You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
74 lines
2.4 KiB
74 lines
2.4 KiB
/* |
|
* AP_Notify Library. |
|
* based upon a prototype library by David "Buzz" Bussenschutt. |
|
*/ |
|
|
|
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
#pragma once |
|
|
|
#include <AP_HAL/AP_HAL.h> |
|
#include "NotifyDevice.h" |
|
|
|
class RGBLed: public NotifyDevice { |
|
public: |
|
RGBLed(uint8_t led_off, uint8_t led_bright, uint8_t led_medium, uint8_t led_dim); |
|
|
|
// init - initialised the LED |
|
virtual bool init(void); |
|
|
|
// healthy - returns true if the LED is operating properly |
|
virtual bool healthy() { return _healthy; } |
|
|
|
// set_rgb - set color as a combination of red, green and blue levels from 0 ~ 15 |
|
virtual void set_rgb(uint8_t red, uint8_t green, uint8_t blue); |
|
|
|
// update - updates led according to timed_updated. Should be |
|
// called at 50Hz |
|
virtual void update(); |
|
|
|
// handle LED control, only used when LED_OVERRIDE=1 |
|
virtual void handle_led_control(mavlink_message_t *msg) override; |
|
|
|
protected: |
|
// methods implemented in hardware specific classes |
|
virtual bool hw_init(void) = 0; |
|
virtual bool hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) = 0; |
|
|
|
// set_rgb - set color as a combination of red, green and blue levels from 0 ~ 15 |
|
virtual void _set_rgb(uint8_t red, uint8_t green, uint8_t blue); |
|
|
|
virtual void update_override(); |
|
|
|
// meta-data common to all hw devices |
|
uint8_t counter; |
|
uint8_t step; |
|
bool _healthy; // true if the LED is operating properly |
|
uint8_t _red_des, _green_des, _blue_des; // color requested by timed update |
|
uint8_t _red_curr, _green_curr, _blue_curr; // current colours displayed by the led |
|
uint8_t _led_off; |
|
uint8_t _led_bright; |
|
uint8_t _led_medium; |
|
uint8_t _led_dim; |
|
|
|
struct { |
|
uint8_t r, g, b; |
|
uint8_t rate_hz; |
|
uint32_t start_ms; |
|
} _led_override; |
|
|
|
private: |
|
virtual void update_colours(); |
|
};
|
|
|