mirror of https://github.com/ArduPilot/ardupilot
74 lines
2.2 KiB
C++
74 lines
2.2 KiB
C++
/*
|
|
* Copyright (C) 2017 Emlid Ltd. All rights reserved.
|
|
*
|
|
* This file 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 file 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 <AP_HAL/AP_HAL.h>
|
|
#include <AP_HAL/system.h>
|
|
|
|
#if HAL_ENABLE_DRONECAN_DRIVERS
|
|
#include "DroneCAN_RGB_LED.h"
|
|
|
|
#include <AP_DroneCAN/AP_DroneCAN.h>
|
|
|
|
#include <AP_CANManager/AP_CANManager.h>
|
|
|
|
#define LED_OFF 0
|
|
#define LED_FULL_BRIGHT 255
|
|
#define LED_MEDIUM ((LED_FULL_BRIGHT / 5) * 4)
|
|
#define LED_DIM ((LED_FULL_BRIGHT / 5) * 2)
|
|
|
|
DroneCAN_RGB_LED::DroneCAN_RGB_LED(uint8_t led_index)
|
|
: DroneCAN_RGB_LED(led_index, LED_OFF,
|
|
LED_FULL_BRIGHT, LED_MEDIUM, LED_DIM)
|
|
{
|
|
}
|
|
|
|
DroneCAN_RGB_LED::DroneCAN_RGB_LED(uint8_t led_index, uint8_t led_off,
|
|
uint8_t led_full, uint8_t led_medium,
|
|
uint8_t led_dim)
|
|
: RGBLed(led_off, led_full, led_medium, led_dim)
|
|
, _led_index(led_index)
|
|
{
|
|
}
|
|
|
|
bool DroneCAN_RGB_LED::init()
|
|
{
|
|
const uint8_t can_num_drivers = AP::can().get_num_drivers();
|
|
for (uint8_t i = 0; i < can_num_drivers; i++) {
|
|
AP_DroneCAN *uavcan = AP_DroneCAN::get_dronecan(i);
|
|
if (uavcan != nullptr) {
|
|
return true;
|
|
}
|
|
}
|
|
// no UAVCAN drivers
|
|
return false;
|
|
}
|
|
|
|
|
|
bool DroneCAN_RGB_LED::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
|
|
{
|
|
bool success = false;
|
|
uint8_t can_num_drivers = AP::can().get_num_drivers();
|
|
|
|
for (uint8_t i = 0; i < can_num_drivers; i++) {
|
|
AP_DroneCAN *uavcan = AP_DroneCAN::get_dronecan(i);
|
|
if (uavcan != nullptr) {
|
|
success = uavcan->led_write(_led_index, red, green, blue) || success;
|
|
}
|
|
}
|
|
return success;
|
|
}
|
|
#endif
|