mirror of https://github.com/ArduPilot/ardupilot
36 lines
1.3 KiB
C++
36 lines
1.3 KiB
C++
#include "SIM_ToshibaLED.h"
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#if AP_SIM_TOSHIBALED_ENABLED
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#include <stdio.h>
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void SITL::ToshibaLED::update(const class Aircraft &aircraft)
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{
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if (last_print_pwm0 == get_register(ToshibaLEDDevReg::PWM0) &&
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last_print_pwm1 == get_register(ToshibaLEDDevReg::PWM1) &&
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last_print_pwm2 == get_register(ToshibaLEDDevReg::PWM2) &&
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last_print_enable == get_register(ToshibaLEDDevReg::ENABLE)) {
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return;
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}
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last_print_pwm0 = get_register(ToshibaLEDDevReg::PWM0);
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last_print_pwm1 = get_register(ToshibaLEDDevReg::PWM1);
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last_print_pwm2 = get_register(ToshibaLEDDevReg::PWM2);
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last_print_enable = get_register(ToshibaLEDDevReg::ENABLE);
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// GCS_SEND_TEXT(MAV_SEVERITY_INFO, "SIM_ToshibaLED: PWM0=%u PWM1=%u PWM2=%u ENABLE=%u", last_print_pwm0, last_print_pwm1, last_print_pwm2, last_print_enable);
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if (get_register(ToshibaLEDDevReg::ENABLE)) {
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// here we convert from 0-15 BGR (the PWM values from the i2c bus)
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// to 0-255 RGB (what SIM_RGBLED wants):
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rgbled.set_colours(
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get_register(ToshibaLEDDevReg::PWM2) * 17,
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get_register(ToshibaLEDDevReg::PWM1) * 17,
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get_register(ToshibaLEDDevReg::PWM0) * 17
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);
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} else {
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rgbled.set_colours(0, 0, 0);
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}
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}
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#endif
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