mirror of https://github.com/ArduPilot/ardupilot
63 lines
1.8 KiB
C++
63 lines
1.8 KiB
C++
/*
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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 "AP_Notify/AP_Notify.h"
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#include "ProfiLED.h"
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#include "SRV_Channel/SRV_Channel.h"
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// This limit is from the dshot driver rc out groups limit, we need at least one channel for clock
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#define AP_NOTIFY_ProfiLED_MAX_INSTANCES 3
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#define ProfiLED_LOW 0x33
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#define ProfiLED_MEDIUM 0x7F
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#define ProfiLED_HIGH 0xFF
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#define ProfiLED_OFF 0x00
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extern const AP_HAL::HAL& hal;
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ProfiLED::ProfiLED() :
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SerialLED(ProfiLED_OFF, ProfiLED_HIGH, ProfiLED_MEDIUM, ProfiLED_LOW)
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{
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}
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uint16_t ProfiLED::init_ports()
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{
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uint16_t mask = 0;
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for (uint16_t i=0; i<AP_NOTIFY_ProfiLED_MAX_INSTANCES; i++) {
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const SRV_Channel::Aux_servo_function_t fn = (SRV_Channel::Aux_servo_function_t)((uint8_t)SRV_Channel::k_ProfiLED_1 + i);
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if (!SRV_Channels::function_assigned(fn)) {
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continue;
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}
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mask |= SRV_Channels::get_output_channel_mask(fn);
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}
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if (mask == 0) {
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return 0;
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}
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AP_SerialLED *led = AP_SerialLED::get_singleton();
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if (led == nullptr) {
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return 0;
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}
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for (uint16_t chan=0; chan<16; chan++) {
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if ((1U<<chan) & mask) {
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led->set_num_profiled(chan+1, (pNotify->get_led_len()));
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}
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}
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return mask;
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}
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