mirror of https://github.com/ArduPilot/ardupilot
79 lines
2.1 KiB
C++
79 lines
2.1 KiB
C++
/*
|
|
NavioLED I2C driver
|
|
*/
|
|
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
#include "NavioLED_I2C.h"
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#define PCA9685_ADDRESS 0x40
|
|
#define PCA9685_PWM 0x6
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
bool NavioLED_I2C::hw_init()
|
|
{
|
|
_dev = hal.i2c_mgr->get_device(1, PCA9685_ADDRESS);
|
|
|
|
if (!_dev) {
|
|
return false;
|
|
}
|
|
|
|
_dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&NavioLED_I2C::_timer, bool));
|
|
|
|
return true;
|
|
}
|
|
|
|
// set_rgb - set color as a combination of red, green and blue values
|
|
bool NavioLED_I2C::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
|
|
{
|
|
rgb.r = red;
|
|
rgb.g = green;
|
|
rgb.b = blue;
|
|
_need_update = true;
|
|
return true;
|
|
}
|
|
|
|
bool NavioLED_I2C::_timer(void)
|
|
{
|
|
if (!_need_update) {
|
|
return true;
|
|
}
|
|
_need_update = false;
|
|
|
|
uint16_t red_adjusted = rgb.r * 0x10;
|
|
uint16_t green_adjusted = rgb.g * 0x10;
|
|
uint16_t blue_adjusted = rgb.b * 0x10;
|
|
|
|
uint8_t blue_channel_lsb = blue_adjusted & 0xFF;
|
|
uint8_t blue_channel_msb = blue_adjusted >> 8;
|
|
|
|
uint8_t green_channel_lsb = green_adjusted & 0xFF;
|
|
uint8_t green_channel_msb = green_adjusted >> 8;
|
|
|
|
uint8_t red_channel_lsb = red_adjusted & 0xFF;
|
|
uint8_t red_channel_msb = red_adjusted >> 8;
|
|
|
|
|
|
uint8_t transaction[] = {PCA9685_PWM, 0x00, 0x00, blue_channel_lsb, blue_channel_msb,
|
|
0x00, 0x00, green_channel_lsb, green_channel_msb,
|
|
0x00, 0x00, red_channel_lsb, red_channel_msb};
|
|
|
|
_dev->transfer(transaction, sizeof(transaction), nullptr, 0);
|
|
|
|
return true;
|
|
}
|