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93 lines
3.1 KiB
93 lines
3.1 KiB
/* |
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* Copyright (C) 2015 Intel Corporation. All rights reserved. |
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* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include "RCOutputRGBLed.h" |
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#include <AP_Math/AP_Math.h> |
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#include <SRV_Channel/SRV_Channel.h> |
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static const AP_HAL::HAL& hal = AP_HAL::get_HAL(); |
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#define LED_OFF 0 |
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#define LED_FULL_BRIGHT 255 |
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#define LED_MEDIUM ((LED_FULL_BRIGHT / 5) * 4) |
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#define LED_DIM ((LED_FULL_BRIGHT / 5) * 2) |
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RCOutputRGBLed::RCOutputRGBLed(uint8_t red_channel, uint8_t green_channel, uint8_t blue_channel) |
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: RCOutputRGBLed(red_channel, green_channel, blue_channel, LED_OFF, |
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LED_FULL_BRIGHT, LED_MEDIUM, LED_DIM) |
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{ |
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} |
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RCOutputRGBLed::RCOutputRGBLed(uint8_t red_channel, uint8_t green_channel, |
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uint8_t blue_channel, uint8_t led_off, |
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uint8_t led_full, uint8_t led_medium, |
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uint8_t led_dim) |
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: RGBLed(led_off, led_full, led_medium, led_dim) |
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, _red_channel(red_channel) |
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, _green_channel(green_channel) |
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, _blue_channel(blue_channel) |
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{ |
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} |
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bool RCOutputRGBLed::hw_init() |
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{ |
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hal.rcout->enable_ch(_red_channel); |
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hal.rcout->enable_ch(_green_channel); |
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hal.rcout->enable_ch(_blue_channel); |
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return true; |
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} |
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uint16_t RCOutputRGBLed::get_duty_cycle_for_color(const uint8_t color, const uint16_t usec_period) const |
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{ |
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return usec_period * color / _led_bright; |
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} |
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uint16_t RCOutputRGBLedInverted::get_duty_cycle_for_color(const uint8_t color, const uint16_t usec_period) const |
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{ |
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return usec_period * (255 - color) / _led_bright; |
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} |
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bool RCOutputRGBLed::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) |
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{ |
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const uint16_t freq_motor = hal.rcout->get_freq(0); |
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const uint16_t freq = hal.rcout->get_freq(_red_channel); |
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const uint16_t usec_period = hz_to_usec(freq); |
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if (freq_motor != freq) { |
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/* |
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* keep at same frequency as the first RCOutput channel, some RCOutput |
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* drivers can not operate in different frequency between channels |
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*/ |
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const uint32_t mask = 1 << _red_channel | 1 << _green_channel |
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| 1 << _blue_channel; |
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hal.rcout->set_freq(mask, freq_motor); |
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} |
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uint16_t usec_duty = get_duty_cycle_for_color(red, usec_period); |
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SRV_Channels::set_output_pwm_chan(_red_channel, usec_duty); |
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usec_duty = get_duty_cycle_for_color(green, usec_period); |
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SRV_Channels::set_output_pwm_chan(_green_channel, usec_duty); |
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usec_duty = get_duty_cycle_for_color(blue, usec_period); |
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SRV_Channels::set_output_pwm_chan(_blue_channel, usec_duty); |
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return true; |
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}
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