mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
0fa362ff5c
Currently, the default behaviour on linux boards tries to write LED gpios with fixed values among them. There is no way to declare that there are no LED GPIOs. This commit moves the declaration of the LED Gpios in AP_HAL_Boards.h and makes AP_Notify do nothing if no LED gpio was declared
75 lines
2.4 KiB
C++
75 lines
2.4 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef __EXTERNALLED_H__
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#define __EXTERNALLED_H__
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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#include "NotifyDevice.h"
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class ExternalLED: public NotifyDevice
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{
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public:
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// constructor
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ExternalLED() : _counter(0), _counter2(0), _pattern(NONE), _pattern_counter(0) {}
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// initialise the LED driver
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bool init(void);
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// should be called at 50Hz
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void update(void);
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private:
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enum LEDPattern {
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NONE = 0,
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FAST_FLASH = 1,
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OSCILLATE = 2
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};
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/// buzzer_flag_type - bitmask of current state and ap_notify states we track
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struct copterleds_flag_type {
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// individual led status
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uint8_t armedled_on : 1; // 1 if the armed led is currently on
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uint8_t gpsled_on : 1; // 1 if the gps led is currently on
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uint8_t motorled1_on : 1; // 1 if motor led #1 is currently on
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uint8_t motorled2_on : 1; // 1 if motor led #2 is currently on
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} _flags;
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uint8_t _counter; // reduces 50hz calls to 10hz
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uint8_t _counter2; // used to control steps of arming and gps leds
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LEDPattern _pattern; // current pattern for motor leds
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uint8_t _pattern_counter; // used to time on/off of current patter
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// armed_led - set armed light on or off
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void armed_led(bool on_off);
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// gps_led - set gps light on or off
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void gps_led(bool on_off);
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// set_pattern - sets pattern for motor leds
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void set_pattern(LEDPattern pattern_id);
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// motor_led1, motor_led2 - set motor lights on or off
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void motor_led1(bool on_off);
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void motor_led2(bool on_off);
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};
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#endif // __EXTERNALLED_H__
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