mirror of https://github.com/ArduPilot/ardupilot
63 lines
1.8 KiB
C++
63 lines
1.8 KiB
C++
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/*
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Copyright (C) 2016 Mathieu Othacehe. All rights reserved.
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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_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <AP_HAL_Linux/PWM_Sysfs.h>
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#include "DiscoLED.h"
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#define RED_PWM_INDEX 9
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#define GREEN_PWM_INDEX 8
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#define BLUE_PWM_INDEX 15
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#define DISCO_LED_LOW 0x33
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#define DISCO_LED_MEDIUM 0x7F
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#define DISCO_LED_HIGH 0xFF
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#define DISCO_LED_OFF 0x00
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DiscoLED::DiscoLED():
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RGBLed(DISCO_LED_OFF, DISCO_LED_HIGH, DISCO_LED_MEDIUM, DISCO_LED_LOW)
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{
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}
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bool DiscoLED::hw_init()
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{
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red_pwm = new Linux::PWM_Sysfs_Bebop(RED_PWM_INDEX);
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green_pwm = new Linux::PWM_Sysfs_Bebop(GREEN_PWM_INDEX);
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blue_pwm = new Linux::PWM_Sysfs_Bebop(BLUE_PWM_INDEX);
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red_pwm_period = red_pwm->get_period();
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green_pwm_period = green_pwm->get_period();
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blue_pwm_period = blue_pwm->get_period();
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red_pwm->enable(true);
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green_pwm->enable(true);
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blue_pwm->enable(true);
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return true;
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}
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bool DiscoLED::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
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{
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red_pwm->set_duty_cycle(red / UINT8_MAX * red_pwm_period);
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green_pwm->set_duty_cycle(green / UINT8_MAX * green_pwm_period);
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blue_pwm->set_duty_cycle(blue / UINT8_MAX * blue_pwm_period);
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return true;
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}
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#endif
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