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AP_Notify: allow ChibiOS to use PixracerLED driver

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This commit is contained in:
Andrew Tridgell 2018-02-11 19:29:16 +11:00
parent 66608e8cad
commit 0fdef97c76
2 changed files with 16 additions and 7 deletions
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9
libraries/AP_Notify/AP_Notify.cpp
View File

@ -220,8 +220,17 @@ void AP_Notify::add_backends(void)
ADD_BACKEND(new ToneAlarm_Linux());
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#ifdef HAL_HAVE_PIXRACER_LED
ADD_BACKEND(new PixRacerLED());
#else
ADD_BACKEND(new AP_BoardLED());
#endif
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
ADD_BACKEND(new Display());
#lese
ADD_BACKEND(new AP_BoardLED());
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
ADD_BACKEND(new Display());

14
libraries/AP_Notify/PixRacerLED.cpp
View File

@ -21,23 +21,23 @@
extern const AP_HAL::HAL& hal;
PixRacerLED::PixRacerLED() :
RGBLed(0, 1, 1, 1)
RGBLed(0, HAL_GPIO_LED_OFF, HAL_GPIO_LED_OFF, HAL_GPIO_LED_OFF)
{
}
bool PixRacerLED::hw_init(void)
{
hal.gpio->write(HAL_GPIO_A_LED_PIN, 0);
hal.gpio->write(HAL_GPIO_B_LED_PIN, 0);
hal.gpio->write(HAL_GPIO_C_LED_PIN, 0);
hal.gpio->write(HAL_GPIO_A_LED_PIN, HAL_GPIO_LED_OFF);
hal.gpio->write(HAL_GPIO_B_LED_PIN, HAL_GPIO_LED_OFF);
hal.gpio->write(HAL_GPIO_C_LED_PIN, HAL_GPIO_LED_OFF);
return true;
}
bool PixRacerLED::hw_set_rgb(uint8_t r, uint8_t g, uint8_t b)
{
hal.gpio->write(HAL_GPIO_A_LED_PIN, (r > 0));
hal.gpio->write(HAL_GPIO_B_LED_PIN, (g > 0));
hal.gpio->write(HAL_GPIO_C_LED_PIN, (b > 0));
hal.gpio->write(HAL_GPIO_A_LED_PIN, (r > 0)?HAL_GPIO_LED_ON:HAL_GPIO_LED_OFF);
hal.gpio->write(HAL_GPIO_B_LED_PIN, (g > 0)?HAL_GPIO_LED_ON:HAL_GPIO_LED_OFF);
hal.gpio->write(HAL_GPIO_C_LED_PIN, (b > 0)?HAL_GPIO_LED_ON:HAL_GPIO_LED_OFF);
return true;
}