ardupilot/libraries/AP_Notify/examples/ToshibaLED_test/ToshibaLED_test.cpp

#include <AP_HAL/AP_HAL.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_Notify/ToshibaLED_I2C.h>

void setup();
void loop();
void full_spectrum();
void blink();

const AP_HAL::HAL& hal = AP_HAL::get_HAL();

AP_Notify notify;

static ToshibaLED_I2C toshiba_led(1);

void setup(void)
{
    // display welcome message
    hal.console->printf("Toshiba LED test ver 0.1\n");

    // initialise LED
    if (toshiba_led.init()) {
        hal.console->printf("Failed to initialise Toshiba LED\n");
    }
    toshiba_led.pNotify = &notify;

    // turn on initialising notification
    AP_Notify::flags.initialising = false;
    AP_Notify::flags.save_trim = true;
    AP_Notify::flags.gps_status = 1;
    AP_Notify::flags.armed = 1;
    AP_Notify::flags.pre_arm_check = 1;
}

void loop(void)
{
    // blink test
    //hal.console->printf("Blink test\n");
    //blink();
    /*
    // full spectrum test
    hal.console->printf("Spectrum test\n");
    full_spectrum();
    */

    // update the toshiba led
    toshiba_led.update();

    // wait 1/50th of a second
    hal.scheduler->delay(20);
}

// full_spectrum - runs through the full spectrum of colours the led can display
void full_spectrum()
{
    // go through the full range of colours but only up to the dim light level
    for (uint8_t red = 0; red <= 0x05; red++) {
        for (uint8_t green = 0; green <= 0x05; green++) {
            for (uint8_t blue = 0; blue <= 0x05; blue++) {
                toshiba_led.set_rgb(red, green, blue);
                hal.scheduler->delay(5);
            }
        }
    }
}

#define LED_DIM 0x11

// blink - blink the led at 10hz for 10 seconds
void blink()
{
    // set colour to red
    toshiba_led.set_rgb(LED_DIM, 0, 0);

    // full spectrum test
    for (uint8_t c=0; c<=2; c++ ) {
        if (c == 0) {
            toshiba_led.set_rgb(LED_DIM, 0, 0);   // red
        }else if (c==1) {
            toshiba_led.set_rgb(0, LED_DIM, 0);   // green
        }else{
            toshiba_led.set_rgb(0, 0, LED_DIM);   // blue
        }
    }
}

AP_HAL_MAIN();