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96 lines
3.5 KiB
96 lines
3.5 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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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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#ifndef __EXTERNALLED_H__ |
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#define __EXTERNALLED_H__ |
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#include <AP_Common/AP_Common.h> |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_Param/AP_Param.h> |
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#include "NotifyDevice.h" |
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 |
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#define EXTERNAL_LED_ARMED 61 // Armed LED - AN7 |
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#define EXTERNAL_LED_GPS 60 // GPS LED - AN6 |
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#define EXTERNAL_LED_MOTOR1 58 // Motor1 LED - AN4 |
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#define EXTERNAL_LED_MOTOR2 62 // Motor2 LED - AN8 |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 |
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#define EXTERNAL_LED_GPS 64 // GPS LED - AN10 |
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#define EXTERNAL_LED_ARMED 65 // Armed LED - AN11 |
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#define EXTERNAL_LED_MOTOR1 62 // Motor1 LED - AN8 |
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#define EXTERNAL_LED_MOTOR2 66 // Motor2 LED - AN12 |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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#define EXTERNAL_LED_GPS 28 // GPS LED - AN10 |
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#define EXTERNAL_LED_ARMED 29 // Armed LED - AN11 |
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#define EXTERNAL_LED_MOTOR1 30 // Motor1 LED - AN8 |
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#define EXTERNAL_LED_MOTOR2 31 // Motor2 LED - AN12 |
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#else |
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#define EXTERNAL_LED_GPS 0 // pin definitions to allow this lib to build for |
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#define EXTERNAL_LED_ARMED 0 // for other boards besides APM1, APM2 even though |
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#define EXTERNAL_LED_MOTOR1 0 // they will never be used |
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#define EXTERNAL_LED_MOTOR2 0 |
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#endif |
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class ExternalLED: public NotifyDevice |
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{ |
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public: |
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// constructor |
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ExternalLED() : _counter(0), _counter2(0), _pattern(NONE), _pattern_counter(0) {} |
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// initialise the LED driver |
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bool init(void); |
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// should be called at 50Hz |
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void update(void); |
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private: |
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enum LEDPattern { |
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NONE = 0, |
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FAST_FLASH = 1, |
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OSCILLATE = 2 |
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}; |
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/// buzzer_flag_type - bitmask of current state and ap_notify states we track |
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struct copterleds_flag_type { |
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// individual led status |
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uint8_t armedled_on : 1; // 1 if the armed led is currently on |
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uint8_t gpsled_on : 1; // 1 if the gps led is currently on |
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uint8_t motorled1_on : 1; // 1 if motor led #1 is currently on |
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uint8_t motorled2_on : 1; // 1 if motor led #2 is currently on |
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} _flags; |
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uint8_t _counter; // reduces 50hz calls to 10hz |
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uint8_t _counter2; // used to control steps of arming and gps leds |
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LEDPattern _pattern; // current pattern for motor leds |
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uint8_t _pattern_counter; // used to time on/off of current patter |
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// armed_led - set armed light on or off |
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void armed_led(bool on_off); |
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// gps_led - set gps light on or off |
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void gps_led(bool on_off); |
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// set_pattern - sets pattern for motor leds |
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void set_pattern(LEDPattern pattern_id); |
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// motor_led1, motor_led2 - set motor lights on or off |
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void motor_led1(bool on_off); |
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void motor_led2(bool on_off); |
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}; |
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#endif // __EXTERNALLED_H__
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