ardupilot/libraries/AP_Notify/RCOutputRGBLed.cpp

90 lines
3.0 KiB
C++

/*
* Copyright (C) 2015 Intel Corporation. All rights reserved.
*
* This file 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 file 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 "RCOutputRGBLed.h"
#include <AP_Math/AP_Math.h>
#include <SRV_Channel/SRV_Channel.h>
static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
#define LED_OFF 0
#define LED_FULL_BRIGHT 255
#define LED_MEDIUM ((LED_FULL_BRIGHT / 5) * 4)
#define LED_DIM ((LED_FULL_BRIGHT / 5) * 2)
RCOutputRGBLed::RCOutputRGBLed(uint8_t red_channel, uint8_t green_channel, uint8_t blue_channel)
: RCOutputRGBLed(red_channel, green_channel, blue_channel, LED_OFF,
LED_FULL_BRIGHT, LED_MEDIUM, LED_DIM)
{
}
RCOutputRGBLed::RCOutputRGBLed(uint8_t red_channel, uint8_t green_channel,
uint8_t blue_channel, uint8_t led_off,
uint8_t led_full, uint8_t led_medium,
uint8_t led_dim)
: RGBLed(led_off, led_full, led_medium, led_dim)
, _red_channel(red_channel)
, _green_channel(green_channel)
, _blue_channel(blue_channel)
{
}
bool RCOutputRGBLed::hw_init()
{
hal.rcout->enable_ch(_red_channel);
hal.rcout->enable_ch(_green_channel);
hal.rcout->enable_ch(_blue_channel);
return true;
}
bool RCOutputRGBLed::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
{
const uint16_t freq_motor = hal.rcout->get_freq(0);
const uint16_t freq = hal.rcout->get_freq(_red_channel);
const uint16_t usec_period = hz_to_usec(freq);
if (freq_motor != freq) {
/*
* keep at same frequency as the first RCOutput channel, some RCOutput
* drivers can not operate in different frequency between channels
*/
const uint32_t mask = 1 << _red_channel | 1 << _green_channel
| 1 << _blue_channel;
hal.rcout->set_freq(mask, freq_motor);
}
/*
* Not calling push() to have a better performance on RCOutput's that
* implements cork()/push(), so this changes will be committed together
* with the motors.
*/
hal.rcout->cork();
uint16_t usec_duty = usec_period * red / _led_bright;
SRV_Channels::set_output_pwm_chan(_red_channel, usec_duty);
usec_duty = usec_period * green / _led_bright;
SRV_Channels::set_output_pwm_chan(_green_channel, usec_duty);
usec_duty = usec_period * blue / _led_bright;
SRV_Channels::set_output_pwm_chan(_blue_channel, usec_duty);
return true;
}