Feature/raspberry pi blinkt color objects (#503)

* fixed BACnetXYcolor and BACnetColorCommand encode and decoding and improved unit test coverage. Refactored BACnetXYcolor to/from ascii into lighting module.

* added to the color, color temperature, and lighting output objects a fade/ramp/step engine.  Added color and color command coercion into the channel object and enabled color temperature object coercion.  Added CreateObject and DeleteObject service handling to the color, color temperature, lighting output, and channel objects.

* added blinkt demo app for Raspberry Pi [WIP]

* updated gitignore to simplify handling of apps folder contents

* fixed piface demo build

* added RaspiOS to pipeline for piface and blinkt! demo builds

* added device object timer function for child object types into example Device object.  Refactored device object to increment database revision for create or delete object services.   Refactored example app/server to use mstimer library and device child object timers.

---------

Co-authored-by: Steve Karg <skarg@users.sourceforge.net>

apps/blinkt/Makefile

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+###############################################################################
+# Makefile for Project - BACnet Blinkt!
+# sudo apt install libpigpio-dev libpigpiod-if-dev pigpiod
+###############################################################################
+
+## General Flags
+TARGET = bacblinkt
+# BACnet objects that are used with this app
+BACNET_OBJECT_DIR = $(BACNET_SRC_DIR)/bacnet/basic/object
+SRC = main.c \
+	blinkt.c \
+	device.c \
+	$(BACNET_OBJECT_DIR)/netport.c \
+	$(BACNET_OBJECT_DIR)/channel.c \
+	$(BACNET_OBJECT_DIR)/color_object.c \
+	$(BACNET_OBJECT_DIR)/color_temperature.c \
+	$(BACNET_OBJECT_DIR)/lc.c \
+	$(BACNET_OBJECT_DIR)/lo.c
+
+CFLAGS += -DMAX_TSM_TRANSACTIONS=1
+
+# TARGET_EXT is defined in apps/Makefile as .exe or nothing
+TARGET_BIN = ${TARGET}$(TARGET_EXT)
+
+# note: link to pigpio daemon so that our app can run without root
+# start pigio daemon with the command 'sudo pigpiod'
+LD_PIGPIO = -Wl,-pthread,-lpigpiod_if2
+LFLAGS += $(LD_PIGPIO)
+
+OBJS += ${SRC:.c=.o}
+
+all: ${BACNET_LIB_TARGET} Makefile ${TARGET_BIN}
+
+${TARGET_BIN}: ${OBJS} Makefile ${BACNET_LIB_TARGET}
+	${CC} ${PFLAGS} ${OBJS} ${LFLAGS} -o $@
+	size $@
+	cp $@ ../../bin
+
+${BACNET_LIB_TARGET}:
+	( cd ${BACNET_LIB_DIR} ; $(MAKE) clean ; $(MAKE) -s )
+
+.c.o:
+	${CC} -c ${CFLAGS} $*.c -o $@
+
+.PHONY: depend
+depend:
+	rm -f .depend
+	${CC} -MM ${CFLAGS} *.c >> .depend
+
+.PHONY: clean
+clean:
+	rm -f core ${TARGET_BIN} ${OBJS} $(TARGET).map ${BACNET_LIB_TARGET}
+
+.PHONY: include
+include: .depend
+

apps/blinkt/README.md

@@ -0,0 +1,26 @@
+# Raspberry Pi connected to a Blinkt! RGB card demo
+
+This demo includes a BACnet server with Color objects and service handlers
+for the eight RGB (red-green-blue) LEDs attached to the Blinkt! card.
+
+## Installation
+
+The demo uses pigpiod (Pi GPIO Daemon) and developer library. To install 
+and run the daemon at powerup (and immediately):
+
+    $ sudo apt install libpigpio-dev libpigpiod-if-dev pigpiod
+    $ sudo systemctl enable pigpiod
+    $ sudo systemctl start pigpiod
+
+## Building
+    
+Build from the root folder:
+
+    $ make blinkt
+
+## Running
+
+Run from the bin/ folder:
+
+    $ ./bin/bacblinkt 9009
+

