/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ #include "AP_Notify/AP_Notify.h" #include "NeoPixel.h" #include "SRV_Channel/SRV_Channel.h" // This limit is from the dshot driver rcout groups limit #define AP_NOTIFY_NEOPIXEL_MAX_INSTANCES 4 // Datasheet: https://cdn-shop.adafruit.com/datasheets/WS2812B.pdf // 24bit msg as 3 byte GRB (not RGB) where first bit is G7, and last bit is B0 // (first) G7|G6|G5|G4|G3|G2|G1|G0|R7|R6|R5|R4|R3|R2|R1|R0|B7|B6|B5|B4|B3|B2|B1|B0 (last) #define NEOPIXEL_LED_LOW 0x33 #define NEOPIXEL_LED_MEDIUM 0x7F #define NEOPIXEL_LED_HIGH 0xFF #define NEOPIXEL_LED_OFF 0x00 extern const AP_HAL::HAL& hal; NeoPixel::NeoPixel() : RGBLed(NEOPIXEL_LED_OFF, NEOPIXEL_LED_HIGH, NEOPIXEL_LED_MEDIUM, NEOPIXEL_LED_LOW) { } bool NeoPixel::hw_init() { init_ports(); hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&NeoPixel::timer, void)); return true; } uint16_t NeoPixel::init_ports() { uint16_t mask = 0; for (uint16_t i=0; iset_neopixel_num_LEDs(chan, 1); } } } last_mask = mask; return mask; } void NeoPixel::timer() { WITH_SEMAPHORE(_sem); const uint32_t now_ms = AP_HAL::millis(); if (now_ms - _last_init_ms >= 1000) { _last_init_ms = now_ms; enable_mask = init_ports(); } } bool NeoPixel::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) { if (enable_mask == 0) { // nothing is enabled, no pins set as LED output return true; } for (uint16_t chan=0; chan<16; chan++) { if ((1U<set_neopixel_rgb_data(chan, 1, red, green, blue); } } hal.rcout->neopixel_send(); return true; }