mirror of https://github.com/ArduPilot/ardupilot
87 lines
2.9 KiB
C++
87 lines
2.9 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef __EXTERNALLED_H__
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#define __EXTERNALLED_H__
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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#include "NotifyDevice.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#define EXTERNAL_LED_GPS 28 // GPS LED - AN10
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#define EXTERNAL_LED_ARMED 29 // Armed LED - AN11
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#define EXTERNAL_LED_MOTOR1 30 // Motor1 LED - AN8
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#define EXTERNAL_LED_MOTOR2 31 // Motor2 LED - AN12
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#else
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#define EXTERNAL_LED_GPS 0 // pin definitions to allow this lib to build for
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#define EXTERNAL_LED_ARMED 0 // for other boards even though
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#define EXTERNAL_LED_MOTOR1 0 // they will never be used
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#define EXTERNAL_LED_MOTOR2 0
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#endif
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class ExternalLED: public NotifyDevice
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{
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public:
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// constructor
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ExternalLED() : _counter(0), _counter2(0), _pattern(NONE), _pattern_counter(0) {}
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// initialise the LED driver
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bool init(void);
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// should be called at 50Hz
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void update(void);
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private:
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enum LEDPattern {
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NONE = 0,
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FAST_FLASH = 1,
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OSCILLATE = 2
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};
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/// buzzer_flag_type - bitmask of current state and ap_notify states we track
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struct copterleds_flag_type {
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// individual led status
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uint8_t armedled_on : 1; // 1 if the armed led is currently on
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uint8_t gpsled_on : 1; // 1 if the gps led is currently on
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uint8_t motorled1_on : 1; // 1 if motor led #1 is currently on
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uint8_t motorled2_on : 1; // 1 if motor led #2 is currently on
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} _flags;
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uint8_t _counter; // reduces 50hz calls to 10hz
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uint8_t _counter2; // used to control steps of arming and gps leds
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LEDPattern _pattern; // current pattern for motor leds
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uint8_t _pattern_counter; // used to time on/off of current patter
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// armed_led - set armed light on or off
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void armed_led(bool on_off);
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// gps_led - set gps light on or off
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void gps_led(bool on_off);
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// set_pattern - sets pattern for motor leds
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void set_pattern(LEDPattern pattern_id);
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// motor_led1, motor_led2 - set motor lights on or off
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void motor_led1(bool on_off);
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void motor_led2(bool on_off);
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};
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#endif // __EXTERNALLED_H__
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