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63 lines
2.0 KiB
63 lines
2.0 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 "PixRacerLED.h" |
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS |
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#ifndef HAL_GPIO_A_LED_PIN |
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#define HAL_GPIO_A_LED_PIN -1 |
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#endif |
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#ifndef HAL_GPIO_B_LED_PIN |
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#define HAL_GPIO_B_LED_PIN -1 |
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#endif |
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#ifndef HAL_GPIO_C_LED_PIN |
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#define HAL_GPIO_C_LED_PIN -1 |
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#endif |
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extern const AP_HAL::HAL& hal; |
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PixRacerLED::PixRacerLED() : |
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RGBLed(0, 1, 1, 1) |
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{ |
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} |
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bool PixRacerLED::init(void) |
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{ |
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// when HAL_GPIO_LED_ON is 0 then we must not use pinMode() |
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// as it could remove the OPENDRAIN attribute on the pin |
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#if HAL_GPIO_LED_ON != 0 |
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hal.gpio->pinMode(HAL_GPIO_A_LED_PIN, HAL_GPIO_OUTPUT); |
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hal.gpio->pinMode(HAL_GPIO_B_LED_PIN, HAL_GPIO_OUTPUT); |
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hal.gpio->pinMode(HAL_GPIO_C_LED_PIN, HAL_GPIO_OUTPUT); |
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#endif |
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hal.gpio->write(HAL_GPIO_A_LED_PIN, HAL_GPIO_LED_OFF); |
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hal.gpio->write(HAL_GPIO_B_LED_PIN, HAL_GPIO_LED_OFF); |
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hal.gpio->write(HAL_GPIO_C_LED_PIN, HAL_GPIO_LED_OFF); |
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return true; |
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} |
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bool PixRacerLED::hw_set_rgb(uint8_t r, uint8_t g, uint8_t b) |
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{ |
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hal.gpio->write(HAL_GPIO_A_LED_PIN, (r > 0)?HAL_GPIO_LED_ON:HAL_GPIO_LED_OFF); |
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hal.gpio->write(HAL_GPIO_B_LED_PIN, (g > 0)?HAL_GPIO_LED_ON:HAL_GPIO_LED_OFF); |
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hal.gpio->write(HAL_GPIO_C_LED_PIN, (b > 0)?HAL_GPIO_LED_ON:HAL_GPIO_LED_OFF); |
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return true; |
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} |
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#else |
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bool PixRacerLED::init(void) { return true; } |
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bool PixRacerLED::hw_set_rgb(uint8_t r, uint8_t g, uint8_t b) { return true; } |
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#endif
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