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 "NeoPixel.h"
      17             : 
      18             : #if AP_NOTIFY_NEOPIXEL_ENABLED
      19             : 
      20             : #include "AP_Notify/AP_Notify.h"
      21             : #include "SRV_Channel/SRV_Channel.h"
      22             : 
      23             : // This limit is from the dshot driver rcout groups limit
      24             : #define AP_NOTIFY_NEOPIXEL_MAX_INSTANCES        4
      25             : 
      26             : // Datasheet: https://cdn-shop.adafruit.com/datasheets/WS2812B.pdf
      27             : // 24bit msg as 3 byte GRB (not RGB) where first bit is G7, and last bit is B0
      28             : // (first) G7|G6|G5|G4|G3|G2|G1|G0|R7|R6|R5|R4|R3|R2|R1|R0|B7|B6|B5|B4|B3|B2|B1|B0 (last)
      29             : 
      30             : #define NEOPIXEL_LED_LOW    0x33
      31             : #define NEOPIXEL_LED_MEDIUM 0x7F
      32             : #define NEOPIXEL_LED_HIGH   0xFF
      33             : #define NEOPIXEL_LED_OFF    0x00
      34             : 
      35             : extern const AP_HAL::HAL& hal;
      36             : 
      37           0 : NeoPixel::NeoPixel() :
      38           0 :     SerialLED(NEOPIXEL_LED_OFF, NEOPIXEL_LED_HIGH, NEOPIXEL_LED_MEDIUM, NEOPIXEL_LED_LOW)
      39             : {
      40           0 : }
      41             : 
      42           0 : uint16_t NeoPixel::init_ports()
      43             : {
      44           0 :     uint16_t mask = 0;
      45           0 :     for (uint16_t i=0; i<AP_NOTIFY_NEOPIXEL_MAX_INSTANCES; i++) {
      46           0 :         const SRV_Channel::Function fn = (SRV_Channel::Function)((uint8_t)SRV_Channel::k_LED_neopixel1 + i);
      47           0 :         if (!SRV_Channels::function_assigned(fn)) {
      48           0 :             continue;
      49             :         }
      50           0 :         mask |= SRV_Channels::get_output_channel_mask(fn);
      51             :     }
      52             : 
      53             : #if AP_NOTIFY_NEOPIXEL_MASK
      54             :     // Use board-defined default mask if no servo functions assigned
      55             :     if (mask == 0) {
      56             :         mask = AP_NOTIFY_NEOPIXEL_MASK;
      57             :     }
      58             : #endif
      59             : 
      60           0 :     if (mask == 0) {
      61           0 :         return 0;
      62             :     }
      63             : 
      64           0 :     AP_SerialLED *led = AP_SerialLED::get_singleton();
      65           0 :     if (led == nullptr) {
      66           0 :         return 0;
      67             :     }
      68             : 
      69           0 :     for (uint16_t chan=0; chan<16; chan++) {
      70           0 :         if ((1U<<chan) & mask) {
      71           0 :             if (pNotify->get_led_type() & AP_Notify::Notify_LED_NeoPixel) {
      72           0 :                 led->set_num_neopixel(chan+1, pNotify->get_led_len());
      73           0 :             } else if (pNotify->get_led_type() & AP_Notify::Notify_LED_NeoPixelRGB) {
      74           0 :                 led->set_num_neopixel_rgb(chan+1, pNotify->get_led_len());
      75             :             }
      76             :         }
      77             :     }
      78             : 
      79           0 :     return mask;
      80             : }
      81             : 
      82             : #endif  // AP_NOTIFY_NEOPIXEL_ENABLED