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AP_Notify: reduce the latency in the main task of LED updates

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the ioctl now gets called in a IO timer callback
This commit is contained in:
Andrew Tridgell 2014-01-24 10:40:39 +11:00
parent 0d174db05b
commit 23d8bfa976
2 changed files with 29 additions and 8 deletions
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32
libraries/AP_Notify/ToshibaLED_PX4.cpp
View File

@ -41,21 +41,37 @@ bool ToshibaLED_PX4::hw_init()
return false;
}
ioctl(_rgbled_fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_ON);
last.zero();
next.zero();
hal.scheduler->register_io_process(AP_HAL_MEMBERPROC(&ToshibaLED_PX4::update_timer));
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)
{
rgbled_rgbset_t v;
v.red = red;
v.green = green;
v.blue = blue;
int ret = ioctl(_rgbled_fd, RGBLED_SET_RGB, (unsigned long)&v);
return (ret == 0);
hal.scheduler->suspend_timer_procs();
next[0] = red;
next[1] = green;
next[2] = blue;
hal.scheduler->resume_timer_procs();
return true;
}
void ToshibaLED_PX4::update_timer(void)
{
if (last == next) {
return;
}
rgbled_rgbset_t v;
v.red = next[0];
v.green = next[1];
v.blue = next[2];
ioctl(_rgbled_fd, RGBLED_SET_RGB, (unsigned long)&v);
last = next;
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4

5
libraries/AP_Notify/ToshibaLED_PX4.h
View File

@ -19,6 +19,8 @@
#define __TOSHIBA_LED_PX4_H__
#include "ToshibaLED.h"
#include "AP_Math.h"
#include "vectorN.h"
class ToshibaLED_PX4 : public ToshibaLED
{
@ -27,6 +29,9 @@ public:
bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b);
private:
int _rgbled_fd;
void update_timer(void);
VectorN<uint8_t,3> last, next;
};
#endif // __TOSHIBA_LED_PX4_H__