/* NavioLED I2C driver */ /* 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 "NavioLED_I2C.h" #include #define PCA9685_ADDRESS 0x40 #define PCA9685_PWM 0x6 extern const AP_HAL::HAL& hal; bool NavioLED_I2C::hw_init() { _dev = hal.i2c_mgr->get_device(1, PCA9685_ADDRESS); if (!_dev) { return false; } _dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&NavioLED_I2C::_timer, bool)); return true; } // set_rgb - set color as a combination of red, green and blue values bool NavioLED_I2C::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) { rgb.r = red; rgb.g = green; rgb.b = blue; _need_update = true; return true; } bool NavioLED_I2C::_timer(void) { if (!_need_update) { return true; } _need_update = false; uint16_t red_adjusted = rgb.r * 0x10; uint16_t green_adjusted = rgb.g * 0x10; uint16_t blue_adjusted = rgb.b * 0x10; uint8_t blue_channel_lsb = blue_adjusted & 0xFF; uint8_t blue_channel_msb = blue_adjusted >> 8; uint8_t green_channel_lsb = green_adjusted & 0xFF; uint8_t green_channel_msb = green_adjusted >> 8; uint8_t red_channel_lsb = red_adjusted & 0xFF; uint8_t red_channel_msb = red_adjusted >> 8; uint8_t transaction[] = {PCA9685_PWM, 0x00, 0x00, blue_channel_lsb, blue_channel_msb, 0x00, 0x00, green_channel_lsb, green_channel_msb, 0x00, 0x00, red_channel_lsb, red_channel_msb}; _dev->transfer(transaction, sizeof(transaction), nullptr, 0); return true; }