mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-19 23:28:32 -04:00
701d91f20c
pwm backend to drive leds. In new Disco releases, the led sysfs api will replace the pwm sysfs api to drive the tricolor led. Keep pwm sysfs api for compatibility reasons.
96 lines
2.6 KiB
C++
96 lines
2.6 KiB
C++
/*
|
|
Copyright (C) 2016 Mathieu Othacehe. All rights reserved.
|
|
|
|
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>
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
|
#include <AP_HAL_Linux/PWM_Sysfs.h>
|
|
#include <AP_HAL_Linux/Led_Sysfs.h>
|
|
#include "DiscoLED.h"
|
|
|
|
#define RED_PWM_INDEX 9
|
|
#define GREEN_PWM_INDEX 8
|
|
#define BLUE_PWM_INDEX 15
|
|
|
|
#define DISCO_LED_LOW 0x33
|
|
#define DISCO_LED_MEDIUM 0x7F
|
|
#define DISCO_LED_HIGH 0xFF
|
|
#define DISCO_LED_OFF 0x00
|
|
|
|
#define DISCO_LED_RED_NAME "evinrude:red"
|
|
#define DISCO_LED_GREEN_NAME "evinrude:green"
|
|
#define DISCO_LED_BLUE_NAME "evinrude:blue"
|
|
|
|
DiscoLED::DiscoLED():
|
|
RGBLed(DISCO_LED_OFF, DISCO_LED_HIGH, DISCO_LED_MEDIUM, DISCO_LED_LOW),
|
|
red_pwm(RED_PWM_INDEX),
|
|
green_pwm(GREEN_PWM_INDEX),
|
|
blue_pwm(BLUE_PWM_INDEX),
|
|
|
|
red_led(DISCO_LED_RED_NAME),
|
|
green_led(DISCO_LED_GREEN_NAME),
|
|
blue_led(DISCO_LED_BLUE_NAME)
|
|
{
|
|
}
|
|
|
|
bool DiscoLED::hw_init()
|
|
{
|
|
/* If led sysfs api is present, use it, else use pwm sysfs api to
|
|
drive Disco leds */
|
|
if (red_led.init() && green_led.init() && blue_led.init()) {
|
|
backend = LED_SYSFS;
|
|
return true;
|
|
}
|
|
|
|
backend = PWM_SYSFS;
|
|
|
|
red_pwm_period = red_pwm.get_period();
|
|
green_pwm_period = green_pwm.get_period();
|
|
blue_pwm_period = blue_pwm.get_period();
|
|
|
|
red_pwm.init();
|
|
green_pwm.init();
|
|
blue_pwm.init();
|
|
|
|
red_pwm.enable(true);
|
|
green_pwm.enable(true);
|
|
blue_pwm.enable(true);
|
|
|
|
return true;
|
|
}
|
|
|
|
bool DiscoLED::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
|
|
{
|
|
|
|
switch (backend) {
|
|
case PWM_SYSFS:
|
|
red_pwm.set_duty_cycle(red / UINT8_MAX * red_pwm_period);
|
|
green_pwm.set_duty_cycle(green / UINT8_MAX * green_pwm_period);
|
|
blue_pwm.set_duty_cycle(blue / UINT8_MAX * blue_pwm_period);
|
|
break;
|
|
case LED_SYSFS:
|
|
red_led.set_brightness(red);
|
|
green_led.set_brightness(green);
|
|
blue_led.set_brightness(blue);
|
|
break;
|
|
default:
|
|
return false;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
#endif
|