Add Neopixel Driver

src/drivers/drv_neopixel.h

@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 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 drv_adc.h
+ *
+ * ADC driver interface.
+ *
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+#include <systemlib/px4_macros.h>
+
+namespace neopixel
+{
+class NeoLEDData
+{
+public:
+	enum eRGB {
+		eB = 0,
+		eR = 1,
+		eG = 2
+	};
+
+	typedef union {
+		uint8_t  grb[3];
+		uint32_t l;
+	} led_data_t;
+
+	led_data_t  data{};
+	NeoLEDData() {data.l = 0;}
+	NeoLEDData(NeoLEDData &r) {data.l = r.data.l;}
+
+	uint8_t &R() {return data.grb[eR];};
+	uint8_t &G() {return data.grb[eG];};
+	uint8_t &B() {return data.grb[eB];};
+};
+};
+
+__BEGIN_DECLS
+
+int neopixel_init(neopixel::NeoLEDData *led_data, int number_of_packages);
+int neopixel_write(neopixel::NeoLEDData *led_data, int number_of_packages);
+int neopixel_deinit(void);
+int neopixel_write_no_dma(uint8_t r, uint8_t g, uint8_t b, uint8_t led_count);
+__END_DECLS

src/drivers/lights/neopixel/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2021 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 drivers__neopixel
+	MAIN neopixel
+	SRCS
+		neopixel.cpp
+	DEPENDS
+		led
+		arch_srgbled_dma
+	)

src/drivers/lights/neopixel/neopixel.cpp

@@ -0,0 +1,250 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 neopixel.cpp
+ *
+ * Driver for the the neopixel class of RGB LED drivers.
+ * this driver is based the PX4 led driver
+ *
+ */
+
+#include <string.h>
+#include <px4_platform_common/px4_config.h>
+
+#include <lib/led/led.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
+#include <drivers/drv_neopixel.h>
+
+class NEOPIXEL : public px4::ScheduledWorkItem,  public ModuleBase<NEOPIXEL>
+{
+public:
+	NEOPIXEL(unsigned int number_of_packages);
+	virtual ~NEOPIXEL();
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	void Run() override;
+
+	/** @see ModuleBase::print_status() */
+	int print_status() override;
+
+
+	int			init();
+	int			status();
+
+private:
+	unsigned int _number_of_packages{BOARD_HAS_N_S_RGB_LED};
+
+	LedController		_led_controller;
+
+	NEOPIXEL(const NEOPIXEL &) = delete;
+	NEOPIXEL operator=(const NEOPIXEL &) = delete;
+
+	neopixel::NeoLEDData *_leds;
+};
+
+NEOPIXEL::NEOPIXEL(unsigned int number_of_packages) :
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
+	_number_of_packages(number_of_packages)
+{
+}
+
+NEOPIXEL::~NEOPIXEL()
+{
+	neopixel_deinit();
+}
+
+int NEOPIXEL::init()
+{
+	_leds = new neopixel::NeoLEDData [_number_of_packages];
+
+	if (_leds == nullptr) {
+		return PX4_ERROR;
+	}
+
+	neopixel_init(_leds, _number_of_packages);
+	neopixel_write(_leds, _number_of_packages);
+	ScheduleNow();
+	return OK;
+}
+
+int NEOPIXEL::task_spawn(int argc, char *argv[])
+{
+	int myoptind = 1;
+	int ch;
+	const char *myoptarg = nullptr;
+	unsigned int number_of_packages = BOARD_HAS_N_S_RGB_LED;
+
+	while ((ch = px4_getopt(argc, argv, "n:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'n':
+			number_of_packages = atoi(myoptarg);
+			break;
+
+		default:
+			print_usage("unrecognized option");
+			return 1;
+		}
+	}
+
+	NEOPIXEL *instance = new NEOPIXEL(number_of_packages);
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init() == PX4_OK) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+	return PX4_ERROR;
+}
+
+int NEOPIXEL::print_status()
+{
+
+	PX4_INFO("Controlling %i LEDs", _number_of_packages);
+
+	return 0;
+}
+
+int NEOPIXEL::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+This module is responsible for driving interfasing to the Neopixel Serial LED
+
+### Examples
+It is typically started with:
+$ neopixel -n 8
+To drive all available leds.
+)DESCR_STR");
+
+PRINT_MODULE_USAGE_NAME("newpixel", "driver");
+PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+return 0;
+}
+
+int NEOPIXEL::custom_command(int argc, char *argv[])
+{
+   return print_usage("unrecognized option");
+}
+
+/**
+ * Main loop function
+ */
+void NEOPIXEL::Run()
+{
+  if (should_exit()) {
+      ScheduleClear();
+      exit_and_cleanup();
+      return;
+    }
+
+	LedControlData led_control_data;
+
+	if (_led_controller.update(led_control_data) == 1) {
+
+	    for (unsigned int led = 0; led < math::min(_number_of_packages, arraySize(led_control_data.leds)); led++) {
+
+        uint8_t brightness = led_control_data.leds[led].brightness;
+
+        switch (led_control_data.leds[led].color) {
+          case led_control_s::COLOR_RED:
+            _leds[led].R() = brightness; _leds[led].G() = 0; _leds[led].B() = 0;
+            break;
+
+          case led_control_s::COLOR_GREEN:
+            _leds[led].R() = 0; _leds[led].G() = brightness; _leds[led].B() = 0;
+            break;
+
+          case led_control_s::COLOR_BLUE:
+            _leds[led].R() = 0; _leds[led].G() = 0; _leds[led].B() = brightness;
+            break;
+
+          case led_control_s::COLOR_AMBER: //make it the same as yellow
+          case led_control_s::COLOR_YELLOW:
+            _leds[led].R() = brightness; _leds[led].G() = brightness; _leds[led].B() = 0;
+            break;
+
+          case led_control_s::COLOR_PURPLE:
+            _leds[led].R() = brightness; _leds[led].G() = 0; _leds[led].B() = brightness;
+            break;
+
+          case led_control_s::COLOR_CYAN:
+            _leds[led].R() = 0; _leds[led].G() = brightness; _leds[led].B() = brightness;
+            break;
+
+          case led_control_s::COLOR_WHITE:
+            _leds[led].R() = brightness; _leds[led].G() = brightness; _leds[led].B() = brightness;
+            break;
+
+          default: // led_control_s::COLOR_OFF
+            _leds[led].R() = 0; _leds[led].G() = 0; _leds[led].B() = 0;
+            break;
+        }
+	    }
+      neopixel_write(_leds, _number_of_packages);
+	}
+
+	/* re-queue ourselves to run again later */
+	ScheduleDelayed(_led_controller.maximum_update_interval());
+}
+
+extern "C" __EXPORT int neopixel_main(int argc, char *argv[])
+{
+  return NEOPIXEL::main(argc, argv);
+}