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79 lines
2.0 KiB
79 lines
2.0 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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#include <AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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#include "ToshibaLED_PX4.h" |
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#include <sys/types.h> |
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#include <sys/stat.h> |
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#include <fcntl.h> |
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#include <unistd.h> |
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#include <drivers/drv_rgbled.h> |
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#include <stdio.h> |
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#include <errno.h> |
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extern const AP_HAL::HAL& hal; |
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bool ToshibaLED_PX4::hw_init() |
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{ |
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// open the rgb led device |
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_rgbled_fd = open(RGBLED0_DEVICE_PATH, 0); |
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if (_rgbled_fd == -1) { |
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hal.console->printf("Unable to open " RGBLED0_DEVICE_PATH); |
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return false; |
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} |
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ioctl(_rgbled_fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_ON); |
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last.v = 0; |
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next.v = 0; |
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hal.scheduler->register_io_process(AP_HAL_MEMBERPROC(&ToshibaLED_PX4::update_timer)); |
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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 ToshibaLED_PX4::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) |
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{ |
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union rgb_value v; |
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v.r = red; |
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v.g = green; |
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v.b = blue; |
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// this does an atomic 32 bit update |
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next.v = v.v; |
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return true; |
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} |
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void ToshibaLED_PX4::update_timer(void) |
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{ |
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if (last.v == next.v) { |
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return; |
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} |
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rgbled_rgbset_t v; |
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union rgb_value newv; |
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newv.v = next.v; |
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v.red = newv.r; |
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v.green = newv.g; |
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v.blue = newv.b; |
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ioctl(_rgbled_fd, RGBLED_SET_RGB, (unsigned long)&v); |
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last.v = next.v; |
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} |
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
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