mirror of https://github.com/ArduPilot/ardupilot
98 lines
3.6 KiB
C++
98 lines
3.6 KiB
C++
/*
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OreoLED I2C driver
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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 __OREOLED_PX4_H__
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#define __OREOLED_PX4_H__
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include <AP_HAL/AP_HAL.h>
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#include "NotifyDevice.h"
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#include <drivers/drv_oreoled.h>
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#define OREOLED_NUM_LEDS 4 // maximum number of individual LEDs connected to the oreo led cpu
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#define OREOLED_INSTANCE_ALL 0xff // instance number to indicate all LEDs (used for set_rgb and set_macro)
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#define OREOLED_BRIGHT 0xff // maximum brightness when flying (disconnected from usb)
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#define OREOLED_DIM 0x0f // dim when connected to USB
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class OreoLED_PX4 : public NotifyDevice
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{
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public:
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// constuctor
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OreoLED_PX4();
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// init - initialised the device
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bool init(void);
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// update - updates device according to timed_updated. Should be
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// called at 50Hz
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void update();
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// healthy - return true if at least one LED is responding
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bool healthy() const { return _overall_health; }
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// handle a LED_CONTROL message, by default device ignore message
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void handle_led_control(mavlink_message_t *msg);
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private:
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// update_timer - called by scheduler and updates PX4 driver with commands
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void update_timer(void);
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// set_rgb - set color as a combination of red, green and blue values for one or all LEDs
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void set_rgb(uint8_t instance, uint8_t red, uint8_t green, uint8_t blue);
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// set_macrxo - set macro for one or all LEDs
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void set_macro(uint8_t instance, enum oreoled_macro macro);
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// send_bytes - send bytes to one or all LEDs
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void send_bytes(uint8_t instance, uint8_t num_bytes, uint8_t bytes[OREOLED_CMD_LENGTH_MAX]);
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// oreo led modes (pattern, macro or rgb)
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enum oreoled_mode {
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OREOLED_MODE_PATTERN,
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OREOLED_MODE_MACRO,
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OREOLED_MODE_RGB
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};
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// oreo_state structure holds possible state of an led
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struct oreo_state {
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enum oreoled_mode mode;
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enum oreoled_pattern pattern;
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enum oreoled_macro macro;
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uint8_t red;
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uint8_t green;
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uint8_t blue;
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// operator==
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inline bool operator==(const oreo_state &os) {
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return ((os.mode==mode) && (os.pattern==pattern) && (os.macro==macro) && (os.red==red) && (os.green==green) && (os.blue==blue));
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}
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};
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// private members
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bool _overall_health; // overall health
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int _oreoled_fd; // file descriptor
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bool _send_required; // true when we need to send an update to at least one led
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volatile bool _state_desired_semaphore; // true when we are updating the state desired values to ensure they are not sent prematurely
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oreo_state _state_desired[OREOLED_NUM_LEDS]; // desired state
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oreo_state _state_sent[OREOLED_NUM_LEDS]; // last state sent to led
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uint8_t _pattern_override; // holds last processed pattern override, 0 if we are not overriding a pattern
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};
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#endif // __OREOLED_PX4_H__
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