rgbled_pwm.cpp

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/**
 * @file rgbled_pwm.cpp
 *
 * Driver for the onboard RGB LED controller by PWM.
 * this driver is based the PX4 led driver
 *
 */

#include <string.h>

#include <lib/led/led.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>

class RGBLED_PWM : public px4::ScheduledWorkItem
{
public:
    RGBLED_PWM();
    virtual ~RGBLED_PWM();

    int         init();
    int         status();

private:

    uint8_t         _r{0};
    uint8_t         _g{0};
    uint8_t         _b{0};

    volatile bool       _running{false};
    volatile bool       _should_run{true};

    LedController       _led_controller;

    void            Run() override;

    int         send_led_rgb();
    int         get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b);
};

extern int led_pwm_servo_set(unsigned channel, uint8_t  value);
extern unsigned led_pwm_servo_get(unsigned channel);
extern int led_pwm_servo_init(void);
extern void led_pwm_servo_deinit(void);


/* for now, we only support one RGBLED */
namespace
{
RGBLED_PWM *g_rgbled = nullptr;
}

RGBLED_PWM::RGBLED_PWM() :
    ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
{
}

RGBLED_PWM::~RGBLED_PWM()
{
    _should_run = false;
    int counter = 0;

    while (_running && ++counter < 10) {
        px4_usleep(100000);
    }
}

int
RGBLED_PWM::init()
{
    /* switch off LED on start */
    led_pwm_servo_init();
    send_led_rgb();

    _running = true;

    // kick off work queue
    ScheduleNow();

    return OK;
}

int
RGBLED_PWM::status()
{
    bool on, powersave;
    uint8_t r, g, b;

    int ret = get(on, powersave, r, g, b);

    if (ret == OK) {
        /* we don't care about power-save mode */
        PX4_INFO("state: %s", on ? "ON" : "OFF");
        PX4_INFO("red: %u, green: %u, blue: %u", (unsigned)r, (unsigned)g, (unsigned)b);

    } else {
        PX4_WARN("failed to read led");
    }

    return ret;
}

/**
 * Main loop function
 */
void
RGBLED_PWM::Run()
{
    if (!_should_run) {
        _running = false;
        return;
    }

    LedControlData led_control_data;

    if (_led_controller.update(led_control_data) == 1) {
        uint8_t brightness = led_control_data.leds[0].brightness;

        switch (led_control_data.leds[0].color) {
        case led_control_s::COLOR_RED:
            _r = brightness; _g = 0; _b = 0;
            break;

        case led_control_s::COLOR_GREEN:
            _r = 0; _g = brightness; _b = 0;
            break;

        case led_control_s::COLOR_BLUE:
            _r = 0; _g = 0; _b = brightness;
            break;

        case led_control_s::COLOR_AMBER: //make it the same as yellow
        case led_control_s::COLOR_YELLOW:
            _r = brightness; _g = brightness; _b = 0;
            break;

        case led_control_s::COLOR_PURPLE:
            _r = brightness; _g = 0; _b = brightness;
            break;

        case led_control_s::COLOR_CYAN:
            _r = 0; _g = brightness; _b = brightness;
            break;

        case led_control_s::COLOR_WHITE:
            _r = brightness; _g = brightness; _b = brightness;
            break;

        default: // led_control_s::COLOR_OFF
            _r = 0; _g = 0; _b = 0;
            break;
        }

        send_led_rgb();
    }

    /* re-queue ourselves to run again later */
    ScheduleDelayed(_led_controller.maximum_update_interval());
}

/**
 * Send RGB PWM settings to LED driver according to current color and brightness
 */
int
RGBLED_PWM::send_led_rgb()
{
#if defined(BOARD_HAS_LED_PWM)
    led_pwm_servo_set(0, _r);
    led_pwm_servo_set(1, _g);
    led_pwm_servo_set(2, _b);
#endif

#if defined(BOARD_HAS_UI_LED_PWM)
    led_pwm_servo_set(3, _r);
    led_pwm_servo_set(4, _g);
    led_pwm_servo_set(5, _b);
#endif

    return (OK);
}

int
RGBLED_PWM::get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b)
{
    powersave = OK;
    on = _r > 0 || _g > 0 || _b > 0;
    r = _r;
    g = _g;
    b = _b;
    return OK;
}

static void
rgbled_usage()
{
    PX4_INFO("missing command: try 'start', 'status', 'stop'");
}

extern "C" __EXPORT int
rgbled_pwm_main(int argc, char *argv[])
{
    int myoptind = 1;
    int ch;
    const char *myoptarg = nullptr;

    /* jump over start/off/etc and look at options first */
    while ((ch = px4_getopt(argc, argv, "a:b:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'a':
            break;

        case 'b':
            break;

        default:
            rgbled_usage();
            return 1;
        }
    }

    if (myoptind >= argc) {
        rgbled_usage();
        return 1;
    }

    const char *verb = argv[myoptind];

    if (!strcmp(verb, "start")) {
        if (g_rgbled != nullptr) {
            PX4_WARN("already started");
            return 1;
        }

        if (g_rgbled == nullptr) {
            g_rgbled = new RGBLED_PWM();

            if (g_rgbled == nullptr) {
                PX4_WARN("alloc failed");
                return 1;
            }

            if (OK != g_rgbled->init()) {
                delete g_rgbled;
                g_rgbled = nullptr;
                PX4_ERR("init failed");
                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, "status")) {
        g_rgbled->status();
        return 0;
    }

    if (!strcmp(verb, "stop")) {
        delete g_rgbled;
        g_rgbled = nullptr;
        return 0;
    }

    rgbled_usage();
    return 1;
}