apps/blinkt/blinkt.c

@@ -0,0 +1,213 @@
+/**
+ * @file
+ * @brief API for Blinkt! daughter board for Raspberry Pi
+ *
+ * SPDX-License-Identifier: MIT
+ */
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <signal.h>
+#include <pigpiod_if2.h>
+#include "blinkt.h"
+
+#define BLINKT_DEFAULT_BRIGHTNESS 7
+#define BLINKT_NUM_LEDS 8
+
+/* GPIO pin numbers */
+#define BLINKT_MOSI 23
+#define BLINKT_SCLK 24
+
+/* RGBb data for each LED */
+static uint32_t Blinkt_LED[BLINKT_NUM_LEDS];
+/* handle to the pigpiod */
+static int Blinkt_Pi;
+
+/**
+ * @brief Get the number of LEDS
+ * @return Number of LEDs
+ */
+uint8_t blinkt_led_count(void)
+{
+    return BLINKT_NUM_LEDS;
+}
+
+/**
+ * @brief Set all the LEDS to default brightness (7/31)
+ */
+void blinkt_clear(void)
+{
+    int x;
+    for (x = 0; x < BLINKT_NUM_LEDS; x++) {
+        Blinkt_LED[x] = BLINKT_DEFAULT_BRIGHTNESS;
+    }
+}
+
+/**
+ * @brief Set one LED to specific RGB color
+ * @param led index 0..#BLINKT_NUM_LEDS
+ * @param r color red from 0..255
+ * @param g color green from 0..255
+ * @param b color blue from 0..255
+ */
+void blinkt_set_pixel(uint8_t led, uint8_t r, uint8_t g, uint8_t b)
+{
+    if (led >= BLINKT_NUM_LEDS)
+        return;
+
+    Blinkt_LED[led] = blinkt_rgbb(r, g, b, Blinkt_LED[led] & 0x1F);
+}
+
+/**
+ * @brief Set one LED to specific intensity
+ * @param led index 0..#BLINKT_NUM_LEDS
+ * @param brightness intensity from 0..31, 0=OFF, 1=dimmest, 31=brightest
+ */
+void blinkt_set_pixel_brightness(uint8_t led, uint8_t brightness)
+{
+    if (led >= BLINKT_NUM_LEDS)
+        return;
+
+    Blinkt_LED[led] = (Blinkt_LED[led] & 0xFFFFFF00) | (brightness & 0x1F);
+}
+
+/**
+ * @brief Set one LED to RGB color and brightness
+ * @param led index 0..#BLINKT_NUM_LEDS
+ * @param color encoded as 32-bit RGBb (red | green | blue | brightness)
+ */
+void blinkt_set_pixel_uint32(uint8_t led, uint32_t color)
+{
+    if (led >= BLINKT_NUM_LEDS)
+        return;
+
+    Blinkt_LED[led] = color;
+}
+
+/**
+ * @brief Encode RGB color and brightness into 32-bit RGBb
+ * @param r color red from 0..255
+ * @param g color green from 0..255
+ * @param b color blue from 0..255
+ * @param brightness intensity from 0..31, 0=OFF, 1=dimmest, 31=brightest
+ * @return color encoded as 32-bit RGBb (red | green | blue | brightness)
+ */
+uint32_t blinkt_rgbb(uint8_t r, uint8_t g, uint8_t b, uint8_t brightness)
+{
+    uint32_t result = 0;
+    result = (brightness & 0x1F);
+    result |= ((uint32_t)r << 24);
+    result |= ((uint32_t)g << 16);
+    result |= ((uint16_t)b << 8);
+    return result;
+}
+
+/**
+ * @brief Encode RGB color at default brightness into 32-bit RGBb
+ * @param r color red from 0..255
