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94 lines
3.5 KiB
94 lines
3.5 KiB
/* |
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OreoLED I2C driver |
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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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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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#include <AP_HAL/AP_HAL.h> |
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#include "NotifyDevice.h" |
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#include <drivers/drv_oreoled.h> |
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#define OREOLED_NUM_LEDS 4 // maximum number of individual LEDs connected to the oreo led cpu |
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#define OREOLED_INSTANCE_ALL 0xff // instance number to indicate all LEDs (used for set_rgb and set_macro) |
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#define OREOLED_BRIGHT 0xff // maximum brightness when flying (disconnected from usb) |
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class OreoLED_PX4 : public NotifyDevice |
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{ |
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public: |
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// constuctor |
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OreoLED_PX4(); |
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// init - initialised the device |
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bool init(void); |
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// update - updates device according to timed_updated. Should be |
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// called at 50Hz |
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void update(); |
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// healthy - return true if at least one LED is responding |
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bool healthy() const { return _overall_health; } |
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// handle a LED_CONTROL message, by default device ignore message |
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void handle_led_control(mavlink_message_t *msg); |
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private: |
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// update_timer - called by scheduler and updates PX4 driver with commands |
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void update_timer(void); |
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// set_rgb - set color as a combination of red, green and blue values for one or all LEDs |
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void set_rgb(uint8_t instance, uint8_t red, uint8_t green, uint8_t blue); |
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// set_macro - set macro for one or all LEDs |
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void set_macro(uint8_t instance, enum oreoled_macro macro); |
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// send_sync - force a syncronisation of the LEDs |
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void send_sync(void); |
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// oreo led modes (pattern, macro or rgb) |
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enum oreoled_mode { |
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OREOLED_MODE_PATTERN, |
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OREOLED_MODE_MACRO, |
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OREOLED_MODE_RGB, |
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OREOLED_MODE_SYNC |
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}; |
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// oreo_state structure holds possible state of an led |
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struct oreo_state { |
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enum oreoled_mode mode; |
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enum oreoled_pattern pattern; |
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enum oreoled_macro macro; |
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uint8_t red; |
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uint8_t green; |
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uint8_t blue; |
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// operator== |
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inline bool operator==(const oreo_state &os) { |
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return ((os.mode==mode) && (os.pattern==pattern) && (os.macro==macro) && (os.red==red) && (os.green==green) && (os.blue==blue)); |
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} |
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}; |
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// private members |
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bool _overall_health; // overall health |
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int _oreoled_fd; // file descriptor |
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bool _send_required; // true when we need to send an update to at least one led |
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volatile bool _state_desired_semaphore; // true when we are updating the state desired values to ensure they are not sent prematurely |
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oreo_state _state_desired[OREOLED_NUM_LEDS]; // desired state |
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oreo_state _state_sent[OREOLED_NUM_LEDS]; // last state sent to led |
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uint8_t _pattern_override; // holds last processed pattern override, 0 if we are not overriding a pattern |
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}; |
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
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