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AP_Periph: support neopixel LEDs on CAN GPS

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This commit is contained in:
Andrew Tridgell 2019-09-10 07:37:42 +10:00
parent 3dfe15443d
commit 8a689b2cd1
2 changed files with 38 additions and 0 deletions
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5
Tools/AP_Periph/AP_Periph.cpp
View File

@ -67,6 +67,11 @@ void AP_Periph_FW::init()
baro.init();
baro.calibrate(false);
#endif
#ifdef HAL_PERIPH_NEOPIXEL_COUNT
hal.rcout->init();
hal.rcout->set_neopixel_num_LEDs(HAL_PERIPH_NEOPIXEL_CHAN, HAL_PERIPH_NEOPIXEL_COUNT);
#endif
}
void AP_Periph_FW::update()

33
Tools/AP_Periph/can.cpp
View File

@ -33,6 +33,7 @@
#include <uavcan/equipment/air_data/StaticPressure.h>
#include <uavcan/equipment/air_data/StaticTemperature.h>
#include <uavcan/equipment/indication/BeepCommand.h>
#include <uavcan/equipment/indication/LightsCommand.h>
#include <ardupilot/indication/SafetyState.h>
#include <ardupilot/indication/Button.h>
#include <uavcan/protocol/debug/LogMessage.h>
@ -405,6 +406,27 @@ static void handle_safety_state(CanardInstance* ins, CanardRxTransfer* transfer)
safety_state = req.status;
}
#ifdef HAL_PERIPH_NEOPIXEL_COUNT
/*
handle lightscommand
*/
static void handle_lightscommand(CanardInstance* ins, CanardRxTransfer* transfer)
{
uavcan_equipment_indication_LightsCommand req;
uint8_t arraybuf[UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_MAX_SIZE];
uint8_t *arraybuf_ptr = arraybuf;
if (uavcan_equipment_indication_LightsCommand_decode(transfer, transfer->payload_len, &req, &arraybuf_ptr) < 0) {
return;
}
for (uint8_t i=0; i<req.commands.len; i++) {
uavcan_equipment_indication_SingleLightCommand &cmd = req.commands.data[i];
hal.rcout->set_neopixel_rgb_data(HAL_PERIPH_NEOPIXEL_CHAN, (1U<<HAL_PERIPH_NEOPIXEL_COUNT)-1,
cmd.color.red, cmd.color.green, cmd.color.blue);
}
hal.rcout->neopixel_send();
}
#endif
/*
update safety LED
*/
@ -525,6 +547,12 @@ static void onTransferReceived(CanardInstance* ins,
handle_safety_state(ins, transfer);
break;
#endif
#ifdef HAL_PERIPH_NEOPIXEL_COUNT
case UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_ID:
handle_lightscommand(ins, transfer);
break;
#endif
}
}
@ -583,6 +611,11 @@ static bool shouldAcceptTransfer(const CanardInstance* ins,
case ARDUPILOT_INDICATION_SAFETYSTATE_ID:
*out_data_type_signature = ARDUPILOT_INDICATION_SAFETYSTATE_SIGNATURE;
return true;
#endif
#ifdef HAL_PERIPH_NEOPIXEL_COUNT
case UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_ID:
*out_data_type_signature = UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_SIGNATURE;
return true;
#endif
default:
break;