mirror of https://github.com/ArduPilot/ardupilot
101 lines
2.7 KiB
C++
101 lines
2.7 KiB
C++
#include <AP_HAL/AP_HAL_Boards.h>
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/*
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* To test in SITL:
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*
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* ./Tools/autotest/sim_vehicle.py -v ArduCopter --rgbled
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*/
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#ifndef AP_SIM_LM2755_ENABLED
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#define AP_SIM_LM2755_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
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#endif
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#if AP_SIM_LM2755_ENABLED
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#include "SIM_I2CDevice.h"
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#include "SIM_RGBLED.h"
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namespace SITL {
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class LM2755DevReg : public I2CRegEnum {
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public:
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static constexpr uint8_t GENERAL_PURPOSE = 0x10;
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static constexpr uint8_t TIME_STEP = 0x20;
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static constexpr uint8_t D1_HIGH_LEVEL = 0xA9;
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static constexpr uint8_t D1_LOW_LEVEL = 0xA8;
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static constexpr uint8_t D1_DELAY = 0xA1;
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static constexpr uint8_t D1_RAMP_UP_STEP_TIME = 0xA5;
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static constexpr uint8_t D1_TIME_HIGH = 0xA3;
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static constexpr uint8_t D1_RAMP_DOWN_STEP_TIME = 0xA4;
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static constexpr uint8_t D1_TIMING = 0xA2;
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static constexpr uint8_t D2_HIGH_LEVEL = 0xB9;
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static constexpr uint8_t D2_LOW_LEVEL = 0xB8;
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static constexpr uint8_t D2_DELAY = 0xB1;
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static constexpr uint8_t D2_RAMP_UP_STEP_TIME = 0xB5;
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static constexpr uint8_t D2_TIME_HIGH = 0xB3;
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static constexpr uint8_t D2_RAMP_DOWN_STEP_TIME = 0xB4;
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static constexpr uint8_t D2_TIMING = 0xB2;
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static constexpr uint8_t D3_HIGH_LEVEL = 0xC9;
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static constexpr uint8_t D3_LOW_LEVEL = 0xC8;
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static constexpr uint8_t D3_DELAY = 0xC1;
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static constexpr uint8_t D3_RAMP_UP_STEP_TIME = 0xC5;
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static constexpr uint8_t D3_TIME_HIGH = 0xC3;
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static constexpr uint8_t D3_RAMP_DOWN_STEP_TIME = 0xC4;
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static constexpr uint8_t D3_TIMING = 0xC2;
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};
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class LM2755 : public I2CDevice, protected I2CRegisters_8Bit
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{
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public:
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void init() override;
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void update(const class Aircraft &aircraft) override;
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int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override {
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return I2CRegisters_8Bit::rdwr(data);
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}
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private:
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// nested class to hold calculations for a single channel:
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class LEDChannel {
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public:
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LEDChannel(uint8_t &_high_level,
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uint8_t &_low_level,
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uint8_t &_delay,
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uint8_t &_ramp_up_step_time,
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uint8_t &_time_high,
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uint8_t &_ramp_down_step_time,
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uint8_t &_timing) :
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high_level{_high_level},
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low_level{_low_level}
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{ }
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void update();
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// returns a value 0-255 for LED brightness:
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uint8_t current_value() const { return output_value; }
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private:
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uint8_t &high_level;
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uint8_t &low_level;
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uint8_t output_value;
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};
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// these could come in as rgb or bgr?
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LEDChannel *d1;
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LEDChannel *d2;
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LEDChannel *d3;
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SIM_RGBLED rgbled{"LM2755"};
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};
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} // namespace SITL
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#endif // AP_SIM_LM2755_ENABLED
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