mirror of https://github.com/ArduPilot/ardupilot
79 lines
2.5 KiB
C++
79 lines
2.5 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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#include <AP_HAL.h>
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#include "ToshibaLED.h"
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#include "ToshibaLED_I2C.h"
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extern const AP_HAL::HAL& hal;
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#define TOSHIBA_LED_ADDRESS 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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bool ToshibaLED_I2C::hw_init()
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{
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// get pointer to i2c bus semaphore
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AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
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// take i2c bus sempahore
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if (!i2c_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
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return false;
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}
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// disable recording of i2c lockup errors
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hal.i2c->ignore_errors(true);
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// enable the led
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bool ret = (hal.i2c->writeRegister(TOSHIBA_LED_ADDRESS, TOSHIBA_LED_ENABLE, 0x03) == 0);
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// update the red, green and blue values to zero
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uint8_t val[3] = { _led_off, _led_off, _led_off };
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ret &= (hal.i2c->writeRegisters(TOSHIBA_LED_ADDRESS, TOSHIBA_LED_PWM0, 3, val) == 0);
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// re-enable recording of i2c lockup errors
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hal.i2c->ignore_errors(false);
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// give back i2c semaphore
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i2c_sem->give();
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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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// get pointer to i2c bus semaphore
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AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
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// exit immediately if we can't take the semaphore
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if (i2c_sem == NULL || !i2c_sem->take(5)) {
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return false;
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}
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// update the red value
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uint8_t val[3] = { (uint8_t)(blue>>4), (uint8_t)(green>>4), (uint8_t)(red>>4) };
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bool success = (hal.i2c->writeRegisters(TOSHIBA_LED_ADDRESS, TOSHIBA_LED_PWM0, 3, val) == 0);
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// give back i2c semaphore
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i2c_sem->give();
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return success;
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}
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