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AP_Notify: fix ToshibaLED_I2C and check both I2C buses

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the rgb value was never being set meaning the led was always off
external bus is checked first
This commit is contained in:
Randy Mackay 2017-01-26 18:11:37 +09:00
parent 0e20c8040c
commit eedfe13f9c
1 changed files with 17 additions and 4 deletions
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21
libraries/AP_Notify/ToshibaLED_I2C.cpp
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@ -27,7 +27,8 @@
extern const AP_HAL::HAL& hal;
#define TOSHIBA_LED_I2C_ADDR 0x55 // default I2C bus address
#define TOSHIBA_LED_I2C_BUS 1
#define TOSHIBA_LED_I2C_BUS_INTERNAL 0
#define TOSHIBA_LED_I2C_BUS_EXTERNAL 1
#define TOSHIBA_LED_PWM0 0x01 // pwm0 register
#define TOSHIBA_LED_PWM1 0x02 // pwm1 register
@ -36,9 +37,8 @@ extern const AP_HAL::HAL& hal;
bool ToshibaLED_I2C::hw_init()
{
_dev = std::move(hal.i2c_mgr->get_device(TOSHIBA_LED_I2C_BUS, TOSHIBA_LED_I2C_ADDR));
// take i2c bus sempahore
// first look for led on external bus
_dev = std::move(hal.i2c_mgr->get_device(TOSHIBA_LED_I2C_BUS_EXTERNAL, TOSHIBA_LED_I2C_ADDR));
if (!_dev || !_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
@ -46,6 +46,18 @@ bool ToshibaLED_I2C::hw_init()
// enable the led
bool ret = _dev->write_register(TOSHIBA_LED_ENABLE, 0x03);
// on failure try the internal bus
if (!ret) {
// give back external bus semaphore
_dev->get_semaphore()->give();
// get internal I2C bus driver
_dev = std::move(hal.i2c_mgr->get_device(TOSHIBA_LED_I2C_BUS_INTERNAL, TOSHIBA_LED_I2C_ADDR));
if (!_dev || !_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
ret = _dev->write_register(TOSHIBA_LED_ENABLE, 0x03);
}
// update the red, green and blue values to zero
uint8_t val[4] = { TOSHIBA_LED_PWM0, _led_off, _led_off, _led_off };
ret &= _dev->transfer(val, sizeof(val), nullptr, 0);
@ -61,6 +73,7 @@ bool ToshibaLED_I2C::hw_init()
// 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)
{
rgb = {red, green, blue};
_need_update = true;
return true;
}