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76 lines
2.1 KiB
76 lines
2.1 KiB
/* |
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NavioLED I2C driver |
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*/ |
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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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#include "NavioLED_I2C.h" |
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#include <AP_HAL/AP_HAL.h> |
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#define PCA9685_ADDRESS 0x40 |
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#define PCA9685_PWM 0x6 |
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extern const AP_HAL::HAL& hal; |
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bool NavioLED_I2C::hw_init() |
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{ |
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_dev = hal.i2c_mgr->get_device(1, PCA9685_ADDRESS); |
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if (!_dev) { |
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return false; |
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} |
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_dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&NavioLED_I2C::_timer, void)); |
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return true; |
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} |
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// set_rgb - set color as a combination of red, green and blue values |
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bool NavioLED_I2C::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) |
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{ |
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rgb.r = red; |
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rgb.g = green; |
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rgb.b = blue; |
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_need_update = true; |
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return true; |
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} |
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void NavioLED_I2C::_timer(void) |
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{ |
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if (!_need_update) { |
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return; |
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} |
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_need_update = false; |
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uint16_t red_adjusted = rgb.r * 0x10; |
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uint16_t green_adjusted = rgb.g * 0x10; |
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uint16_t blue_adjusted = rgb.b * 0x10; |
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uint8_t blue_channel_lsb = blue_adjusted & 0xFF; |
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uint8_t blue_channel_msb = blue_adjusted >> 8; |
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uint8_t green_channel_lsb = green_adjusted & 0xFF; |
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uint8_t green_channel_msb = green_adjusted >> 8; |
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uint8_t red_channel_lsb = red_adjusted & 0xFF; |
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uint8_t red_channel_msb = red_adjusted >> 8; |
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uint8_t transaction[] = {PCA9685_PWM, 0x00, 0x00, blue_channel_lsb, blue_channel_msb, |
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0x00, 0x00, green_channel_lsb, green_channel_msb, |
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0x00, 0x00, red_channel_lsb, red_channel_msb}; |
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_dev->transfer(transaction, sizeof(transaction), nullptr, 0); |
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}
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