rgbled_ncp5623c.cpp

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/**
 * @file rgbled_ncp5623c.cpp
 *
 * Driver for the onboard RGB LED controller (NCP5623C) connected via I2C.
 *
 * @author CUAVcaijie <caijie@cuav.net>
 */

#include <string.h>

#include <drivers/device/i2c.h>
#include <lib/led/led.h>
#include <lib/parameters/param.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/parameter_update.h>


#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_NPC5623C : public device::I2C, public px4::ScheduledWorkItem
{
public:
    RGBLED_NPC5623C(int bus, int rgbled);
    virtual ~RGBLED_NPC5623C();

    virtual int     init();
    virtual int     probe();

private:

    float           _brightness{1.0f};
    float           _max_brightness{1.0f};

    uint8_t         _r{0};
    uint8_t         _g{0};
    uint8_t         _b{0};
    volatile bool       _running{false};
    volatile bool       _should_run{true};
    bool            _leds_enabled{true};

    uORB::Subscription  _parameter_update_sub{ORB_ID(parameter_update)};

    LedController       _led_controller;

    void            Run() override;

    int         send_led_rgb();
    void            update_params();

    int         write(uint8_t reg, uint8_t data);
};

/* for now, we only support one RGBLED */
namespace
{
RGBLED_NPC5623C *g_rgbled = nullptr;
}

void rgbled_ncp5623c_usage();

extern "C" __EXPORT int rgbled_ncp5623c_main(int argc, char *argv[]);

RGBLED_NPC5623C::RGBLED_NPC5623C(int bus, int rgbled) :
    I2C("rgbled1", RGBLED1_DEVICE_PATH, bus, rgbled, 100000),
    ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id()))
{
}

RGBLED_NPC5623C::~RGBLED_NPC5623C()
{
    _should_run = false;
    int counter = 0;

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

int
RGBLED_NPC5623C::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_NPC5623C::init()
{
    int ret = I2C::init();

    if (ret != OK) {
        return ret;
    }

    update_params();

    _running = true;

    ScheduleNow();

    return OK;
}

int
RGBLED_NPC5623C::probe()
{
    _retries = 4;

    return write(NCP5623_LED_CURRENT, 0x00);
}

/**
 * Main loop function
 */
void
RGBLED_NPC5623C::Run()
{
    if (!_should_run) {
        _running = false;
        return;
    }

    // check for parameter updates
    if (_parameter_update_sub.updated()) {
        // clear update
        parameter_update_s pupdate;
        _parameter_update_sub.copy(&pupdate);

        // update parameters from storage
        update_params();

        // Immediately update to change brightness
        send_led_rgb();
    }

    LedControlData led_control_data;

    if (_led_controller.update(led_control_data) == 1) {
        switch (led_control_data.leds[0].color) {
        case led_control_s::COLOR_RED:
            _r = NCP5623_LED_BRIGHT; _g = 0; _b = 0;
            break;

        case led_control_s::COLOR_GREEN:
            _r = 0; _g = NCP5623_LED_BRIGHT; _b = 0;
            break;

        case led_control_s::COLOR_BLUE:
            _r = 0; _g = 0; _b = NCP5623_LED_BRIGHT;
            break;

        case led_control_s::COLOR_AMBER: //make it the same as yellow
        case led_control_s::COLOR_YELLOW:
            _r = NCP5623_LED_BRIGHT; _g = NCP5623_LED_BRIGHT; _b = 0;
            break;

        case led_control_s::COLOR_PURPLE:
            _r = NCP5623_LED_BRIGHT; _g = 0; _b = NCP5623_LED_BRIGHT;
            break;

        case led_control_s::COLOR_CYAN:
            _r = 0; _g = NCP5623_LED_BRIGHT; _b = NCP5623_LED_BRIGHT;
            break;

        case led_control_s::COLOR_WHITE:
            _r = NCP5623_LED_BRIGHT; _g = NCP5623_LED_BRIGHT; _b = NCP5623_LED_BRIGHT;
            break;

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

        _brightness = (float)led_control_data.leds[0].brightness / 255.f;
        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_NPC5623C::send_led_rgb()
{

    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(_r * _brightness) & 0x1f);
    msg[4] = NCP5623_LED_PWM1 | (uint8_t(_g * _brightness) & 0x1f);
    msg[6] = NCP5623_LED_PWM2 | (uint8_t(_b * _brightness) & 0x1f);

    return transfer(&msg[0], 7, nullptr, 0);
}

void
RGBLED_NPC5623C::update_params()
{
    int32_t maxbrt = 31;
    param_get(param_find("LED_RGB1_MAXBRT"), &maxbrt);
    maxbrt = maxbrt > 31 ? 31 : maxbrt;
    maxbrt = maxbrt <  0 ?  0 : maxbrt;

    if (maxbrt == 0) {
        maxbrt = 1;
    }

    _max_brightness = maxbrt / 31.0f;
}

void
rgbled_ncp5623c_usage()
{
    PX4_INFO("missing command: try 'start', 'stop'");
    PX4_INFO("options:");
    PX4_INFO("    -b i2cbus (%d)", PX4_I2C_BUS_LED);
    PX4_INFO("    -a addr (0x%x)", ADDR);
}

int
rgbled_ncp5623c_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 = nullptr;

    while ((ch = px4_getopt(argc, argv, "a:b:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'a':
            rgbledadr = strtol(myoptarg, nullptr, 0);
            break;

        case 'b':
            i2cdevice = strtol(myoptarg, nullptr, 0);
            break;

        default:
            rgbled_ncp5623c_usage();
            return 1;
        }
    }

    if (myoptind >= argc) {
        rgbled_ncp5623c_usage();
        return 1;
    }

    const char *verb = argv[myoptind];

    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 RGBLED_NPC5623C(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 RGBLED_NPC5623C(i2cdevice, rgbledadr);

            if (g_rgbled == nullptr) {
                PX4_WARN("alloc 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_ncp5623c_usage();
        return 1;
    }

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

    rgbled_ncp5623c_usage();
    return 1;
}