mirror of https://github.com/ArduPilot/ardupilot
82 lines
2.6 KiB
C++
82 lines
2.6 KiB
C++
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// This driver is for the neopixel on the Blue Robotics Navigator board
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// designed for the Raspberry Pi 4. The neopixel data in is connected to
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// the Raspberry Pi's MOSI pin. The clock, chip select, and MISO pins are
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// not used. The data is sent to the neopixel in 24 'SPI bytes', where each
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// spi byte is formatted to appear as a single bit of data to the neopixel.
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#include <AP_HAL/AP_HAL.h>
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#include "AP_Notify/AP_Notify.h"
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#include "NavigatorLED.h"
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#define NEOPIXEL_LED_LOW 0x18
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#define NEOPIXEL_LED_MEDIUM 0x40
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#define NEOPIXEL_LED_HIGH 0xFF
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#define NEOPIXEL_LED_OFF 0x00
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#define LED_T0 0b11000000
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#define LED_T1 0b11110000
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extern const AP_HAL::HAL& hal;
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NavigatorLED::NavigatorLED() :
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RGBLed(NEOPIXEL_LED_OFF, NEOPIXEL_LED_HIGH, NEOPIXEL_LED_MEDIUM, NEOPIXEL_LED_LOW)
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{
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}
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bool NavigatorLED::init()
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{
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_dev = hal.spi->get_device("led");
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if (!_dev) {
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return false;
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}
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return true;
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}
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bool NavigatorLED::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
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{
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if (!_dev) {
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return false;
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}
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// format our spi bytes to transmit the desired color data
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_setup_data(red, green, blue);
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// take i2c bus sempahore
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WITH_SEMAPHORE(_dev->get_semaphore());
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// send the new color data
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return _dev->transfer(_data, sizeof(_data), nullptr, 0);
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}
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// Get our bytes ready to send the desired color data
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// Datasheet: https://cdn-shop.adafruit.com/datasheets/WS2812B.pdf
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// 24bit msg as 3 byte GRB (not RGB) where first bit is G7, and last bit is B0
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// (first) G7|G6|G5|G4|G3|G2|G1|G0|R7|R6|R5|R4|R3|R2|R1|R0|B7|B6|B5|B4|B3|B2|B1|B0 (last)
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void NavigatorLED::_setup_data(uint8_t red, uint8_t green, uint8_t blue)
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{
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for (uint8_t i = 0; i < 8; i++) {
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_data[i] = (green & (1<<(7-i))) ? LED_T1 : LED_T0;
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}
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for (uint8_t i = 0; i < 8; i++) {
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_data[8 + i] = (red & (1<<(7-i))) ? LED_T1 : LED_T0;
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}
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for (uint8_t i = 0; i < 8; i++) {
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_data[16 + i] = (blue & (1<<(7-i))) ? LED_T1 : LED_T0;
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}
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}
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