}
int RGBLEDSIM::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
{
return 0;
}

12
src/platforms/posix/drivers/tonealrmsim/tone_alarm.cpp
View File

@@ -741,17 +741,17 @@ ToneAlarm *g_dev;
int
play_tune(unsigned tune)
{
int fd, ret;
int ret;
fd = px4_open(TONEALARM0_DEVICE_PATH, 0);
DevHandle h;
DevMgr::getHandle(TONEALARM0_DEVICE_PATH, h);
if (fd < 0) {
PX4_WARN("Error: failed to open %s", TONEALARM0_DEVICE_PATH);
if (!h.isValid()) {
PX4_WARN("Error: failed to open %s (%d)", TONEALARM0_DEVICE_PATH, h.getError());
return 1;
}
ret = px4_ioctl(fd, TONE_SET_ALARM, tune);
px4_close(fd);
ret = h.ioctl(TONE_SET_ALARM, tune);
if (ret != 0) {
PX4_WARN("TONE_SET_ALARM");