ardupilot/libraries/AP_Notify/NeoPixel.cpp

66 lines
2.1 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 "AP_Notify/AP_Notify.h"
#include "NeoPixel.h"
#include "SRV_Channel/SRV_Channel.h"
// This limit is from the dshot driver rcout groups limit
#define AP_NOTIFY_NEOPIXEL_MAX_INSTANCES 4
// Datasheet: https://cdn-shop.adafruit.com/datasheets/WS2812B.pdf
// 24bit msg as 3 byte GRB (not RGB) where first bit is G7, and last bit is B0
// (first) G7|G6|G5|G4|G3|G2|G1|G0|R7|R6|R5|R4|R3|R2|R1|R0|B7|B6|B5|B4|B3|B2|B1|B0 (last)
#define NEOPIXEL_LED_LOW 0x33
#define NEOPIXEL_LED_MEDIUM 0x7F
#define NEOPIXEL_LED_HIGH 0xFF
#define NEOPIXEL_LED_OFF 0x00
extern const AP_HAL::HAL& hal;
NeoPixel::NeoPixel() :
SerialLED(NEOPIXEL_LED_OFF, NEOPIXEL_LED_HIGH, NEOPIXEL_LED_MEDIUM, NEOPIXEL_LED_LOW)
{
}
uint16_t NeoPixel::init_ports()
{
uint16_t mask = 0;
for (uint16_t i=0; i<AP_NOTIFY_NEOPIXEL_MAX_INSTANCES; i++) {
const SRV_Channel::Aux_servo_function_t fn = (SRV_Channel::Aux_servo_function_t)((uint8_t)SRV_Channel::k_LED_neopixel1 + i);
if (!SRV_Channels::function_assigned(fn)) {
continue;
}
mask |= SRV_Channels::get_output_channel_mask(fn);
}
if (mask == 0) {
return 0;
}
AP_SerialLED *led = AP_SerialLED::get_singleton();
if (led == nullptr) {
return 0;
}
for (uint16_t chan=0; chan<16; chan++) {
if ((1U<<chan) & mask) {
led->set_num_neopixel(chan+1, (pNotify->get_led_len()));
}
}
return mask;
}