mirror of https://github.com/ArduPilot/ardupilot
120 lines
2.9 KiB
Plaintext
120 lines
2.9 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
|
|
|
#include <AP_Common.h>
|
|
#include <AP_Progmem.h>
|
|
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
|
|
#include <AP_Param.h>
|
|
#include <Filter.h>
|
|
#include <AP_ADC.h>
|
|
#include <AP_InertialSensor.h>
|
|
#include <AP_GPS.h>
|
|
#include <AP_Baro.h>
|
|
#include <DataFlash.h>
|
|
#include <GCS_MAVLink.h>
|
|
#include <AP_Mission.h>
|
|
#include <StorageManager.h>
|
|
#include <AP_Terrain.h>
|
|
#include <AP_Declination.h>
|
|
#include <AP_HAL.h>
|
|
#include <AP_HAL_AVR.h>
|
|
#include <AP_HAL_AVR_SITL.h>
|
|
#include <AP_HAL_Linux.h>
|
|
#include <AP_HAL_PX4.h>
|
|
#include <AP_HAL_Empty.h>
|
|
#include <AP_HAL_FLYMAPLE.h>
|
|
#include <AP_Notify.h> // Notify library
|
|
#include <ToshibaLED.h>
|
|
#include <AP_AHRS.h>
|
|
#include <AP_NavEKF.h>
|
|
#include <AP_Airspeed.h>
|
|
#include <AP_Vehicle.h>
|
|
#include <AP_ADC_AnalogSource.h>
|
|
#include <AP_Compass.h>
|
|
#include <AP_Declination.h>
|
|
|
|
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
|
|
static ToshibaLED_PX4 toshiba_led;
|
|
#else
|
|
static ToshibaLED_I2C toshiba_led;
|
|
#endif
|
|
|
|
static uint8_t led_state;
|
|
static uint8_t red, green, blue;
|
|
|
|
void setup(void)
|
|
{
|
|
// display welcome message
|
|
hal.console->print_P(PSTR("Toshiba LED test ver 0.1\n"));
|
|
|
|
// initialise LED
|
|
toshiba_led.init();
|
|
|
|
// check if healthy
|
|
if (!toshiba_led.healthy()) {
|
|
hal.console->print_P(PSTR("Failed to initialise Toshiba LED\n"));
|
|
}
|
|
|
|
// turn on initialising notification
|
|
AP_Notify::flags.initialising = false;
|
|
AP_Notify::flags.save_trim = true;
|
|
AP_Notify::flags.gps_status = 1;
|
|
AP_Notify::flags.armed = 1;
|
|
AP_Notify::flags.pre_arm_check = 1;
|
|
}
|
|
|
|
void loop(void)
|
|
{
|
|
// blink test
|
|
//hal.console->print_P(PSTR("Blink test\n"));
|
|
//blink();
|
|
/*
|
|
// full spectrum test
|
|
hal.console->print_P(PSTR("Spectrum test\n"));
|
|
full_spectrum();
|
|
*/
|
|
|
|
// update the toshiba led
|
|
toshiba_led.update();
|
|
|
|
// wait 1/50th of a second
|
|
hal.scheduler->delay(20);
|
|
}
|
|
|
|
// full_spectrum - runs through the full spectrum of colours the led can display
|
|
void full_spectrum()
|
|
{
|
|
// go through the full range of colours but only up to the dim light level
|
|
for (uint8_t red=0; red<=0x05; red++) {
|
|
for (uint8_t green=0; green<=0x05; green++) {
|
|
for (uint8_t blue=0; blue<=0x05; blue++) {
|
|
toshiba_led.set_rgb(red,green,blue);
|
|
hal.scheduler->delay(5);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
#define LED_DIM 0x11
|
|
|
|
// blink - blink the led at 10hz for 10 seconds
|
|
void blink()
|
|
{
|
|
// set colour to red
|
|
toshiba_led.set_rgb(LED_DIM,0,0);
|
|
|
|
// full spectrum test
|
|
for (uint8_t c=0; c<=2; c++ ) {
|
|
if (c==0) {
|
|
toshiba_led.set_rgb(LED_DIM,0,0); // red
|
|
}else if (c==1) {
|
|
toshiba_led.set_rgb(0,LED_DIM,0); // green
|
|
}else{
|
|
toshiba_led.set_rgb(0,0,LED_DIM); // blue
|
|
}
|
|
}
|
|
}
|
|
|
|
AP_HAL_MAIN();
|