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95 lines
2.6 KiB
95 lines
2.6 KiB
/* |
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Copyright (C) 2016 Mathieu Othacehe. All rights reserved. |
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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_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
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#include "DiscoLED.h" |
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#include <AP_HAL_Linux/Led_Sysfs.h> |
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#include <AP_HAL_Linux/PWM_Sysfs.h> |
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#define RED_PWM_INDEX 9 |
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#define GREEN_PWM_INDEX 8 |
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#define BLUE_PWM_INDEX 15 |
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#define DISCO_LED_LOW 0x33 |
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#define DISCO_LED_MEDIUM 0x7F |
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#define DISCO_LED_HIGH 0xFF |
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#define DISCO_LED_OFF 0x00 |
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#define DISCO_LED_RED_NAME "evinrude:red" |
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#define DISCO_LED_GREEN_NAME "evinrude:green" |
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#define DISCO_LED_BLUE_NAME "evinrude:blue" |
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DiscoLED::DiscoLED(): |
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RGBLed(DISCO_LED_OFF, DISCO_LED_HIGH, DISCO_LED_MEDIUM, DISCO_LED_LOW), |
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red_pwm(RED_PWM_INDEX), |
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green_pwm(GREEN_PWM_INDEX), |
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blue_pwm(BLUE_PWM_INDEX), |
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red_led(DISCO_LED_RED_NAME), |
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green_led(DISCO_LED_GREEN_NAME), |
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blue_led(DISCO_LED_BLUE_NAME) |
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{ |
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} |
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bool DiscoLED::hw_init() |
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{ |
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/* If led sysfs api is present, use it, else use pwm sysfs api to |
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drive Disco leds */ |
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if (red_led.init() && green_led.init() && blue_led.init()) { |
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backend = LED_SYSFS; |
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return true; |
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} |
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backend = PWM_SYSFS; |
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red_pwm_period = red_pwm.get_period(); |
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green_pwm_period = green_pwm.get_period(); |
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blue_pwm_period = blue_pwm.get_period(); |
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red_pwm.init(); |
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green_pwm.init(); |
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blue_pwm.init(); |
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red_pwm.enable(true); |
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green_pwm.enable(true); |
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blue_pwm.enable(true); |
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return true; |
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} |
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bool DiscoLED::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) |
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{ |
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switch (backend) { |
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case PWM_SYSFS: |
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red_pwm.set_duty_cycle(red / UINT8_MAX * red_pwm_period); |
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green_pwm.set_duty_cycle(green / UINT8_MAX * green_pwm_period); |
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blue_pwm.set_duty_cycle(blue / UINT8_MAX * blue_pwm_period); |
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break; |
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case LED_SYSFS: |
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red_led.set_brightness(red); |
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green_led.set_brightness(green); |
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blue_led.set_brightness(blue); |
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break; |
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default: |
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return false; |
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} |
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return true; |
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} |
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#endif
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