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AP_SerialLED: support ProfiLEDs

This commit is contained in:
Peter Hall 2020-02-22 23:53:31 +00:00 committed by Andrew Tridgell
parent 8dccea4a15
commit f1fee1ebc5
2 changed files with 30 additions and 9 deletions
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32
libraries/AP_SerialLED/AP_SerialLED.cpp
View File

@ -18,6 +18,7 @@
#include "AP_SerialLED.h"
#include <AP_Math/AP_Math.h>
#include "SRV_Channel/SRV_Channel.h"
extern const AP_HAL::HAL& hal;
@ -27,11 +28,27 @@ AP_SerialLED::AP_SerialLED()
{
}
// set number of LEDs per pin
bool AP_SerialLED::set_num_LEDs(uint8_t chan, uint8_t num_leds)
// set number of NeoPixels per pin
bool AP_SerialLED::set_num_neopixel(uint8_t chan, uint8_t num_leds)
{
if (chan >= 1 && chan <= 16 && num_leds <= AP_SERIALLED_MAX_LEDS) {
return hal.rcout->set_neopixel_num_LEDs(chan-1, num_leds);
return hal.rcout->set_serial_led_num_LEDs(chan-1, num_leds, AP_HAL::RCOutput::MODE_NEOPIXEL);
}
return false;
}
// set number of ProfiLEDs per pin
bool AP_SerialLED::set_num_profiled(uint8_t chan, uint8_t num_leds)
{
if (chan >= 1 && chan <= 16 && num_leds <= AP_SERIALLED_MAX_LEDS - 2) {
// must have a clock
uint16_t Clock_mask = 0;
if (!SRV_Channels::function_assigned((SRV_Channel::Aux_servo_function_t)((uint8_t)SRV_Channel::k_ProfiLED_Clock))) {
return false;
}
Clock_mask = SRV_Channels::get_output_channel_mask((SRV_Channel::Aux_servo_function_t)((uint8_t)SRV_Channel::k_ProfiLED_Clock));
return hal.rcout->set_serial_led_num_LEDs(chan-1, num_leds, AP_HAL::RCOutput::MODE_PROFILED, Clock_mask);
}
return false;
}
@ -40,12 +57,15 @@ bool AP_SerialLED::set_num_LEDs(uint8_t chan, uint8_t num_leds)
void AP_SerialLED::set_RGB(uint8_t chan, int8_t led, uint8_t red, uint8_t green, uint8_t blue)
{
if (chan >= 1 && chan <= 16) {
hal.rcout->set_neopixel_rgb_data(chan-1, led, red, green, blue);
hal.rcout->set_serial_led_rgb_data(chan-1, led, red, green, blue);
}
}
// trigger sending of LED changes to LEDs
void AP_SerialLED::send(void)
void AP_SerialLED::send(uint8_t chan)
{
hal.rcout->neopixel_send();
if (chan >= 1 && chan <= 16) {
hal.rcout->serial_led_send(chan-1);
}
}

7
libraries/AP_SerialLED/AP_SerialLED.h
View File

@ -21,14 +21,15 @@
// limit number of LEDs, mostly to keep DMA memory consumption within
// reasonable bounds
#define AP_SERIALLED_MAX_LEDS 64
#define AP_SERIALLED_MAX_LEDS 128
class AP_SerialLED {
public:
AP_SerialLED();
// set number of LEDs per pin
bool set_num_LEDs(uint8_t chan, uint8_t num_leds);
bool set_num_neopixel(uint8_t chan, uint8_t num_leds);
bool set_num_profiled(uint8_t chan, uint8_t num_leds);
// set RGB value on mask of LEDs. chan is PWM output, 1..16
void set_RGB_mask(uint8_t chan, uint32_t ledmask, uint8_t red, uint8_t green, uint8_t blue);
@ -37,7 +38,7 @@ public:
void set_RGB(uint8_t chan, int8_t led, uint8_t red, uint8_t green, uint8_t blue);
// trigger sending of LED changes to LEDs
void send(void);
void send(uint8_t chan);
// singleton support
static AP_SerialLED *get_singleton(void) {