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