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AP_Notify: ToshibaLED_I2C: use I2CDevice interface

This commit is contained in:
Luiz Ywata 2016-04-18 14:02:19 -03:00 committed by Lucas De Marchi
parent e5d519edec
commit 0b69e43464
2 changed files with 21 additions and 26 deletions
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42
libraries/AP_Notify/ToshibaLED_I2C.cpp
View File

@ -21,37 +21,35 @@
extern const AP_HAL::HAL& hal;
#define TOSHIBA_LED_ADDRESS 0x55 // default I2C bus address
#define TOSHIBA_LED_I2C_ADDR 0x55 // default I2C bus address
#define TOSHIBA_LED_I2C_BUS 1
#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
ToshibaLED_I2C::ToshibaLED_I2C()
: _dev(hal.i2c_mgr->get_device(TOSHIBA_LED_I2C_BUS, TOSHIBA_LED_I2C_ADDR))
{
}
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)) {
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
// disable recording of i2c lockup errors
hal.i2c->ignore_errors(true);
// enable the led
bool ret = (hal.i2c->writeRegister(TOSHIBA_LED_ADDRESS, TOSHIBA_LED_ENABLE, 0x03) == 0);
bool ret = _dev->write_register(TOSHIBA_LED_ENABLE, 0x03);
// 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);
// re-enable recording of i2c lockup errors
hal.i2c->ignore_errors(false);
uint8_t val[4] = { TOSHIBA_LED_PWM0, _led_off, _led_off, _led_off };
ret &= _dev->transfer(val, sizeof(val), nullptr, 0);
// give back i2c semaphore
i2c_sem->give();
_dev->get_semaphore()->give();
return ret;
}
@ -59,19 +57,11 @@ bool ToshibaLED_I2C::hw_init()
// 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);
uint8_t val[4] = { TOSHIBA_LED_PWM0, (uint8_t)(blue>>4), (uint8_t)(green>>4), (uint8_t)(red>>4) };
bool success = _dev->transfer(val, sizeof(val), nullptr, 0);
// give back i2c semaphore
i2c_sem->give();
_dev->get_semaphore()->give();
return success;
}

5
libraries/AP_Notify/ToshibaLED_I2C.h
View File

@ -16,11 +16,16 @@
*/
#pragma once
#include <AP_HAL/I2CDevice.h>
#include "ToshibaLED.h"
class ToshibaLED_I2C : public ToshibaLED
{
public:
ToshibaLED_I2C();
bool hw_init(void);
bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b);
private:
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
};