mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.1 KiB
C++
78 lines
2.1 KiB
C++
/*
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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_Notify_config.h"
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#if AP_NOTIFY_GPIO_LED_1_ENABLED
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#include "GPIO_LED_1.h"
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#include <AP_HAL/HAL.h>
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#include "AP_Notify.h"
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#ifndef AP_NOTIFY_GPIO_LED_1_PIN
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#error "define AP_NOTIFY_GPIO_LED_1_PIN"
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#endif
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extern const AP_HAL::HAL& hal;
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bool GPIO_LED_1::init(void)
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{
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// when HAL_GPIO_LED_ON is 0 then we must not use pinMode()
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// as it could remove the OPENDRAIN attribute on the pin
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#if HAL_GPIO_LED_ON != 0
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hal.gpio->pinMode(AP_NOTIFY_GPIO_LED_1_PIN, HAL_GPIO_OUTPUT);
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#endif
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hal.gpio->write(AP_NOTIFY_GPIO_LED_1_PIN, HAL_GPIO_LED_OFF);
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return true;
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}
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/*
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main update function called at 50Hz
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*/
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void GPIO_LED_1::update(void)
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{
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uint32_t new_pattern;
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if (AP_Notify::flags.initialising) {
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new_pattern = INITIALIZING;
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} else if (AP_Notify::flags.armed) {
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new_pattern = ARMED;
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} else if (AP_Notify::flags.pre_arm_check) {
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new_pattern = READY_TO_ARM;
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} else {
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new_pattern = NOT_READY_TO_ARM;
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}
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if (new_pattern != current_pattern) {
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next_bit = 0;
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current_pattern = new_pattern;
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last_timestep_ms = 0;
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}
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const uint32_t now_ms = AP_HAL::millis();
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if (now_ms - last_timestep_ms < 100) {
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return;
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}
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last_timestep_ms = now_ms;
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const auto new_state = (current_pattern & (1U<<next_bit)) ? HAL_GPIO_LED_ON : HAL_GPIO_LED_OFF;
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hal.gpio->write(AP_NOTIFY_GPIO_LED_1_PIN, new_state);
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next_bit++;
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if (next_bit > 31) {
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next_bit = 0;
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}
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}
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#endif // AP_NOTIFY_GPIO_LED_1_ENABLED
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