Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : #include "AP_Notify/AP_Notify.h"
      17             : #include <AP_HAL/RCOutput.h>
      18             : #include "DShotLED.h"
      19             : #include "SRV_Channel/SRV_Channel.h"
      20             : 
      21             : extern const AP_HAL::HAL& hal;
      22             : 
      23           0 : bool DShotLED::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
      24             : {
      25             :     // don't play the motor LEDs while flying
      26           0 :     if (hal.util->get_soft_armed() || (hal.rcout->get_dshot_esc_type() != AP_HAL::RCOutput::DSHOT_ESC_BLHELI
      27           0 :         && hal.rcout->get_dshot_esc_type() != AP_HAL::RCOutput::DSHOT_ESC_BLHELI_EDT)) {
      28           0 :         return false;
      29             :     }
      30             : 
      31           0 :     hal.rcout->send_dshot_command(red ? AP_HAL::RCOutput::DSHOT_LED1_ON : AP_HAL::RCOutput::DSHOT_LED1_OFF);
      32           0 :     hal.rcout->send_dshot_command(green ? AP_HAL::RCOutput::DSHOT_LED2_ON : AP_HAL::RCOutput::DSHOT_LED2_OFF);
      33           0 :     hal.rcout->send_dshot_command(blue ? AP_HAL::RCOutput::DSHOT_LED0_ON : AP_HAL::RCOutput::DSHOT_LED0_OFF);
      34             : 
      35           0 :     return true;
      36             : }