ardupilot/libraries/AP_Notify/PixRacerLED.cpp

66 lines
2.0 KiB
C++

/*
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 <http://www.gnu.org/licenses/>.
*/
#include "PixRacerLED.h"
#include <AP_HAL/HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#ifndef HAL_GPIO_A_LED_PIN
#define HAL_GPIO_A_LED_PIN -1
#endif
#ifndef HAL_GPIO_B_LED_PIN
#define HAL_GPIO_B_LED_PIN -1
#endif
#ifndef HAL_GPIO_C_LED_PIN
#define HAL_GPIO_C_LED_PIN -1
#endif
extern const AP_HAL::HAL& hal;
PixRacerLED::PixRacerLED() :
RGBLed(0, 1, 1, 1)
{
}
bool PixRacerLED::init(void)
{
// when HAL_GPIO_LED_ON is 0 then we must not use pinMode()
// as it could remove the OPENDRAIN attribute on the pin
#if HAL_GPIO_LED_ON != 0
hal.gpio->pinMode(HAL_GPIO_A_LED_PIN, HAL_GPIO_OUTPUT);
hal.gpio->pinMode(HAL_GPIO_B_LED_PIN, HAL_GPIO_OUTPUT);
hal.gpio->pinMode(HAL_GPIO_C_LED_PIN, HAL_GPIO_OUTPUT);
#endif
hal.gpio->write(HAL_GPIO_A_LED_PIN, HAL_GPIO_LED_OFF);
hal.gpio->write(HAL_GPIO_B_LED_PIN, HAL_GPIO_LED_OFF);
hal.gpio->write(HAL_GPIO_C_LED_PIN, HAL_GPIO_LED_OFF);
return true;
}
bool PixRacerLED::hw_set_rgb(uint8_t r, uint8_t g, uint8_t b)
{
hal.gpio->write(HAL_GPIO_A_LED_PIN, (r > 0)?HAL_GPIO_LED_ON:HAL_GPIO_LED_OFF);
hal.gpio->write(HAL_GPIO_B_LED_PIN, (g > 0)?HAL_GPIO_LED_ON:HAL_GPIO_LED_OFF);
hal.gpio->write(HAL_GPIO_C_LED_PIN, (b > 0)?HAL_GPIO_LED_ON:HAL_GPIO_LED_OFF);
return true;
}
#else
bool PixRacerLED::init(void) { return true; }
bool PixRacerLED::hw_set_rgb(uint8_t r, uint8_t g, uint8_t b) { return true; }
#endif