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AP_Notify: NavioLED_I2C: use I2CDevice interface

This commit is contained in:
Luiz Ywata 2016-04-14 17:37:20 -03:00 committed by Lucas De Marchi
parent 24cdef24b8
commit 1f0f36d603
2 changed files with 13 additions and 21 deletions
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30
libraries/AP_Notify/NavioLED_I2C.cpp
View File

@ -26,25 +26,18 @@ extern const AP_HAL::HAL& hal;
bool NavioLED_I2C::hw_init()
{
// get pointer to i2c bus semaphore
AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
_dev = hal.i2c_mgr->get_device(1, PCA9685_ADDRESS);
// take i2c bus sempahore
if (!i2c_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
if (!_dev || !_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 = true;
// re-enable recording of i2c lockup errors
hal.i2c->ignore_errors(false);
// give back i2c semaphore
i2c_sem->give();
_dev->get_semaphore()->give();
return ret;
}
@ -52,11 +45,8 @@ bool NavioLED_I2C::hw_init()
// set_rgb - set color as a combination of red, green and blue values
bool NavioLED_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)) {
if (!_dev || !_dev->get_semaphore()->take(5)) {
return false;
}
@ -74,15 +64,13 @@ bool NavioLED_I2C::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
uint8_t red_channel_msb = red_adjusted >> 8;
uint8_t transaction[] = {0x00, 0x00, blue_channel_lsb, blue_channel_msb,
0x00, 0x00, green_channel_lsb, green_channel_msb,
0x00, 0x00, red_channel_lsb, red_channel_msb
};
uint8_t transaction[] = {PCA9685_PWM, 0x00, 0x00, blue_channel_lsb, blue_channel_msb,
0x00, 0x00, green_channel_lsb, green_channel_msb,
0x00, 0x00, red_channel_lsb, red_channel_msb};
bool success = (hal.i2c->writeRegisters(PCA9685_ADDRESS, PCA9685_PWM, sizeof(transaction), transaction) == 0);
bool success = _dev->transfer(transaction, sizeof(transaction), nullptr, 0);
// give back i2c semaphore
i2c_sem->give();
_dev->get_semaphore()->give();
return success;
}

4
libraries/AP_Notify/NavioLED_I2C.h
View File

@ -17,10 +17,14 @@
#pragma once
#include "NavioLED.h"
#include <AP_HAL/I2CDevice.h>
class NavioLED_I2C : public NavioLED
{
protected:
virtual bool hw_init(void);
virtual bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b);
private:
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
};