mirror of https://github.com/ArduPilot/ardupilot
70 lines
1.8 KiB
C++
70 lines
1.8 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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#include "AP_Notify/AP_Notify.h"
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#include "SerialLED.h"
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extern const AP_HAL::HAL& hal;
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SerialLED::SerialLED(uint8_t led_off, uint8_t led_bright, uint8_t led_medium, uint8_t led_dim) :
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RGBLed(led_off, led_bright, led_medium, led_dim)
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{
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}
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bool SerialLED::hw_init()
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{
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init_ports();
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hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&SerialLED::timer, void));
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return true;
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}
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void SerialLED::timer()
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{
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WITH_SEMAPHORE(_sem);
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const uint32_t now_ms = AP_HAL::millis();
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if (now_ms - _last_init_ms >= 1000) {
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_last_init_ms = now_ms;
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enable_mask = init_ports();
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}
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}
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bool SerialLED::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
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{
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if (enable_mask == 0) {
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// nothing is enabled, no pins set as LED output
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return true;
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}
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AP_SerialLED *led = AP_SerialLED::get_singleton();
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if (led == nullptr) {
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return false;
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}
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for (uint16_t chan=0; chan<16; chan++) {
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if ((1U<<chan) & enable_mask) {
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led->set_RGB(chan+1, -1, red, green, blue);
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}
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}
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for (uint16_t chan=0; chan<16; chan++) {
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if ((1U<<chan) & enable_mask) {
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led->send(chan+1);
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}
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}
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return true;
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}
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