ardupilot/libraries/AP_Notify/OreoLED_PX4.h

98 lines
3.6 KiB
C++

/*
OreoLED I2C driver
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/>.
*/
#ifndef __OREOLED_PX4_H__
#define __OREOLED_PX4_H__
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <AP_HAL/AP_HAL.h>
#include "NotifyDevice.h"
#include <drivers/drv_oreoled.h>
#define OREOLED_NUM_LEDS 4 // maximum number of individual LEDs connected to the oreo led cpu
#define OREOLED_INSTANCE_ALL 0xff // instance number to indicate all LEDs (used for set_rgb and set_macro)
#define OREOLED_BRIGHT 0xff // maximum brightness when flying (disconnected from usb)
#define OREOLED_DIM 0x0f // dim when connected to USB
class OreoLED_PX4 : public NotifyDevice
{
public:
// constuctor
OreoLED_PX4();
// init - initialised the device
bool init(void);
// update - updates device according to timed_updated. Should be
// called at 50Hz
void update();
// healthy - return true if at least one LED is responding
bool healthy() const { return _overall_health; }
// handle a LED_CONTROL message, by default device ignore message
void handle_led_control(mavlink_message_t *msg);
private:
// update_timer - called by scheduler and updates PX4 driver with commands
void update_timer(void);
// set_rgb - set color as a combination of red, green and blue values for one or all LEDs
void set_rgb(uint8_t instance, uint8_t red, uint8_t green, uint8_t blue);
// set_macrxo - set macro for one or all LEDs
void set_macro(uint8_t instance, enum oreoled_macro macro);
// send_bytes - send bytes to one or all LEDs
void send_bytes(uint8_t instance, uint8_t num_bytes, uint8_t bytes[OREOLED_CMD_LENGTH_MAX]);
// oreo led modes (pattern, macro or rgb)
enum oreoled_mode {
OREOLED_MODE_PATTERN,
OREOLED_MODE_MACRO,
OREOLED_MODE_RGB
};
// oreo_state structure holds possible state of an led
struct oreo_state {
enum oreoled_mode mode;
enum oreoled_pattern pattern;
enum oreoled_macro macro;
uint8_t red;
uint8_t green;
uint8_t blue;
// operator==
inline bool operator==(const oreo_state &os) {
return ((os.mode==mode) && (os.pattern==pattern) && (os.macro==macro) && (os.red==red) && (os.green==green) && (os.blue==blue));
}
};
// private members
bool _overall_health; // overall health
int _oreoled_fd; // file descriptor
bool _send_required; // true when we need to send an update to at least one led
volatile bool _state_desired_semaphore; // true when we are updating the state desired values to ensure they are not sent prematurely
oreo_state _state_desired[OREOLED_NUM_LEDS]; // desired state
oreo_state _state_sent[OREOLED_NUM_LEDS]; // last state sent to led
uint8_t _pattern_override; // holds last processed pattern override, 0 if we are not overriding a pattern
};
#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
#endif // __OREOLED_PX4_H__