mirror of https://github.com/ArduPilot/ardupilot
66 lines
2.1 KiB
C++
66 lines
2.1 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 "NeoPixel.h"
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#include "SRV_Channel/SRV_Channel.h"
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// This limit is from the dshot driver rcout groups limit
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#define AP_NOTIFY_NEOPIXEL_MAX_INSTANCES 4
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// Datasheet: https://cdn-shop.adafruit.com/datasheets/WS2812B.pdf
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// 24bit msg as 3 byte GRB (not RGB) where first bit is G7, and last bit is B0
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// (first) G7|G6|G5|G4|G3|G2|G1|G0|R7|R6|R5|R4|R3|R2|R1|R0|B7|B6|B5|B4|B3|B2|B1|B0 (last)
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#define NEOPIXEL_LED_LOW 0x33
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#define NEOPIXEL_LED_MEDIUM 0x7F
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#define NEOPIXEL_LED_HIGH 0xFF
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#define NEOPIXEL_LED_OFF 0x00
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extern const AP_HAL::HAL& hal;
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NeoPixel::NeoPixel() :
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SerialLED(NEOPIXEL_LED_OFF, NEOPIXEL_LED_HIGH, NEOPIXEL_LED_MEDIUM, NEOPIXEL_LED_LOW)
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{
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}
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uint16_t NeoPixel::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_NEOPIXEL_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_LED_neopixel1 + 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_neopixel(chan+1, (pNotify->get_led_len()));
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}
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}
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return mask;
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} |