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81 lines
2.6 KiB
81 lines
2.6 KiB
/* |
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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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// This driver is for the neopixel on the Blue Robotics Navigator board |
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// designed for the Raspberry Pi 4. The neopixel data in is connected to |
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// the Raspberry Pi's MOSI pin. The clock, chip select, and MISO pins are |
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// not used. The data is sent to the neopixel in 24 'SPI bytes', where each |
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// spi byte is formatted to appear as a single bit of data to the neopixel. |
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#include <AP_HAL/AP_HAL.h> |
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#include "AP_Notify/AP_Notify.h" |
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#include "NavigatorLED.h" |
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#define NEOPIXEL_LED_LOW 0x18 |
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#define NEOPIXEL_LED_MEDIUM 0x40 |
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#define NEOPIXEL_LED_HIGH 0xFF |
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#define NEOPIXEL_LED_OFF 0x00 |
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#define LED_T0 0b11000000 |
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#define LED_T1 0b11110000 |
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extern const AP_HAL::HAL& hal; |
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NavigatorLED::NavigatorLED() : |
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RGBLed(NEOPIXEL_LED_OFF, NEOPIXEL_LED_HIGH, NEOPIXEL_LED_MEDIUM, NEOPIXEL_LED_LOW) |
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{ |
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} |
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bool NavigatorLED::init() |
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{ |
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_dev = hal.spi->get_device("led"); |
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if (!_dev) { |
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return false; |
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} |
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return true; |
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} |
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bool NavigatorLED::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) |
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{ |
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if (!_dev) { |
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return false; |
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} |
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// format our spi bytes to transmit the desired color data |
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_setup_data(red, green, blue); |
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// take i2c bus sempahore |
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WITH_SEMAPHORE(_dev->get_semaphore()); |
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// send the new color data |
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return _dev->transfer(_data, sizeof(_data), nullptr, 0); |
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} |
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// Get our bytes ready to send the desired color data |
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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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void NavigatorLED::_setup_data(uint8_t red, uint8_t green, uint8_t blue) |
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{ |
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for (uint8_t i = 0; i < 8; i++) { |
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_data[i] = (green & (1<<(7-i))) ? LED_T1 : LED_T0; |
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} |
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for (uint8_t i = 0; i < 8; i++) { |
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_data[8 + i] = (red & (1<<(7-i))) ? LED_T1 : LED_T0; |
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} |
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for (uint8_t i = 0; i < 8; i++) { |
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_data[16 + i] = (blue & (1<<(7-i))) ? LED_T1 : LED_T0; |
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} |
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}
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