+ * @param g color green from 0..255
+ * @param b color blue from 0..255
+ * @return color encoded as 32-bit RGBb (red | green | blue | brightness)
+ */
+uint32_t blinkt_rgb(uint8_t r, uint8_t g, uint8_t b)
+{
+    return blinkt_rgbb(r, g, b, BLINKT_DEFAULT_BRIGHTNESS);
+}
+
+/**
+ * @brief Write a byte via shift register to LEDs
+ * @param byte to be written
+ */
+inline static void write_byte(uint8_t byte)
+{
+    int n;
+    for (n = 0; n < 8; n++) {
+        gpio_write(Blinkt_Pi, BLINKT_MOSI, (byte & (1 << (7 - n))) > 0);
+        gpio_write(Blinkt_Pi, BLINKT_SCLK, 1);
+        gpio_write(Blinkt_Pi, BLINKT_SCLK, 0);
+    }
+}
+
+/**
+ * @brief Shift LED values to the actual LEDs via shift registers
+ */
+void blinkt_show(void)
+{
+    int x;
+
+    write_byte(0);
+    write_byte(0);
+    write_byte(0);
+    write_byte(0);
+    for (x = 0; x < BLINKT_NUM_LEDS; x++) {
+        write_byte(0xE0 | (Blinkt_LED[x] & 0x1F));
+        write_byte((Blinkt_LED[x] >> 8) & 0xFF);
+        write_byte((Blinkt_LED[x] >> 16) & 0xFF);
+        write_byte((Blinkt_LED[x] >> 24) & 0xFF);
+    }
+    write_byte(0xff);
+}
+
+/**
+ * @brief Disable the GPIO hardware to the Blinkt! board
+ */
+void blinkt_stop(void)
+{
+    /* Disconnect from local Pi. */
+    pigpio_stop(Blinkt_Pi);
+    printf("PiGPIO stopped\n");
+}
+
+/**
+ * @brief Initialize the GPIO hardware for the Blinkt! board
+ */
+int blinkt_init(void)
+{
+    char *optHost = NULL;
+    char *optPort = NULL;
+
+    /* Connect to local Pi. */
+    Blinkt_Pi = pigpio_start(optHost, optPort);
+    if (Blinkt_Pi < 0) {
+        perror("PiGPIO failed to start!");
+        return -1;
+    }
+    set_mode(Blinkt_Pi, BLINKT_MOSI, PI_OUTPUT);
+    gpio_write(Blinkt_Pi, BLINKT_MOSI, 0);
+    set_mode(Blinkt_Pi, BLINKT_SCLK, PI_OUTPUT);
+    gpio_write(Blinkt_Pi, BLINKT_SCLK, 0);
+    blinkt_clear();
+    printf("PiGPIO started\n");
+
+    return 0;
+}
+
+static int test_column = 0;
+static int test_z, test_y;
+/**
+ * @brief Test the Blinkt! board with a simple changing pattern
+ */
+void blinkt_test_task(void)
+{
+    for (test_z = 0; test_z < BLINKT_NUM_LEDS; test_z++) {
+        switch (test_column) {
+            case 0:
+                blinkt_set_pixel_uint32(test_z, blinkt_rgb(test_y, 0, 0));
+                break;
+            case 1:
+                blinkt_set_pixel_uint32(test_z, blinkt_rgb(0, test_y, 0));
+                break;
+            case 2:
+                blinkt_set_pixel_uint32(test_z, blinkt_rgb(0, 0, test_y));
+                break;
+            default:
+                break;
+        }
+    }
+    blinkt_show();
+    test_y += 1;
+    if (test_y > 254)
+        test_column++;
+    test_column %= 3;
+    test_y %= 255;
+}

