mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.6 KiB
C++
78 lines
2.6 KiB
C++
|
/*
|
||
|
|
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;
|
||
|
|
}
|
||
|
|
|
||
|
|
// 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
|
||
|
|
ret &= (hal.i2c->writeRegister(TOSHIBA_LED_ADDRESS, TOSHIBA_LED_PWM0, TOSHIBA_LED_OFF) == 0);
|
||
|
|
ret &= (hal.i2c->writeRegister(TOSHIBA_LED_ADDRESS, TOSHIBA_LED_PWM1, TOSHIBA_LED_OFF) == 0);
|
||
|
|
ret &= (hal.i2c->writeRegister(TOSHIBA_LED_ADDRESS, TOSHIBA_LED_PWM2, TOSHIBA_LED_OFF) == 0);
|
||
|
|
|
||
|
|
// 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;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool success = true;
|
||
|
|
// update the red value
|
||
|
|
success &= (hal.i2c->writeRegister(TOSHIBA_LED_ADDRESS, TOSHIBA_LED_PWM2, red>>4) == 0);
|
||
|
|
// update the green value
|
||
|
|
success &= (hal.i2c->writeRegister(TOSHIBA_LED_ADDRESS, TOSHIBA_LED_PWM1, green>>4) == 0);
|
||
|
|
// update the blue value
|
||
|
|
success &= (hal.i2c->writeRegister(TOSHIBA_LED_ADDRESS, TOSHIBA_LED_PWM0, blue>>4) == 0);
|
||
|
|
|
||
|
|
// give back i2c semaphore
|
||
|
|
i2c_sem->give();
|
||
|
|
return success;
|
||
|
|
}
|