mirror of https://github.com/ArduPilot/ardupilot
113 lines
3.2 KiB
C++
113 lines
3.2 KiB
C++
/*
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PCA9685LED 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 "PCA9685LED_I2C.h"
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#include <AP_HAL/AP_HAL.h>
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#define NAVIO_LED_BRIGHT 0x0 // full brightness
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#define NAVIO_LED_MEDIUM 0x7F // medium brightness
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#define NAVIO_LED_DIM 0x4F // dim brightness
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#define NAVIO_LED_OFF 0xFF // off
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#define PCA9685_ADDRESS 0x40
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#define PCA9685_MODE1 0x00
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#define PCA9685_PWM 0x6
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#define PCA9685_MODE_SLEEP (1 << 4)
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#define PCA9685_MODE_AUTO_INCREMENT (1 << 5)
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extern const AP_HAL::HAL& hal;
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PCA9685LED_I2C::PCA9685LED_I2C() :
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RGBLed(NAVIO_LED_OFF, NAVIO_LED_BRIGHT, NAVIO_LED_MEDIUM, NAVIO_LED_DIM)
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{
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}
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bool PCA9685LED_I2C::init()
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{
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_dev = hal.i2c_mgr->get_device(1, PCA9685_ADDRESS);
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if (!_dev) {
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return false;
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}
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_dev->get_semaphore()->take_blocking();
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_dev->set_retries(5);
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// read the current mode1 configuration
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uint8_t mode1 = 0;
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if (!_dev->read_registers(PCA9685_MODE1, &mode1, sizeof(mode1))) {
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_dev->get_semaphore()->give();
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return false;
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}
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// bring the device out of sleep, and enable auto register increment
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uint8_t new_mode1 = (mode1 | PCA9685_MODE_AUTO_INCREMENT) & ~PCA9685_MODE_SLEEP;
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const uint8_t config[2] = {PCA9685_MODE1, new_mode1};
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if (!_dev->transfer(config, sizeof(config), nullptr, 0)) {
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_dev->get_semaphore()->give();
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return false;
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}
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_dev->set_retries(1);
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_dev->get_semaphore()->give();
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_dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&PCA9685LED_I2C::_timer, void));
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return true;
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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 PCA9685LED_I2C::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
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{
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rgb.r = red;
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rgb.g = green;
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rgb.b = blue;
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_need_update = true;
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return true;
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}
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void PCA9685LED_I2C::_timer(void)
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{
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if (!_need_update) {
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return;
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}
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_need_update = false;
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uint16_t red_adjusted = rgb.r * 0x10;
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uint16_t green_adjusted = rgb.g * 0x10;
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uint16_t blue_adjusted = rgb.b * 0x10;
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uint8_t blue_channel_lsb = blue_adjusted & 0xFF;
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uint8_t blue_channel_msb = blue_adjusted >> 8;
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uint8_t green_channel_lsb = green_adjusted & 0xFF;
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uint8_t green_channel_msb = green_adjusted >> 8;
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uint8_t red_channel_lsb = red_adjusted & 0xFF;
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uint8_t red_channel_msb = red_adjusted >> 8;
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uint8_t transaction[] = {PCA9685_PWM, 0x00, 0x00, blue_channel_lsb, blue_channel_msb,
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0x00, 0x00, green_channel_lsb, green_channel_msb,
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0x00, 0x00, red_channel_lsb, red_channel_msb};
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_dev->transfer(transaction, sizeof(transaction), nullptr, 0);
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}
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