ardupilot/libraries/AP_Notify/ProfiLED.cpp

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2020-02-22 19:54:57 -04:00
/*
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 "ProfiLED.h"
#include "SRV_Channel/SRV_Channel.h"
// This limit is from the dshot driver rc out groups limit, we need at least one channel for clock
#define AP_NOTIFY_ProfiLED_MAX_INSTANCES 3
#define ProfiLED_LOW 0x33
#define ProfiLED_MEDIUM 0x7F
#define ProfiLED_HIGH 0xFF
#define ProfiLED_OFF 0x00
extern const AP_HAL::HAL& hal;
ProfiLED::ProfiLED() :
SerialLED(ProfiLED_OFF, ProfiLED_HIGH, ProfiLED_MEDIUM, ProfiLED_LOW)
{
}
uint16_t ProfiLED::init_ports()
{
uint16_t mask = 0;
for (uint16_t i=0; i<AP_NOTIFY_ProfiLED_MAX_INSTANCES; i++) {
const SRV_Channel::Aux_servo_function_t fn = (SRV_Channel::Aux_servo_function_t)((uint8_t)SRV_Channel::k_ProfiLED_1 + i);
if (!SRV_Channels::function_assigned(fn)) {
continue;
}
mask |= SRV_Channels::get_output_channel_mask(fn);
}
if (mask == 0) {
return 0;
}
AP_SerialLED *led = AP_SerialLED::get_singleton();
if (led == nullptr) {
return 0;
}
for (uint16_t chan=0; chan<16; chan++) {
if ((1U<<chan) & mask) {
led->set_num_profiled(chan+1, (pNotify->get_led_len()));
}
}
return mask;
}