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46 lines
1.2 KiB
46 lines
1.2 KiB
/* |
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ToshibaLED PX4 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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#pragma once |
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#include <AP_Math/AP_Math.h> |
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#include <AP_Math/vectorN.h> |
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#include "ToshibaLED.h" |
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class ToshibaLED_PX4 : public ToshibaLED |
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{ |
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public: |
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bool hw_init(void); |
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bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b); |
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private: |
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int _rgbled_fd; |
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void update_timer(void); |
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// use a union so that updates can be of a single 32 bit value, |
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// making it atomic on PX4 |
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union rgb_value { |
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struct { |
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uint8_t r; |
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uint8_t g; |
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uint8_t b; |
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}; |
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volatile uint32_t v; |
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}; |
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union rgb_value last, next; |
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};
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