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AP_Notify: remove ToshibaLED_PX4

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This commit is contained in:
Randy Mackay 2017-01-27 12:55:49 +09:00
parent 98db17e9a1
commit 0ce8cf3cf4
2 changed files with 0 additions and 126 deletions
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80
libraries/AP_Notify/ToshibaLED_PX4.cpp
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/*
ToshibaLED PX4 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/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include "ToshibaLED_PX4.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <px4_defines.h>
#include <drivers/drv_rgbled.h>
#include <stdio.h>
#include <errno.h>
extern const AP_HAL::HAL& hal;
bool ToshibaLED_PX4::hw_init()
{
// open the rgb led device
_rgbled_fd = open(RGBLED0_DEVICE_PATH, 0);
if (_rgbled_fd == -1) {
hal.console->printf("Unable to open " RGBLED0_DEVICE_PATH);
return false;
}
ioctl(_rgbled_fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_ON);
last.v = 1; // This is necessary so rgb value is written for the first time
next.v = 0;
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&ToshibaLED_PX4::update_timer, void));
return true;
}
// set_rgb - set color as a combination of red, green and blue values
bool ToshibaLED_PX4::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
{
union rgb_value v;
v.r = red;
v.g = green;
v.b = blue;
// this does an atomic 32 bit update
next.v = v.v;
return true;
}
void ToshibaLED_PX4::update_timer(void)
{
if (last.v == next.v) {
return;
}
rgbled_rgbset_t v;
union rgb_value newv;
newv.v = next.v;
v.red = newv.r;
v.green = newv.g;
v.blue = newv.b;
ioctl(_rgbled_fd, RGBLED_SET_RGB, (unsigned long)&v);
last.v = next.v;
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4

46
libraries/AP_Notify/ToshibaLED_PX4.h
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/*
ToshibaLED PX4 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/>.
*/
#pragma once
#include <AP_Math/AP_Math.h>
#include <AP_Math/vectorN.h>
#include "ToshibaLED.h"
class ToshibaLED_PX4 : public ToshibaLED
{
protected:
bool hw_init(void) override;
bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b) override;
private:
int _rgbled_fd;
void update_timer(void);
// use a union so that updates can be of a single 32 bit value,
// making it atomic on PX4
union rgb_value {
struct {
uint8_t r;
uint8_t g;
uint8_t b;
};
volatile uint32_t v;
};
union rgb_value last, next;
};