apps/blinkt/blinkt.h

@@ -0,0 +1,23 @@
+/**
+ * @file
+ * @brief API for Blinkt! daughter board for Raspberry Pi
+ *
+ * SPDX-License-Identifier: MIT
+ */
+#ifndef BLINKT_H
+#define BLINKT_H
+
+void blinkt_clear(void);
+void blinkt_set_pixel_uint32(uint8_t led, uint32_t color);
+void blinkt_set_pixel(uint8_t led, uint8_t r, uint8_t g, uint8_t b);
+void blinkt_set_pixel_brightness(uint8_t led, uint8_t brightness);
+uint32_t blinkt_rgbb(uint8_t r, uint8_t g, uint8_t b, uint8_t brightness);
+uint32_t blinkt_rgb(uint8_t r, uint8_t g, uint8_t b);
+void blinkt_stop(void);
+void blinkt_show(void);
+uint8_t blinkt_led_count(void);
+
+int blinkt_init(void);
+void blinkt_test_task(void);
+
+#endif

apps/blinkt/main.c

@@ -0,0 +1,465 @@
+/**************************************************************************
+ *
+ * Copyright (C) 2006 Steve Karg <skarg@users.sourceforge.net>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ *********************************************************************/
+#include <stddef.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <signal.h>
+#include "bacnet/config.h"
+#include "bacnet/basic/binding/address.h"
+#include "bacnet/bacdef.h"
+#include "bacnet/basic/services.h"
+#include "bacnet/basic/services.h"
+#include "bacnet/datalink/dlenv.h"
+#include "bacnet/bacdcode.h"
+#include "bacnet/npdu.h"
+#include "bacnet/apdu.h"
+#include "bacnet/iam.h"
+#include "bacnet/basic/tsm/tsm.h"
+#include "bacnet/basic/object/device.h"
+#include "bacnet/basic/object/bacfile.h"
+#include "bacnet/datalink/datalink.h"
+#include "bacnet/dcc.h"
+#include "bacnet/getevent.h"
+#include "bacnet/lighting.h"
+#include "bacport.h"
+#include "bacnet/basic/sys/mstimer.h"
+#include "bacnet/basic/sys/color_rgb.h"
+#include "bacnet/basic/sys/filename.h"
+#include "bacnet/basic/sys/linear.h"
+#include "bacnet/basic/tsm/tsm.h"
+#include "bacnet/version.h"
+/* include the device object */
+#include "bacnet/basic/object/device.h"
+#include "bacnet/basic/object/lo.h"
+#include "bacnet/basic/object/channel.h"
+#include "bacnet/basic/object/color_object.h"
+#include "bacnet/basic/object/color_temperature.h"
+#include "blinkt.h"
+
+/** @file blinkt/main.c  Example application using the BACnet Stack. */
+
+/* (Doxygen note: The next two lines pull all the following Javadoc
+ *  into the ServerDemo module.) */
+/** @addtogroup ServerDemo */
+/*@{*/
+
+/** Buffer used for receiving */
+static uint8_t Rx_Buf[MAX_MPDU] = { 0 };
+/* current version of the BACnet stack */
+static const char *BACnet_Version = BACNET_VERSION_TEXT;
+/* task timer for various BACnet timeouts */
+static struct mstimer BACnet_Task_Timer;
+/* task timer for TSM timeouts */
+static struct mstimer BACnet_TSM_Timer;
+/* task timer for address binding timeouts */
+static struct mstimer BACnet_Address_Timer;
+/* task timer for object functionality */
+static struct mstimer BACnet_Object_Timer;
+
+/** Initialize the handlers we will utilize.
+ * @see Device_Init, apdu_set_unconfirmed_handler, apdu_set_confirmed_handler
+ */
+static void Init_Service_Handlers(void)
+{
+    Device_Init(NULL);
+    /* we need to handle who-is to support dynamic device binding */
+    apdu_set_unconfirmed_handler(SERVICE_UNCONFIRMED_WHO_IS, handler_who_is);
+    apdu_set_unconfirmed_handler(SERVICE_UNCONFIRMED_WHO_HAS, handler_who_has);
+    /* handle i-am to support binding to other devices */
+    apdu_set_unconfirmed_handler(SERVICE_UNCONFIRMED_I_AM, handler_i_am_bind);
