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AP_Notify: fixed threading on toshibaled i2c

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This commit is contained in:
Andrew Tridgell 2016-11-04 15:25:52 +11:00
parent a9cb03ad74
commit dbd192971f
2 changed files with 24 additions and 12 deletions
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31
libraries/AP_Notify/ToshibaLED_I2C.cpp
View File

@ -53,22 +53,29 @@ bool ToshibaLED_I2C::hw_init()
// give back i2c semaphore
_dev->get_semaphore()->give();
_dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&ToshibaLED_I2C::_timer, bool));
return ret;
}
// set_rgb - set color as a combination of red, green and blue values
bool ToshibaLED_I2C::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
{
if (!_dev || !_dev->get_semaphore()->take(5)) {
return false;
}
/* 4-bit for each color */
uint8_t val[4] = { TOSHIBA_LED_PWM0, (uint8_t)(blue >> 4),
(uint8_t)(green / 16), (uint8_t)(red / 16) };
bool ret = _dev->transfer(val, sizeof(val), nullptr, 0);
_dev->get_semaphore()->give();
return ret;
_need_update = true;
return true;
}
bool ToshibaLED_I2C::_timer(void)
{
if (!_need_update) {
return true;
}
_need_update = false;
/* 4-bit for each color */
uint8_t val[4] = { TOSHIBA_LED_PWM0, (uint8_t)(rgb.b >> 4),
(uint8_t)(rgb.g / 16), (uint8_t)(rgb.r / 16) };
_dev->transfer(val, sizeof(val), nullptr, 0);
return true;
}

5
libraries/AP_Notify/ToshibaLED_I2C.h
View File

@ -27,4 +27,9 @@ public:
private:
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
bool _timer(void);
bool _need_update;
struct {
uint8_t r, g, b;
} rgb;
};