mirror of https://github.com/ArduPilot/ardupilot
89 lines
2.1 KiB
C++
89 lines
2.1 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Notify/AP_Notify.h> // Notify library
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#include <AP_Notify/ToshibaLED.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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static ToshibaLED_PX4 toshiba_led;
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#else
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static ToshibaLED_I2C toshiba_led;
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#endif
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void setup(void)
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{
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// display welcome message
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hal.console->print("Toshiba LED test ver 0.1\n");
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// initialise LED
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toshiba_led.init();
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// check if healthy
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if (!toshiba_led.healthy()) {
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hal.console->print("Failed to initialise Toshiba LED\n");
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}
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// turn on initialising notification
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AP_Notify::flags.initialising = false;
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AP_Notify::flags.save_trim = true;
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AP_Notify::flags.gps_status = 1;
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AP_Notify::flags.armed = 1;
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AP_Notify::flags.pre_arm_check = 1;
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}
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void loop(void)
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{
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// blink test
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//hal.console->print("Blink test\n");
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//blink();
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/*
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// full spectrum test
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hal.console->print("Spectrum test\n");
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full_spectrum();
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*/
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// update the toshiba led
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toshiba_led.update();
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// wait 1/50th of a second
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hal.scheduler->delay(20);
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}
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// full_spectrum - runs through the full spectrum of colours the led can display
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void full_spectrum()
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{
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// go through the full range of colours but only up to the dim light level
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for (uint8_t red=0; red<=0x05; red++) {
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for (uint8_t green=0; green<=0x05; green++) {
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for (uint8_t blue=0; blue<=0x05; blue++) {
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toshiba_led.set_rgb(red,green,blue);
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hal.scheduler->delay(5);
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}
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}
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}
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}
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#define LED_DIM 0x11
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// blink - blink the led at 10hz for 10 seconds
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void blink()
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{
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// set colour to red
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toshiba_led.set_rgb(LED_DIM,0,0);
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// full spectrum test
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for (uint8_t c=0; c<=2; c++ ) {
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if (c==0) {
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toshiba_led.set_rgb(LED_DIM,0,0); // red
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}else if (c==1) {
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toshiba_led.set_rgb(0,LED_DIM,0); // green
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}else{
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toshiba_led.set_rgb(0,0,LED_DIM); // blue
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}
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}
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}
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AP_HAL_MAIN();
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