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https://github.com/ArduPilot/ardupilot
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AP_Notify: add RCOutputRGBLedInverted
Some RGB leds controlled with an inverted logic. This class addresses this.
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parent
1598a97734
commit
ef3cad7833
libraries/AP_Notify
@ -53,6 +53,17 @@ bool RCOutputRGBLed::hw_init()
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return true;
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}
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uint16_t RCOutputRGBLed::get_duty_cycle_for_color(const uint8_t color, const uint16_t usec_period) const
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{
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return usec_period * color / _led_bright;
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}
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uint16_t RCOutputRGBLedInverted::get_duty_cycle_for_color(const uint8_t color, const uint16_t usec_period) const
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{
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return usec_period * (255 - color) / _led_bright;
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}
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bool RCOutputRGBLed::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
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{
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const uint16_t freq_motor = hal.rcout->get_freq(0);
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@ -69,13 +80,13 @@ bool RCOutputRGBLed::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
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hal.rcout->set_freq(mask, freq_motor);
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}
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uint16_t usec_duty = usec_period * red / _led_bright;
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uint16_t usec_duty = get_duty_cycle_for_color(red, usec_period);
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SRV_Channels::set_output_pwm_chan(_red_channel, usec_duty);
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usec_duty = usec_period * green / _led_bright;
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usec_duty = get_duty_cycle_for_color(green, usec_period);
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SRV_Channels::set_output_pwm_chan(_green_channel, usec_duty);
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usec_duty = usec_period * blue / _led_bright;
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usec_duty = get_duty_cycle_for_color(blue, usec_period);
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SRV_Channels::set_output_pwm_chan(_blue_channel, usec_duty);
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return true;
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@ -13,6 +13,7 @@ public:
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protected:
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bool hw_init() override;
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virtual bool hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) override;
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virtual uint16_t get_duty_cycle_for_color(const uint8_t color, const uint16_t usec_period) const;
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private:
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uint8_t _red_channel;
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@ -20,6 +21,15 @@ private:
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uint8_t _blue_channel;
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};
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class RCOutputRGBLedInverted : public RCOutputRGBLed {
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public:
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RCOutputRGBLedInverted(uint8_t red_channel, uint8_t green_channel, uint8_t blue_channel)
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: RCOutputRGBLed(red_channel, green_channel, blue_channel)
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{ }
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protected:
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virtual uint16_t get_duty_cycle_for_color(const uint8_t color, const uint16_t usec_period) const override;
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};
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class RCOutputRGBLedOff : public RCOutputRGBLed {
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public:
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RCOutputRGBLedOff(uint8_t red_channel, uint8_t green_channel,
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