+    /* set the handler for all the services we don't implement */
+    /* It is required to send the proper reject message... */
+    apdu_set_unrecognized_service_handler_handler(handler_unrecognized_service);
+    /* Set the handlers for any confirmed services that we support. */
+    /* We must implement read property - it's required! */
+    apdu_set_confirmed_handler(
+        SERVICE_CONFIRMED_READ_PROPERTY, handler_read_property);
+    apdu_set_confirmed_handler(
+        SERVICE_CONFIRMED_READ_PROP_MULTIPLE, handler_read_property_multiple);
+    apdu_set_confirmed_handler(
+        SERVICE_CONFIRMED_WRITE_PROPERTY, handler_write_property);
+    apdu_set_confirmed_handler(
+        SERVICE_CONFIRMED_WRITE_PROP_MULTIPLE, handler_write_property_multiple);
+    apdu_set_confirmed_handler(
+        SERVICE_CONFIRMED_READ_RANGE, handler_read_range);
+    apdu_set_confirmed_handler(
+        SERVICE_CONFIRMED_REINITIALIZE_DEVICE, handler_reinitialize_device);
+    apdu_set_unconfirmed_handler(
+        SERVICE_UNCONFIRMED_UTC_TIME_SYNCHRONIZATION, handler_timesync_utc);
+    apdu_set_unconfirmed_handler(
+        SERVICE_UNCONFIRMED_TIME_SYNCHRONIZATION, handler_timesync);
+    apdu_set_confirmed_handler(
+        SERVICE_CONFIRMED_SUBSCRIBE_COV, handler_cov_subscribe);
+    apdu_set_unconfirmed_handler(
+        SERVICE_UNCONFIRMED_COV_NOTIFICATION, handler_ucov_notification);
+    /* handle communication so we can shutup when asked */
+    apdu_set_confirmed_handler(SERVICE_CONFIRMED_DEVICE_COMMUNICATION_CONTROL,
+        handler_device_communication_control);
+    /* handle the data coming back from private requests */
+    apdu_set_unconfirmed_handler(SERVICE_UNCONFIRMED_PRIVATE_TRANSFER,
+        handler_unconfirmed_private_transfer);
+    /* configure the cyclic timers */
+    mstimer_set(&BACnet_Task_Timer, 1000UL);
+    mstimer_set(&BACnet_TSM_Timer, 50UL);
+    mstimer_set(&BACnet_Address_Timer, 60UL * 1000UL);
+    mstimer_set(&BACnet_Object_Timer, 100UL);
+}
+
+/**
+ * Clean up the Blinkt! interface
+ */
+static void blinkt_cleanup(void)
+{
+    blinkt_stop();
+}
+
+/**
+ * @brief Callback for tracking value
+ * @param  object_instance - object-instance number of the object
+ * @param  old_value - Color temperature value prior to write
+ * @param  value - Color temperature value of the write
+ */
+static void Lighting_Output_Write_Value_Handler(
+    uint32_t object_instance, float old_value, float value)
+{
+    uint8_t index = 255;
+    uint8_t brightness;
+
+    (void)old_value;
+    if (object_instance > 0) {
+        index = object_instance - 1;
+    }
+    if (index < blinkt_led_count()) {
+        /* brightness intensity from 0..31, 0=OFF, 1=dimmest, 31=brightest */
+        if (isgreaterequal(value, 1.0)) {
+            brightness = linear_interpolate(1.0, value, 100.0, 1, 31);
+        } else {
+            brightness = 0;
+        }
+        blinkt_set_pixel_brightness(index, brightness);
+        printf("LED[%u]=%.1f%% (%u)\n", (unsigned)index, value,
+            (unsigned)brightness);
+    }
+}
+
+/**
+ * @brief Callback for tracking value
+ * @param  object_instance - object-instance number of the object
+ * @param  old_value - Color temperature value prior to write
+ * @param  value - Color temperature value of the write
+ */
+static void Color_Temperature_Write_Value_Handler(
+    uint32_t object_instance, uint32_t old_value, uint32_t value)
+{
+    uint8_t red, green, blue;
+    uint8_t index = 255;
+
+    (void)old_value;
