mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-02 14:13:42 -04:00
3ca7429594
This commit changes the way libraries headers are included in source files: - If the header is in the same directory the source belongs to, so the notation '#include ""' is used with the path relative to the directory containing the source. - If the header is outside the directory containing the source, then we use the notation '#include <>' with the path relative to libraries folder. Some of the advantages of such approach: - Only one search path for libraries headers. - OSs like Windows may have a better lookup time.
79 lines
2.5 KiB
C++
79 lines
2.5 KiB
C++
/*
|
|
ToshibaLED 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/>.
|
|
*/
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include "ToshibaLED.h"
|
|
#include "ToshibaLED_I2C.h"
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
#define TOSHIBA_LED_ADDRESS 0x55 // default I2C bus address
|
|
#define TOSHIBA_LED_PWM0 0x01 // pwm0 register
|
|
#define TOSHIBA_LED_PWM1 0x02 // pwm1 register
|
|
#define TOSHIBA_LED_PWM2 0x03 // pwm2 register
|
|
#define TOSHIBA_LED_ENABLE 0x04 // enable register
|
|
|
|
bool ToshibaLED_I2C::hw_init()
|
|
{
|
|
// get pointer to i2c bus semaphore
|
|
AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
|
|
|
|
// take i2c bus sempahore
|
|
if (!i2c_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
|
|
return false;
|
|
}
|
|
|
|
// disable recording of i2c lockup errors
|
|
hal.i2c->ignore_errors(true);
|
|
|
|
// enable the led
|
|
bool ret = (hal.i2c->writeRegister(TOSHIBA_LED_ADDRESS, TOSHIBA_LED_ENABLE, 0x03) == 0);
|
|
|
|
// update the red, green and blue values to zero
|
|
uint8_t val[3] = { _led_off, _led_off, _led_off };
|
|
ret &= (hal.i2c->writeRegisters(TOSHIBA_LED_ADDRESS, TOSHIBA_LED_PWM0, 3, val) == 0);
|
|
|
|
// re-enable recording of i2c lockup errors
|
|
hal.i2c->ignore_errors(false);
|
|
|
|
// give back i2c semaphore
|
|
i2c_sem->give();
|
|
|
|
return ret;
|
|
}
|
|
|
|
// set_rgb - set color as a combination of red, green and blue values
|
|
bool ToshibaLED_I2C::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
|
|
{
|
|
// get pointer to i2c bus semaphore
|
|
AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
|
|
|
|
// exit immediately if we can't take the semaphore
|
|
if (i2c_sem == NULL || !i2c_sem->take(5)) {
|
|
return false;
|
|
}
|
|
|
|
// update the red value
|
|
uint8_t val[3] = { (uint8_t)(blue>>4), (uint8_t)(green>>4), (uint8_t)(red>>4) };
|
|
bool success = (hal.i2c->writeRegisters(TOSHIBA_LED_ADDRESS, TOSHIBA_LED_PWM0, 3, val) == 0);
|
|
|
|
// give back i2c semaphore
|
|
i2c_sem->give();
|
|
return success;
|
|
}
|