2019-04-02 14:56:00 -03:00
|
|
|
/*
|
|
|
|
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_Notify/AP_Notify.h"
|
|
|
|
#include "NeoPixel.h"
|
|
|
|
#include "SRV_Channel/SRV_Channel.h"
|
|
|
|
|
|
|
|
// This limit is from the dshot driver rcout groups limit
|
|
|
|
#define AP_NOTIFY_NEOPIXEL_MAX_INSTANCES 4
|
|
|
|
|
|
|
|
// Datasheet: https://cdn-shop.adafruit.com/datasheets/WS2812B.pdf
|
|
|
|
// 24bit msg as 3 byte GRB (not RGB) where first bit is G7, and last bit is B0
|
|
|
|
// (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)
|
|
|
|
|
|
|
|
#define NEOPIXEL_LED_LOW 0x33
|
|
|
|
#define NEOPIXEL_LED_MEDIUM 0x7F
|
|
|
|
#define NEOPIXEL_LED_HIGH 0xFF
|
|
|
|
#define NEOPIXEL_LED_OFF 0x00
|
|
|
|
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
|
|
|
|
NeoPixel::NeoPixel() :
|
|
|
|
RGBLed(NEOPIXEL_LED_OFF, NEOPIXEL_LED_HIGH, NEOPIXEL_LED_MEDIUM, NEOPIXEL_LED_LOW)
|
|
|
|
{
|
|
|
|
}
|
|
|
|
|
|
|
|
bool NeoPixel::hw_init()
|
|
|
|
{
|
2019-09-09 06:23:04 -03:00
|
|
|
init_ports();
|
|
|
|
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&NeoPixel::timer, void));
|
2019-04-02 14:56:00 -03:00
|
|
|
return true;
|
|
|
|
}
|
|
|
|
|
|
|
|
uint16_t NeoPixel::init_ports()
|
|
|
|
{
|
|
|
|
uint16_t mask = 0;
|
|
|
|
for (uint16_t i=0; i<AP_NOTIFY_NEOPIXEL_MAX_INSTANCES; i++) {
|
2019-09-09 06:23:04 -03:00
|
|
|
const SRV_Channel::Aux_servo_function_t fn = (SRV_Channel::Aux_servo_function_t)((uint8_t)SRV_Channel::k_LED_neopixel1 + i);
|
|
|
|
if (!SRV_Channels::function_assigned(fn)) {
|
2019-04-02 14:56:00 -03:00
|
|
|
continue;
|
|
|
|
}
|
2019-09-09 06:23:04 -03:00
|
|
|
mask |= SRV_Channels::get_output_channel_mask(fn);
|
2019-04-02 14:56:00 -03:00
|
|
|
}
|
|
|
|
|
2019-09-09 06:23:04 -03:00
|
|
|
if (mask != 0) {
|
|
|
|
for (uint16_t chan=0; chan<16; chan++) {
|
|
|
|
if ((1U<<chan) & mask) {
|
|
|
|
hal.rcout->set_neopixel_num_LEDs(chan, 1);
|
|
|
|
}
|
|
|
|
}
|
2019-04-02 14:56:00 -03:00
|
|
|
}
|
|
|
|
last_mask = mask;
|
|
|
|
return mask;
|
|
|
|
}
|
|
|
|
|
|
|
|
void NeoPixel::timer()
|
|
|
|
{
|
|
|
|
WITH_SEMAPHORE(_sem);
|
|
|
|
|
|
|
|
const uint32_t now_ms = AP_HAL::millis();
|
|
|
|
if (now_ms - _last_init_ms >= 1000) {
|
|
|
|
_last_init_ms = now_ms;
|
2019-09-09 06:23:04 -03:00
|
|
|
enable_mask = init_ports();
|
2019-04-02 14:56:00 -03:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
bool NeoPixel::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
|
|
|
|
{
|
|
|
|
if (enable_mask == 0) {
|
|
|
|
// nothing is enabled, no pins set as LED output
|
|
|
|
return true;
|
|
|
|
}
|
|
|
|
|
2019-09-09 06:23:04 -03:00
|
|
|
for (uint16_t chan=0; chan<16; chan++) {
|
|
|
|
if ((1U<<chan) & enable_mask) {
|
|
|
|
hal.rcout->set_neopixel_rgb_data(chan, 1, red, green, blue);
|
|
|
|
}
|
2019-04-02 14:56:00 -03:00
|
|
|
}
|
2019-09-09 06:23:04 -03:00
|
|
|
hal.rcout->neopixel_send();
|
|
|
|
return true;
|
2019-04-02 14:56:00 -03:00
|
|
|
}
|