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AP_Periph: support NCP5623 LEDs

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This commit is contained in:
Andrew Tridgell 2019-10-19 11:28:09 +11:00
parent abd08ac5ca
commit c75a7e425a
4 changed files with 49 additions and 9 deletions
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6
Tools/AP_Periph/AP_Periph.h
View File

@ -3,9 +3,15 @@
#include <AP_GPS/AP_GPS.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_Baro/AP_Baro.h>
#if defined(HAL_PERIPH_NEOPIXEL_COUNT) || defined(HAL_PERIPH_ENABLE_NCP5623_LED)
#define AP_PERIPH_HAVE_LED
#endif
#include "Parameters.h"
#include "ch.h"
class AP_Periph_FW {
public:
void init();

8
Tools/AP_Periph/Parameters.cpp
View File

@ -2,6 +2,10 @@
extern const AP_HAL::HAL &hal;
#ifndef AP_PERIPH_LED_BRIGHT_DEFAULT
#define AP_PERIPH_LED_BRIGHT_DEFAULT 100
#endif
/*
* AP_Periph parameter definitions
*
@ -50,8 +54,8 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
GOBJECT(baro, "BARO_", AP_Baro),
#endif
#ifdef HAL_PERIPH_NEOPIXEL_COUNT
GSCALAR(led_brightness, "LED_BRIGHTNESS", 50),
#ifdef AP_PERIPH_HAVE_LED
GSCALAR(led_brightness, "LED_BRIGHTNESS", AP_PERIPH_LED_BRIGHT_DEFAULT),
#endif
AP_VAREND

2
Tools/AP_Periph/Parameters.h
View File

@ -27,7 +27,7 @@ public:
#ifdef HAL_PERIPH_ENABLE_BUZZER
AP_Int8 buzz_volume;
#endif
#ifdef HAL_PERIPH_NEOPIXEL_COUNT
#ifdef AP_PERIPH_HAVE_LED
AP_Int8 led_brightness;
#endif

42
Tools/AP_Periph/can.cpp
View File

@ -41,8 +41,10 @@
#include <stdio.h>
#include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
#include <drivers/stm32/canard_stm32.h>
#include <AP_HAL/I2CDevice.h>
#include "i2c.h"
#include <utility>
extern const AP_HAL::HAL &hal;
extern AP_Periph_FW periph;
@ -406,8 +408,37 @@ static void handle_safety_state(CanardInstance* ins, CanardRxTransfer* transfer)
}
safety_state = req.status;
}
#endif // HAL_GPIO_PIN_SAFE_LED
#ifdef AP_PERIPH_HAVE_LED
static void set_rgb_led(uint8_t red, uint8_t green, uint8_t blue)
{
#ifdef HAL_PERIPH_NEOPIXEL_COUNT
hal.rcout->set_neopixel_rgb_data(HAL_PERIPH_NEOPIXEL_CHAN, (1U<<HAL_PERIPH_NEOPIXEL_COUNT)-1,
red, green, blue);
hal.rcout->neopixel_send();
#endif // HAL_PERIPH_NEOPIXEL_COUNT
#ifdef HAL_PERIPH_ENABLE_NCP5623_LED
{
const uint8_t i2c_address = 0x38;
static AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
if (!dev) {
dev = std::move(hal.i2c_mgr->get_device(0, i2c_address));
}
WITH_SEMAPHORE(dev->get_semaphore());
dev->set_retries(0);
uint8_t v = 0x3f; // enable LED
dev->transfer(&v, 1, nullptr, 0);
v = 0x40 | red >> 3; // red
dev->transfer(&v, 1, nullptr, 0);
v = 0x60 | green >> 3; // green
dev->transfer(&v, 1, nullptr, 0);
v = 0x80 | blue >> 3; // blue
dev->transfer(&v, 1, nullptr, 0);
}
#endif // HAL_PERIPH_ENABLE_NCP5623_LED
}
/*
handle lightscommand
*/
@ -432,13 +463,12 @@ static void handle_lightscommand(CanardInstance* ins, CanardRxTransfer* transfer
green = constrain_int16(green * scale, 0, 255);
blue = constrain_int16(blue * scale, 0, 255);
}
hal.rcout->set_neopixel_rgb_data(HAL_PERIPH_NEOPIXEL_CHAN, (1U<<HAL_PERIPH_NEOPIXEL_COUNT)-1,
red, green, blue);
set_rgb_led(red, green, blue);
}
hal.rcout->neopixel_send();
}
#endif
#endif // AP_PERIPH_HAVE_LED
#ifdef HAL_GPIO_PIN_SAFE_LED
/*
update safety LED
*/
@ -560,7 +590,7 @@ static void onTransferReceived(CanardInstance* ins,
break;
#endif
#ifdef HAL_PERIPH_NEOPIXEL_COUNT
#ifdef AP_PERIPH_HAVE_LED
case UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_ID:
handle_lightscommand(ins, transfer);
break;
@ -624,7 +654,7 @@ static bool shouldAcceptTransfer(const CanardInstance* ins,
*out_data_type_signature = ARDUPILOT_INDICATION_SAFETYSTATE_SIGNATURE;
return true;
#endif
#ifdef HAL_PERIPH_NEOPIXEL_COUNT
#ifdef AP_PERIPH_HAVE_LED
case UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_ID:
*out_data_type_signature = UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_SIGNATURE;
return true;