mirror of https://github.com/ArduPilot/ardupilot
75 lines
2.2 KiB
C++
75 lines
2.2 KiB
C++
/*
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* Copyright (C) 2017 Emlid Ltd. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/system.h>
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#if HAL_ENABLE_DRONECAN_DRIVERS
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#include "DroneCAN_RGB_LED.h"
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#include <AP_DroneCAN/AP_DroneCAN.h>
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#include <AP_CANManager/AP_CANManager.h>
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#define LED_OFF 0
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#define LED_FULL_BRIGHT 255
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#define LED_MEDIUM ((LED_FULL_BRIGHT / 5) * 4)
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#define LED_DIM ((LED_FULL_BRIGHT / 5) * 2)
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DroneCAN_RGB_LED::DroneCAN_RGB_LED()
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: DroneCAN_RGB_LED(LED_OFF,
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LED_FULL_BRIGHT, LED_MEDIUM, LED_DIM)
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{
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}
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DroneCAN_RGB_LED::DroneCAN_RGB_LED(uint8_t led_off,
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uint8_t led_full, uint8_t led_medium,
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uint8_t led_dim)
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: RGBLed(led_off, led_full, led_medium, led_dim)
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{
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}
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bool DroneCAN_RGB_LED::init()
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{
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// LEDs can turn up later
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return true;
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}
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bool DroneCAN_RGB_LED::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
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{
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uavcan_equipment_indication_LightsCommand msg {};
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msg.commands.len = 1;
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msg.commands.data[0].light_id =0;
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msg.commands.data[0].color.red = red >> 3;
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msg.commands.data[0].color.green = green >> 2;
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msg.commands.data[0].color.blue = blue >> 3;
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// broadcast the message on all ifaces
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uint8_t can_num_drivers = AP::can().get_num_drivers();
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bool ok = false;
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for (uint8_t i = 0; i < can_num_drivers; i++) {
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auto *dronecan = AP_DroneCAN::get_dronecan(i);
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if (dronecan != nullptr) {
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ok |= dronecan->rgb_led.broadcast(msg);
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}
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}
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return ok;
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}
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#endif // HAL_ENABLE_DRONECAN_DRIVERS
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