mirror of
https://github.com/ArduPilot/ardupilot
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c471b635b3
when this is set the board RGB LED will be controlled by MAVLink instead of internally. This is useful for cases where the LED patterns and colours needed are specified by an external authority (such as the OBC organisers)
75 lines
2.4 KiB
C++
75 lines
2.4 KiB
C++
/*
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* AP_Notify Library.
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* based upon a prototype library by David "Buzz" Bussenschutt.
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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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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "NotifyDevice.h"
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class RGBLed: public NotifyDevice {
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public:
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RGBLed(uint8_t led_off, uint8_t led_bright, uint8_t led_medium, uint8_t led_dim);
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// init - initialised the LED
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virtual bool init(void);
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// healthy - returns true if the LED is operating properly
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virtual bool healthy() { return _healthy; }
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// set_rgb - set color as a combination of red, green and blue levels from 0 ~ 15
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virtual void set_rgb(uint8_t red, uint8_t green, uint8_t blue);
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// update - updates led according to timed_updated. Should be
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// called at 50Hz
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virtual void update();
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// handle LED control, only used when LED_OVERRIDE=1
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virtual void handle_led_control(mavlink_message_t *msg) override;
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protected:
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// methods implemented in hardware specific classes
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virtual bool hw_init(void) = 0;
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virtual bool hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) = 0;
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// set_rgb - set color as a combination of red, green and blue levels from 0 ~ 15
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virtual void _set_rgb(uint8_t red, uint8_t green, uint8_t blue);
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virtual void update_override();
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// meta-data common to all hw devices
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uint8_t counter;
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uint8_t step;
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bool _healthy; // true if the LED is operating properly
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uint8_t _red_des, _green_des, _blue_des; // color requested by timed update
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uint8_t _red_curr, _green_curr, _blue_curr; // current colours displayed by the led
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uint8_t _led_off;
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uint8_t _led_bright;
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uint8_t _led_medium;
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uint8_t _led_dim;
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struct {
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uint8_t r, g, b;
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uint8_t rate_hz;
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uint32_t start_ms;
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} _led_override;
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private:
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virtual void update_colours();
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};
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