mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-06 07:58:28 -04:00
HAL_SITL: support simulated serial LEDs
This commit is contained in:
parent
ae289052e9
commit
fc4577dce8
libraries/AP_HAL_SITL
@ -84,4 +84,45 @@ void RCOutput::push(void)
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
Serial LED emulation
|
||||
*/
|
||||
bool RCOutput::set_neopixel_num_LEDs(const uint16_t chan, uint8_t num_leds)
|
||||
{
|
||||
if (chan > 15 || num_leds > 32) {
|
||||
return false;
|
||||
}
|
||||
SITL::SITL *sitl = AP::sitl();
|
||||
if (sitl) {
|
||||
sitl->led.num_leds[chan] = num_leds;
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
void RCOutput::set_neopixel_rgb_data(const uint16_t chan, uint32_t ledmask, uint8_t red, uint8_t green, uint8_t blue)
|
||||
{
|
||||
if (chan > 15) {
|
||||
return;
|
||||
}
|
||||
SITL::SITL *sitl = AP::sitl();
|
||||
if (sitl) {
|
||||
for (uint8_t i=0; i<32; i++) {
|
||||
if ((1U<<i) & ledmask) {
|
||||
sitl->led.rgb[chan][i].rgb[0] = red;
|
||||
sitl->led.rgb[chan][i].rgb[1] = green;
|
||||
sitl->led.rgb[chan][i].rgb[2] = blue;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void RCOutput::neopixel_send(void)
|
||||
{
|
||||
SITL::SITL *sitl = AP::sitl();
|
||||
if (sitl) {
|
||||
sitl->led.send_counter++;
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
@ -18,6 +18,13 @@ public:
|
||||
void cork(void) override;
|
||||
void push(void) override;
|
||||
|
||||
/*
|
||||
Serial LED emulation
|
||||
*/
|
||||
bool set_neopixel_num_LEDs(const uint16_t chan, uint8_t num_leds) override;
|
||||
void set_neopixel_rgb_data(const uint16_t chan, uint32_t ledmask, uint8_t red, uint8_t green, uint8_t blue) override;
|
||||
void neopixel_send(void) override;
|
||||
|
||||
private:
|
||||
SITL_State *_sitlState;
|
||||
uint16_t _freq_hz;
|
||||
|
Loading…
Reference in New Issue
Block a user