+    if (object_instance > 0) {
+        index = object_instance - 1;
+    }
+    if (index < blinkt_led_count()) {
+        color_rgb_from_temperature(value, &red, &green, &blue);
+        blinkt_set_pixel(index, red, green, blue);
+        printf("%u Kelvin RGB[%u]=%u,%u,%u\n", (unsigned)value, (unsigned)index,
+            (unsigned)red, (unsigned)green, (unsigned)blue);
+    }
+}
+
+/**
+ * @brief Callback for tracking value
+ * @param  object_instance - object-instance number of the object
+ * @param  old_value - BACnetXYColor value prior to write
+ * @param  value - BACnetXYColor value of the write
+ */
+static void Color_Write_Value_Handler(uint32_t object_instance,
+    BACNET_XY_COLOR *old_value,
+    BACNET_XY_COLOR *value)
+{
+    uint8_t red, green, blue;
+    float brightness_percent = 100.0;
+    uint8_t index = 255;
+
+    (void)old_value;
+    if (object_instance > 0) {
+        index = object_instance - 1;
+    }
+    if (index < blinkt_led_count()) {
+        color_rgb_from_xy(&red, &green, &blue, value->x_coordinate,
+            value->y_coordinate, brightness_percent);
+        blinkt_set_pixel(index, red, green, blue);
+        printf("x,y=%0.2f,%0.2f(%.1f%%) RGB[%u]=%u,%u,%u\n",
+            value->x_coordinate, value->y_coordinate, brightness_percent,
+            (unsigned)index, (unsigned)red, (unsigned)green, (unsigned)blue);
+    }
+}
+
+/**
+ * @brief Create the objects and configure the callbacks for BACnet objects
+ */
+static void bacnet_output_init(void)
+{
+    unsigned i = 0;
+    uint8_t led_max;
+    uint32_t object_instance = 1;
+    BACNET_COLOR_COMMAND command = { 0 };
+    BACNET_OBJECT_ID object_id;
+    uint32_t light_channel_instance = 1;
+    uint32_t color_channel_instance = 2;
+    uint32_t temp_channel_instance = 3;
+    BACNET_DEVICE_OBJECT_PROPERTY_REFERENCE member;
+
+    Channel_Create(light_channel_instance);
+    Channel_Name_Set(light_channel_instance, "Lights");
+    Channel_Create(color_channel_instance);
+    Channel_Name_Set(color_channel_instance, "Colors");
+    Channel_Create(temp_channel_instance);
+    Channel_Name_Set(temp_channel_instance, "Color-Temperatures");
+    led_max = blinkt_led_count();
+    for (i = 0; i < led_max; i++) {
+        /* color */
+        Color_Create(object_instance);
+        Color_Write_Enable(object_instance);
+        /* fade to black */
+        Color_Command(object_instance, &command);
+        command.operation = BACNET_COLOR_OPERATION_FADE_TO_COLOR;
+        command.target.color.x_coordinate = 0.0;
+        command.target.color.y_coordinate = 0.0;
+        command.transit.fade_time = 0;
+        Color_Command_Set(object_instance, &command);
+
+        /* configure channel members */
+        member.objectIdentifier.type = OBJECT_COLOR;
+        member.objectIdentifier.instance = object_instance;
+        member.propertyIdentifier = PROP_PRESENT_VALUE;
+        member.arrayIndex = BACNET_ARRAY_ALL;
+        member.deviceIdentifier.type = OBJECT_DEVICE;
+        member.deviceIdentifier.instance = Device_Object_Instance_Number();
+        Channel_Reference_List_Member_Element_Set(
+            color_channel_instance, 1 + i, &member);
+
+        /* color temperature */
+        Color_Temperature_Create(object_instance);
+        Color_Temperature_Write_Enable(object_instance);
+        /* stop the color temperature */
+        Color_Temperature_Command(object_instance, &command);
+        command.operation = BACNET_COLOR_OPERATION_STOP;
