mirror of https://github.com/ArduPilot/ardupilot
47 lines
1.4 KiB
C++
47 lines
1.4 KiB
C++
#include "SIM_ToshibaLED.h"
|
|
|
|
#include <stdio.h>
|
|
|
|
#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
|
|
|
|
int SITL::ToshibaLED::rdwr(I2C::i2c_rdwr_ioctl_data *&data)
|
|
{
|
|
if (data->nmsgs != 1) {
|
|
// this is really just because it is unexpected from the
|
|
// ArduPilot code, rather than being incorrect from a
|
|
// simulated device perspective.
|
|
AP_HAL::panic("Reading from Toshiba LED?!");
|
|
}
|
|
const struct I2C::i2c_msg &msg = data->msgs[0];
|
|
const uint8_t reg = msg.buf[0];
|
|
const uint8_t val = msg.buf[1];
|
|
switch(reg) {
|
|
case TOSHIBA_LED_PWM0:
|
|
// ::fprintf(stderr, "ToshibaLED: pwm0=%u %u %u\n", msg.buf[1], msg.buf[2], msg.buf[3]);
|
|
_pwm0 = val;
|
|
break;
|
|
case TOSHIBA_LED_PWM1:
|
|
// ::fprintf(stderr, "ToshibaLED: pwm1=%u\n", val);
|
|
_pwm1 = val;
|
|
break;
|
|
case TOSHIBA_LED_PWM2:
|
|
// ::fprintf(stderr, "ToshibaLED: pwm2=%u\n", val);
|
|
_pwm2 = val;
|
|
break;
|
|
case TOSHIBA_LED_ENABLE:
|
|
if (val != 0x03) {
|
|
AP_HAL::panic("Unexpected enable value (%u)", val);
|
|
}
|
|
// ::fprintf(stderr, "ToshibaLED: enabling\n");
|
|
_enabled = true;
|
|
break;
|
|
default:
|
|
AP_HAL::panic("Unexpected register (%u)", reg);
|
|
}
|
|
// kill(0, SIGTRAP);
|
|
return -1;
|
|
}
|