mirror of https://github.com/ArduPilot/ardupilot
81 lines
2.1 KiB
C++
81 lines
2.1 KiB
C++
/*
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ToshibaLED PX4 driver
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*/
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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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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include "ToshibaLED_PX4.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <px4_defines.h>
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#include <drivers/drv_rgbled.h>
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#include <stdio.h>
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#include <errno.h>
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extern const AP_HAL::HAL& hal;
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bool ToshibaLED_PX4::hw_init()
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{
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// open the rgb led device
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_rgbled_fd = open(RGBLED0_DEVICE_PATH, 0);
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if (_rgbled_fd == -1) {
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hal.console->printf("Unable to open " RGBLED0_DEVICE_PATH);
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return false;
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}
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ioctl(_rgbled_fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_ON);
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last.v = 1; // This is necessary so rgb value is written for the first time
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next.v = 0;
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hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&ToshibaLED_PX4::update_timer, void));
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return true;
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}
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// set_rgb - set color as a combination of red, green and blue values
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bool ToshibaLED_PX4::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
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{
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union rgb_value v;
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v.r = red;
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v.g = green;
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v.b = blue;
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// this does an atomic 32 bit update
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next.v = v.v;
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return true;
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}
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void ToshibaLED_PX4::update_timer(void)
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{
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if (last.v == next.v) {
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return;
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}
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rgbled_rgbset_t v;
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union rgb_value newv;
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newv.v = next.v;
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v.red = newv.r;
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v.green = newv.g;
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v.blue = newv.b;
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ioctl(_rgbled_fd, RGBLED_SET_RGB, (unsigned long)&v);
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last.v = next.v;
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}
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
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