+        Color_Temperature_Command_Set(object_instance, &command);
+
+        /* configure channel members */
+        member.objectIdentifier.type = OBJECT_COLOR_TEMPERATURE;
+        member.objectIdentifier.instance = object_instance;
+        member.propertyIdentifier = PROP_PRESENT_VALUE;
+        member.arrayIndex = BACNET_ARRAY_ALL;
+        member.deviceIdentifier.type = OBJECT_DEVICE;
+        member.deviceIdentifier.instance = Device_Object_Instance_Number();
+        Channel_Reference_List_Member_Element_Set(
+            temp_channel_instance, 1 + i, &member);
+
+        /* lighting output */
+        Lighting_Output_Create(object_instance);
+
+        /* configure references */
+        object_id.type = OBJECT_COLOR;
+        object_id.instance = object_instance;
+        Lighting_Output_Color_Reference_Set(object_instance, &object_id);
+
+        /* configure channel members */
+        member.objectIdentifier.type = OBJECT_LIGHTING_OUTPUT;
+        member.objectIdentifier.instance = object_instance;
+        member.propertyIdentifier = PROP_PRESENT_VALUE;
+        member.arrayIndex = BACNET_ARRAY_ALL;
+        member.deviceIdentifier.type = OBJECT_DEVICE;
+        member.deviceIdentifier.instance = Device_Object_Instance_Number();
+        Channel_Reference_List_Member_Element_Set(
+            light_channel_instance, 1 + i, &member);
+
+        object_instance++;
+    }
+    Color_Write_Present_Value_Callback_Set(Color_Write_Value_Handler);
+    Color_Temperature_Write_Present_Value_Callback_Set(
+        Color_Temperature_Write_Value_Handler);
+    Lighting_Output_Write_Present_Value_Callback_Set(
+        Lighting_Output_Write_Value_Handler);
+    Channel_Write_Property_Internal_Callback_Set(Device_Write_Property);
+}
+
+/**
+ * @brief Print the terse usage info
+ * @param filename - this application file name
+ */
+static void print_usage(const char *filename)
+{
+    printf("Usage: %s [device-instance]\n", filename);
+    printf("       [--device N][--test]\n");
+    printf("       [--version][--help]\n");
+}
+
+/**
+ * @brief Print the verbose usage info
+ * @param filename - this application file name
+ */
+static void print_help(const char *filename)
+{
+    printf("BACnet Blinkt! server device.\n");
+    printf("device-instance:\n"
+           "--device N:\n"
+           "BACnet Device Object Instance number of this device.\n"
+           "This number will be used when other devices\n"
+           "try and bind with this device using Who-Is and\n"
+           "I-Am services.\n");
+    printf("\n");
+    printf("--test:\n"
+           "Test the Blinkt! RGB LEDs with a cycling pattern.\n");
+    printf("\n");
+    printf("Example:\n"
+           "%s 9009\n",
+        filename);
+}
+
+/** Main function of server demo.
+ *
+ * @see Device_Set_Object_Instance_Number, dlenv_init, Send_I_Am,
+ *      datalink_receive, npdu_handler,
+ *      dcc_timer_seconds, datalink_maintenance_timer,
+ *      handler_cov_task,
+ *      tsm_timer_milliseconds
+ *
+ * @param argc [in] Arg count.
+ * @param argv [in] Takes one argument: the Device Instance #.
+ * @return 0 on success.
+ */
+int main(int argc, char *argv[])
+{
+    BACNET_ADDRESS src = { 0 }; /* address where message came from */
+    uint16_t pdu_len = 0;
+    unsigned timeout_ms = 1;
+    unsigned long seconds = 0;
+    unsigned long milliseconds;
+    bool blinkt_test = false;
+    unsigned int target_args = 0;
+    uint32_t device_id = BACNET_MAX_INSTANCE;
+    int argi = 0;
