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97 lines
2.8 KiB
97 lines
2.8 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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#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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#ifndef HAL_NEOPIXEL_COUNT |
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#define HAL_NEOPIXEL_COUNT 24 |
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#endif |
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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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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 NeoPixel::hw_init() |
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{ |
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init_ports(); |
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hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&NeoPixel::timer, void)); |
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return true; |
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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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for (uint16_t chan=0; chan<16; chan++) { |
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if ((1U<<chan) & mask) { |
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hal.rcout->set_neopixel_num_LEDs(chan, HAL_NEOPIXEL_COUNT); |
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} |
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} |
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} |
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last_mask = mask; |
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return mask; |
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} |
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void NeoPixel::timer() |
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{ |
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WITH_SEMAPHORE(_sem); |
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const uint32_t now_ms = AP_HAL::millis(); |
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if (now_ms - _last_init_ms >= 1000) { |
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_last_init_ms = now_ms; |
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enable_mask = init_ports(); |
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} |
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} |
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bool NeoPixel::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) |
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{ |
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if (enable_mask == 0) { |
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// nothing is enabled, no pins set as LED output |
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return true; |
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} |
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for (uint16_t chan=0; chan<16; chan++) { |
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if ((1U<<chan) & enable_mask) { |
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hal.rcout->set_neopixel_rgb_data(chan, (1U<<HAL_NEOPIXEL_COUNT)-1, red, green, blue); |
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} |
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} |
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hal.rcout->neopixel_send(); |
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return true; |
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}
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