mirror of https://github.com/ArduPilot/ardupilot
89 lines
2.5 KiB
C++
89 lines
2.5 KiB
C++
|
/*
|
||
|
|
NavioLED I2C driver
|
||
|
|
*/
|
||
|
|
/*
|
||
|
|
This program is free software: you can redistribute it and/or modify
|
||
|
|
it under the terms of the GNU General Public License as published by
|
||
|
|
the Free Software Foundation, either version 3 of the License, or
|
||
|
|
(at your option) any later version.
|
||
|
|
|
||
|
|
This program is distributed in the hope that it will be useful,
|
||
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
GNU General Public License for more details.
|
||
|
|
|
||
|
|
You should have received a copy of the GNU General Public License
|
||
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include <AP_HAL.h>
|
||
|
|
#include "NavioLED_I2C.h"
|
||
|
|
|
||
|
|
#define PCA9685_ADDRESS 0x40
|
||
|
|
#define PCA9685_PWM 0x6
|
||
|
|
|
||
|
|
extern const AP_HAL::HAL& hal;
|
||
|
|
|
||
|
|
bool NavioLED_I2C::hw_init()
|
||
|
|
{
|
||
|
|
// get pointer to i2c bus semaphore
|
||
|
|
AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
|
||
|
|
|
||
|
|
// take i2c bus sempahore
|
||
|
|
if (!i2c_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
// disable recording of i2c lockup errors
|
||
|
|
hal.i2c->ignore_errors(true);
|
||
|
|
|
||
|
|
// enable the led
|
||
|
|
bool ret = true;
|
||
|
|
|
||
|
|
// re-enable recording of i2c lockup errors
|
||
|
|
hal.i2c->ignore_errors(false);
|
||
|
|
|
||
|
|
// give back i2c semaphore
|
||
|
|
i2c_sem->give();
|
||
|
|
|
||
|
|
return ret;
|
||
|
|
}
|
||
|
|
|
||
|
|
// set_rgb - set color as a combination of red, green and blue values
|
||
|
|
bool NavioLED_I2C::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
|
||
|
|
{
|
||
|
|
// get pointer to i2c bus semaphore
|
||
|
|
AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
|
||
|
|
|
||
|
|
// exit immediately if we can't take the semaphore
|
||
|
|
if (i2c_sem == NULL || !i2c_sem->take(5)) {
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
uint16_t red_adjusted = red * 0x10;
|
||
|
|
uint16_t green_adjusted = green * 0x10;
|
||
|
|
uint16_t blue_adjusted = blue * 0x10;
|
||
|
|
|
||
|
|
uint8_t blue_channel_lsb = blue_adjusted & 0xFF;
|
||
|
|
uint8_t blue_channel_msb = blue_adjusted >> 8;
|
||
|
|
|
||
|
|
uint8_t green_channel_lsb = green_adjusted & 0xFF;
|
||
|
|
uint8_t green_channel_msb = green_adjusted >> 8;
|
||
|
|
|
||
|
|
uint8_t red_channel_lsb = red_adjusted & 0xFF;
|
||
|
|
uint8_t red_channel_msb = red_adjusted >> 8;
|
||
|
|
|
||
|
|
|
||
|
|
uint8_t transaction[] = {0x00, 0x00, blue_channel_lsb, blue_channel_msb,
|
||
|
|
0x00, 0x00, green_channel_lsb, green_channel_msb,
|
||
|
|
0x00, 0x00, red_channel_lsb, red_channel_msb
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
bool success = (hal.i2c->writeRegisters(PCA9685_ADDRESS, PCA9685_PWM, sizeof(transaction), transaction) == 0);
|
||
|
|
|
||
|
|
// give back i2c semaphore
|
||
|
|
i2c_sem->give();
|
||
|
|
return success;
|
||
|
|
}
|