+    char *filename = NULL;
+
+    filename = filename_remove_path(argv[0]);
+    for (argi = 1; argi < argc; argi++) {
+        if (strcmp(argv[argi], "--help") == 0) {
+            print_usage(filename);
+            print_help(filename);
+            return 0;
+        }
+        if (strcmp(argv[argi], "--version") == 0) {
+            printf("%s %s\n", filename, BACNET_VERSION_TEXT);
+            printf("Copyright (C) 2023 by Steve Karg and others.\n"
+                   "This is free software; see the source for copying "
+                   "conditions.\n"
+                   "There is NO warranty; not even for MERCHANTABILITY or\n"
+                   "FITNESS FOR A PARTICULAR PURPOSE.\n");
+            return 0;
+        }
+        if (strcmp(argv[argi], "--device") == 0) {
+            if (++argi < argc) {
+                device_id = strtol(argv[argi], NULL, 0);
+            }
+        } else if (strcmp(argv[argi], "--test") == 0) {
+            blinkt_test = true;
+        } else {
+            if (target_args == 0) {
+                device_id = strtol(argv[argi], NULL, 0);
+                target_args++;
+            }
+        }
+    }
+    if (device_id > BACNET_MAX_INSTANCE) {
+        fprintf(stderr, "device=%u - it must be less than %u\n", device_id,
+            BACNET_MAX_INSTANCE);
+        return 1;
+    }
+    Device_Set_Object_Instance_Number(device_id);
+    printf("BACnet Raspberry Pi Blinkt! Demo\n"
+           "BACnet Stack Version %s\n"
+           "BACnet Device ID: %u\n"
+           "Max APDU: %d\n",
+        BACnet_Version, Device_Object_Instance_Number(), MAX_APDU);
+    /* load any static address bindings to show up
+       in our device bindings list */
+    address_init();
+    Init_Service_Handlers();
+    dlenv_init();
+    atexit(datalink_cleanup);
+    blinkt_init();
+    atexit(blinkt_cleanup);
+    bacnet_output_init();
+    /* configure the timeout values */
+    /* broadcast an I-Am on startup */
+    Send_I_Am(&Handler_Transmit_Buffer[0]);
+    /* loop forever */
+    for (;;) {
+        /* input */
+        pdu_len = datalink_receive(&src, &Rx_Buf[0], MAX_MPDU, timeout_ms);
+        /* process */
+        if (pdu_len) {
+            npdu_handler(&src, &Rx_Buf[0], pdu_len);
+        }
+        if (mstimer_expired(&BACnet_Task_Timer)) {
+            mstimer_reset(&BACnet_Task_Timer);
+            /* 1 second tasks */
+            dcc_timer_seconds(1);
+            datalink_maintenance_timer(1);
+            dlenv_maintenance_timer(1);
+            handler_cov_timer_seconds(1);
+        }
+        if (mstimer_expired(&BACnet_TSM_Timer)) {
+            mstimer_reset(&BACnet_TSM_Timer);
+            tsm_timer_milliseconds(mstimer_interval(&BACnet_TSM_Timer));
+        }
+        handler_cov_task();
+        if (mstimer_expired(&BACnet_Address_Timer)) {
+            mstimer_reset(&BACnet_Address_Timer);
+            /* address cache */
+            seconds = mstimer_interval(&BACnet_Address_Timer) / 1000;
+            address_cache_timer(seconds);
+        }
+        /* output/input */
+        if (blinkt_test) {
+            blinkt_test_task();
+        } else {
+            if (mstimer_expired(&BACnet_Object_Timer)) {
+                mstimer_reset(&BACnet_Object_Timer);
+                milliseconds = mstimer_interval(&BACnet_Object_Timer);
+                Device_Timer(milliseconds);
+                blinkt_show();
+            }
+        }
+    }
+
+    return 0;
+}
+
+/* @} */
+
+/* End group ServerDemo */