mirror of https://github.com/ArduPilot/ardupilot
96 lines
2.6 KiB
C++
96 lines
2.6 KiB
C++
/*
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ToshibaLED I2C driver
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*/
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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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/* LED driver for TCA62724FMG */
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#include "ToshibaLED_I2C.h"
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#include <utility>
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#include <AP_HAL/AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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#define TOSHIBA_LED_I2C_ADDR 0x55 // default I2C bus address
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#define TOSHIBA_LED_PWM0 0x01 // pwm0 register
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#define TOSHIBA_LED_PWM1 0x02 // pwm1 register
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#define TOSHIBA_LED_PWM2 0x03 // pwm2 register
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#define TOSHIBA_LED_ENABLE 0x04 // enable register
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ToshibaLED_I2C::ToshibaLED_I2C(uint8_t bus)
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: ToshibaLED()
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, _bus(bus)
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{
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}
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bool ToshibaLED_I2C::hw_init(void)
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{
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// first look for led on external bus
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_dev = std::move(hal.i2c_mgr->get_device(_bus, TOSHIBA_LED_I2C_ADDR));
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if (!_dev || !_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
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return false;
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}
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_dev->set_retries(10);
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// enable the led
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bool ret = _dev->write_register(TOSHIBA_LED_ENABLE, 0x03);
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if (!ret) {
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_dev->get_semaphore()->give();
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return false;
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}
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// update the red, green and blue values to zero
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uint8_t val[4] = { TOSHIBA_LED_PWM0, _led_off, _led_off, _led_off };
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ret = _dev->transfer(val, sizeof(val), nullptr, 0);
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_dev->set_retries(1);
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// give back i2c semaphore
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_dev->get_semaphore()->give();
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if (ret) {
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_dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&ToshibaLED_I2C::_timer, void));
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}
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return ret;
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}
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// set_rgb - set color as a combination of red, green and blue values
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bool ToshibaLED_I2C::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
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{
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rgb = {red, green, blue};
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_need_update = true;
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return true;
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}
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void ToshibaLED_I2C::_timer(void)
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{
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if (!_need_update) {
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return;
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}
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_need_update = false;
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/* 4-bit for each color */
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uint8_t val[4] = { TOSHIBA_LED_PWM0, (uint8_t)(rgb.b >> 4),
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(uint8_t)(rgb.g / 16), (uint8_t)(rgb.r / 16) };
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_dev->transfer(val, sizeof(val), nullptr, 0);
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}
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