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AP_Notify: made DiscreteRGBLed more generic 

- made pins and polarity configurable
- got rid of all Navio specific code
This commit is contained in:
Staroselskii Georgii 2016-02-25 16:59:08 +03:00 committed by Lucas De Marchi
parent ef4e3aa333
commit 5b3627f83e
3 changed files with 21 additions and 28 deletions
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2
libraries/AP_Notify/AP_Notify.cpp
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@ -80,7 +80,7 @@ struct AP_Notify::notify_events_type AP_Notify::events;
ToshibaLED_I2C toshibaled;
NotifyDevice *AP_Notify::_devices[] = {&navioled, &toshibaled};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
DiscreteRGBLed navioled;
DiscreteRGBLed navioled(4, 27, 6, false);
ToshibaLED_I2C toshibaled;
NotifyDevice *AP_Notify::_devices[] = {&navioled, &toshibaled};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI

37
libraries/AP_Notify/DiscreteRGBLed.cpp
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@ -1,6 +1,3 @@
/*
DiscreteRGBLed 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
@ -16,29 +13,25 @@
#include "DiscreteRGBLed.h"
#define NAVIO_LED_BRIGHT 1 // full brightness
#define NAVIO_LED_MEDIUM 1 // medium brightness
#define NAVIO_LED_DIM 1 // dim brightness
#define NAVIO_LED_OFF 0 // off
# define GREEN_PIN 27
# define BLUE_PIN 6
# define RED_PIN 4
extern const AP_HAL::HAL& hal;
DiscreteRGBLed::DiscreteRGBLed()
: RGBLed(NAVIO_LED_OFF, NAVIO_LED_BRIGHT, NAVIO_LED_MEDIUM, NAVIO_LED_DIM)
DiscreteRGBLed::DiscreteRGBLed(uint16_t red, uint16_t green, uint16_t blue, bool normal_polarity)
: RGBLed(normal_polarity ? 0 : 1,
normal_polarity ? 1 : 0,
normal_polarity ? 1 : 0,
normal_polarity ? 1 : 0),
red_pin_number(red),
green_pin_number(green),
blue_pin_number(blue)
{
}
#include <unistd.h>
bool DiscreteRGBLed::hw_init(void)
{
red_pin = hal.gpio->channel(RED_PIN);
green_pin = hal.gpio->channel(GREEN_PIN);
blue_pin = hal.gpio->channel(BLUE_PIN);
red_pin = hal.gpio->channel(red_pin_number);
green_pin = hal.gpio->channel(green_pin_number);
blue_pin = hal.gpio->channel(blue_pin_number);
red_pin->mode(HAL_GPIO_OUTPUT);
green_pin->mode(HAL_GPIO_OUTPUT);
@ -54,11 +47,9 @@ bool DiscreteRGBLed::hw_init(void)
// set_rgb - set color as a combination of red, green and blue values
bool DiscreteRGBLed::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
{
/* We fix the GPIO polarity right here */
red_pin->write(!red);
green_pin->write(!green);
blue_pin->write(!blue);
red_pin->write(!!red);
green_pin->write(!!green);
blue_pin->write(!!blue);
return true;
}

6
libraries/AP_Notify/DiscreteRGBLed.h
View File

@ -22,12 +22,14 @@
class DiscreteRGBLed: public RGBLed {
public:
DiscreteRGBLed();
DiscreteRGBLed(uint16_t red, uint16_t green, uint16_t blue, bool polarity);
bool hw_init(void) override;
bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b) override;
bool hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) override;
private:
AP_HAL::DigitalSource *red_pin;
AP_HAL::DigitalSource *green_pin;
AP_HAL::DigitalSource *blue_pin;
uint16_t red_pin_number, green_pin_number, blue_pin_number;
};