AP_Notify: use RGB driver for board led in VRBRAIN boards.

libraries/AP_Notify/AP_Notify.cpp

@@ -32,7 +32,11 @@ struct AP_Notify::notify_events_type AP_Notify::events;
     NotifyDevice *AP_Notify::_devices[CONFIG_NOTIFY_DEVICES_COUNT] = {&boardled, &externalled, &buzzer};
 #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
     Buzzer buzzer;
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_VRBRAIN_V45
     AP_BoardLED boardled;
+#else
+    VRBoard_LED boardled;
+#endif
     ToshibaLED_I2C toshibaled;
     ExternalLED externalled;
     NotifyDevice *AP_Notify::_devices[CONFIG_NOTIFY_DEVICES_COUNT] = {&boardled, &toshibaled, &externalled, &buzzer};

libraries/AP_Notify/AP_Notify.h

@@ -28,6 +28,7 @@
 #include <NavioLED_I2C.h>
 #include <ExternalLED.h>
 #include <Buzzer.h>
+#include <VRBoard_LED.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
     #define CONFIG_NOTIFY_DEVICES_COUNT 3

libraries/AP_Notify/VRBoard_LED.cpp

@@ -0,0 +1,66 @@
+/*
+   ToshibaLED 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 "VRBoard_LED.h"
+#include <AP_HAL.h>
+
+#define VRBRAIN_LED_BRIGHT  1    // full brightness
+#define VRBRAIN_LED_MEDIUM  1    // medium brightness
+#define VRBRAIN_LED_DIM     1    // dim
+#define VRBRAIN_LED_OFF     0    // off
+
+extern const AP_HAL::HAL& hal;
+
+VRBoard_LED::VRBoard_LED():
+    RGBLed(VRBRAIN_LED_OFF, VRBRAIN_LED_BRIGHT, VRBRAIN_LED_MEDIUM, VRBRAIN_LED_DIM)
+{
+
+}
+bool VRBoard_LED::hw_init(void){
+    // setup the main LEDs as outputs
+    hal.gpio->pinMode(HAL_GPIO_A_LED_PIN, HAL_GPIO_OUTPUT);
+    hal.gpio->pinMode(HAL_GPIO_B_LED_PIN, HAL_GPIO_OUTPUT);
+    hal.gpio->pinMode(HAL_GPIO_C_LED_PIN, HAL_GPIO_OUTPUT);
+
+    // turn all lights off
+    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 VRBoard_LED::hw_set_rgb(uint8_t r, uint8_t g, uint8_t b){
+
+    if(r > 0){
+    	hal.gpio->write(HAL_GPIO_C_LED_PIN, HAL_GPIO_LED_ON);
+    } else {
+    	hal.gpio->write(HAL_GPIO_C_LED_PIN, HAL_GPIO_LED_OFF);
+    }
+    if (g > 0) {
+    	hal.gpio->write(HAL_GPIO_A_LED_PIN, HAL_GPIO_LED_ON);
+    } else {
+    	hal.gpio->write(HAL_GPIO_A_LED_PIN, HAL_GPIO_LED_OFF);
+    }
+    if (b > 0) {
+    	hal.gpio->write(HAL_GPIO_B_LED_PIN, HAL_GPIO_LED_ON);
+    } else {
+    	hal.gpio->write(HAL_GPIO_B_LED_PIN, HAL_GPIO_LED_OFF);
+    }
+
+	return true;
+}

libraries/AP_Notify/VRBoard_LED.h

@@ -0,0 +1,36 @@
+/*
+ *  AP_Notify Library. 
+ * based upon a prototype library by David "Buzz" Bussenschutt.
+ */
+
+/*
+   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/>.
+ */
+
+#ifndef __VRBRAIN_LED_H__
+#define __VRBRAIN_LED_H__
+
+#include "RGBLed.h"
+#include "AP_BoardLED.h"
+
+
+class VRBoard_LED: public RGBLed {
+public:
+	VRBoard_LED();
+
+    bool hw_init(void);
+    bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b);
+};
+
+#endif