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103 lines
2.6 KiB
103 lines
2.6 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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#include <AP_Common.h> |
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#include <AP_Progmem.h> |
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library |
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#include <AP_Param.h> |
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#include <Filter.h> |
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#include <AP_ADC.h> |
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#include <GCS_MAVLink.h> |
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#include <AP_Declination.h> |
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#include <AP_HAL.h> |
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#include <AP_HAL_AVR.h> |
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#include <AP_HAL_AVR_SITL.h> |
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#include <AP_HAL_Linux.h> |
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#include <AP_HAL_PX4.h> |
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#include <AP_HAL_Empty.h> |
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#include <AP_HAL_FLYMAPLE.h> |
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#include <AP_Notify.h> // Notify library |
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#include <ToshibaLED.h> |
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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static ToshibaLED_PX4 toshiba_led; |
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#else |
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static ToshibaLED_I2C toshiba_led; |
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#endif |
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static uint8_t led_state; |
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static uint8_t red, green, blue; |
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void setup(void) |
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{ |
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// display welcome message |
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hal.console->print_P(PSTR("Toshiba LED test ver 0.1\n")); |
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// initialise LED |
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toshiba_led.init(); |
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// check if healthy |
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if (!toshiba_led.healthy()) { |
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hal.console->print_P(PSTR("Failed to initialise Toshiba LED\n")); |
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} |
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// turn on initialising notification |
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AP_Notify::flags.initialising = false; |
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AP_Notify::flags.save_trim = true; |
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AP_Notify::flags.gps_status = 1; |
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AP_Notify::flags.armed = 1; |
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AP_Notify::flags.pre_arm_check = 1; |
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} |
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void loop(void) |
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{ |
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// blink test |
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//hal.console->print_P(PSTR("Blink test\n")); |
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//blink(); |
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/* |
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// full spectrum test |
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hal.console->print_P(PSTR("Spectrum test\n")); |
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full_spectrum(); |
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*/ |
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// update the toshiba led |
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toshiba_led.update(); |
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// wait 1/50th of a second |
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hal.scheduler->delay(20); |
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} |
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// full_spectrum - runs through the full spectrum of colours the led can display |
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void full_spectrum() |
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{ |
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// go through the full range of colours but only up to the dim light level |
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for (uint8_t red=0; red<=0x05; red++) { |
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for (uint8_t green=0; green<=0x05; green++) { |
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for (uint8_t blue=0; blue<=0x05; blue++) { |
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toshiba_led.set_rgb(red,green,blue); |
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hal.scheduler->delay(5); |
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} |
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} |
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} |
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} |
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// blink - blink the led at 10hz for 10 seconds |
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void blink() |
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{ |
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// set colour to red |
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toshiba_led.set_rgb(TOSHIBA_LED_DIM,0,0); |
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// full spectrum test |
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for (uint8_t c=0; c<=2; c++ ) { |
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if (c==0) { |
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toshiba_led.set_rgb(TOSHIBA_LED_DIM,0,0); // red |
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}else if (c==1) { |
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toshiba_led.set_rgb(0,TOSHIBA_LED_DIM,0); // green |
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}else{ |
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toshiba_led.set_rgb(0,0,TOSHIBA_LED_DIM); // blue |
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} |
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} |
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} |
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AP_HAL_MAIN();
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