ardupilot/libraries/AP_SerialLED/AP_SerialLED.cpp

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/*
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/>.
*/
/*
AP_SerialLED for controlling serial connected LEDs using WS2812B protocol
*/
#include "AP_SerialLED.h"
#include <AP_Math/AP_Math.h>
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#include "SRV_Channel/SRV_Channel.h"
extern const AP_HAL::HAL& hal;
AP_SerialLED AP_SerialLED::singleton;
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// set number of NeoPixels per pin
bool AP_SerialLED::set_num_neopixel(uint8_t chan, uint8_t num_leds)
{
if (chan >= 1 && chan <= 16 && num_leds <= AP_SERIALLED_MAX_LEDS) {
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return hal.rcout->set_serial_led_num_LEDs(chan-1, num_leds, AP_HAL::RCOutput::MODE_NEOPIXEL);
}
return false;
}
// set number of ProfiLEDs per pin
bool AP_SerialLED::set_num_profiled(uint8_t chan, uint8_t num_leds)
{
if (chan >= 1 && chan <= 16 && num_leds <= AP_SERIALLED_MAX_LEDS - 2) {
// must have a clock
uint16_t Clock_mask = 0;
if (!SRV_Channels::function_assigned((SRV_Channel::Aux_servo_function_t)((uint8_t)SRV_Channel::k_ProfiLED_Clock))) {
return false;
}
Clock_mask = SRV_Channels::get_output_channel_mask((SRV_Channel::Aux_servo_function_t)((uint8_t)SRV_Channel::k_ProfiLED_Clock));
return hal.rcout->set_serial_led_num_LEDs(chan-1, num_leds, AP_HAL::RCOutput::MODE_PROFILED, Clock_mask);
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}
return false;
}
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// set RGB value on LED number. LED number -1 is all LEDs. First LED is 0. chan is PWM output, 1..16
void AP_SerialLED::set_RGB(uint8_t chan, int8_t led, uint8_t red, uint8_t green, uint8_t blue)
{
if (chan >= 1 && chan <= 16) {
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hal.rcout->set_serial_led_rgb_data(chan-1, led, red, green, blue);
}
}
// trigger sending of LED changes to LEDs
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void AP_SerialLED::send(uint8_t chan)
{
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if (chan >= 1 && chan <= 16) {
hal.rcout->serial_led_send(chan-1);
}
}