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88 lines
2.5 KiB
88 lines
2.5 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 <AP_HAL.h> |
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#include "NavioLED_I2C.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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// get pointer to i2c bus semaphore |
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AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore(); |
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// take i2c bus sempahore |
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if (!i2c_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { |
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return false; |
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} |
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// disable recording of i2c lockup errors |
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hal.i2c->ignore_errors(true); |
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// enable the led |
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bool ret = true; |
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// re-enable recording of i2c lockup errors |
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hal.i2c->ignore_errors(false); |
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// give back i2c semaphore |
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i2c_sem->give(); |
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return ret; |
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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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// get pointer to i2c bus semaphore |
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AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore(); |
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// exit immediately if we can't take the semaphore |
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if (i2c_sem == NULL || !i2c_sem->take(5)) { |
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return false; |
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} |
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uint16_t red_adjusted = red * 0x10; |
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uint16_t green_adjusted = green * 0x10; |
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uint16_t blue_adjusted = blue * 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[] = {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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}; |
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bool success = (hal.i2c->writeRegisters(PCA9685_ADDRESS, PCA9685_PWM, sizeof(transaction), transaction) == 0); |
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// give back i2c semaphore |
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i2c_sem->give(); |
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return success; |
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}
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