ardupilot/libraries/AP_Notify/ToshibaLED_I2C.cpp

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/*
ToshibaLED I2C driver
*/
/*
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_HAL.h>
#include "ToshibaLED.h"
#include "ToshibaLED_I2C.h"
extern const AP_HAL::HAL& hal;
#define TOSHIBA_LED_ADDRESS 0x55 // default I2C bus address
#define TOSHIBA_LED_PWM0 0x01 // pwm0 register
#define TOSHIBA_LED_PWM1 0x02 // pwm1 register
#define TOSHIBA_LED_PWM2 0x03 // pwm2 register
#define TOSHIBA_LED_ENABLE 0x04 // enable register
bool ToshibaLED_I2C::hw_init()
{
// get pointer to i2c bus semaphore
AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
// take i2c bus sempahore
if (!i2c_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
// disable recording of i2c lockup errors
hal.i2c->ignore_errors(true);
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// enable the led
bool ret = (hal.i2c->writeRegister(TOSHIBA_LED_ADDRESS, TOSHIBA_LED_ENABLE, 0x03) == 0);
// update the red, green and blue values to zero
uint8_t val[3] = { _led_off, _led_off, _led_off };
ret &= (hal.i2c->writeRegisters(TOSHIBA_LED_ADDRESS, TOSHIBA_LED_PWM0, 3, val) == 0);
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// re-enable recording of i2c lockup errors
hal.i2c->ignore_errors(false);
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// give back i2c semaphore
i2c_sem->give();
return ret;
}
// set_rgb - set color as a combination of red, green and blue values
bool ToshibaLED_I2C::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
{
// get pointer to i2c bus semaphore
AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
// exit immediately if we can't take the semaphore
if (i2c_sem == NULL || !i2c_sem->take(5)) {
return false;
}
// update the red value
uint8_t val[3] = { (uint8_t)(blue>>4), (uint8_t)(green>>4), (uint8_t)(red>>4) };
bool success = (hal.i2c->writeRegisters(TOSHIBA_LED_ADDRESS, TOSHIBA_LED_PWM0, 3, val) == 0);
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// give back i2c semaphore
i2c_sem->give();
return success;
}