mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.5 KiB
C++
53 lines
1.5 KiB
C++
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/*
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custom code for specific boards
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*/
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#include <AP_HAL/AP_HAL.h>
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#include "ch.h"
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#include "hal.h"
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#include "support.h"
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#ifdef AP_BOOTLOADER_CUSTOM_HERE4
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/*
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reset here4 LEDs
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*/
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static void bootloader_custom_Here4(void)
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{
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for (uint8_t n=0; n<10; n++) {
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const uint8_t num_leds = 4;
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const uint32_t min_bits = num_leds*25+50;
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const uint8_t num_leading_zeros = 8-min_bits%8 + 50;
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const uint32_t output_stream_byte_length = (min_bits+7)/8;
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palSetLineMode(HAL_GPIO_PIN_LED_DI, PAL_MODE_OUTPUT_PUSHPULL);
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palSetLineMode(HAL_GPIO_PIN_LED_SCK, PAL_MODE_OUTPUT_PUSHPULL);
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int l = 100;
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while (l--) {
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for (uint32_t i=0; i<output_stream_byte_length; i++) {
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for (uint8_t bit = 0; bit < 8; bit++) {
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uint32_t out_bit_idx = i*8+bit;
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uint8_t bit_val;
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if (out_bit_idx < num_leading_zeros) {
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bit_val = 0;
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} else if ((out_bit_idx-num_leading_zeros) % 25 == 0) {
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bit_val = 1;
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} else {
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bit_val = 0;
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}
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palClearLine(HAL_GPIO_PIN_LED_SCK);
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palWriteLine(HAL_GPIO_PIN_LED_DI, bit_val);
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palSetLine(HAL_GPIO_PIN_LED_SCK);
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}
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}
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}
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chThdSleepMilliseconds(10);
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}
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}
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#endif // AP_BOOTLOADER_CUSTOM_HERE4
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void custom_startup(void)
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{
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#ifdef AP_BOOTLOADER_CUSTOM_HERE4
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bootloader_custom_Here4();
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#endif
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}
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