mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-21 20:53:52 +08:00
Andy Piper
34e3dc466d
Add modular SPI-based serial LED driver that uses SPI MOSI to generate WS2812 timing waveforms. Uses 8-bit encoding at 6.4MHz SPI clock where each WS2812 bit becomes one SPI byte. SerialLED_SPI is a standalone class that can be composed into any RCOutput implementation. RCOutput_RPI provides the RCOutput wrapper for Raspberry Pi boards. Features: - Supports MODE_NEOPIXEL (GRB) and MODE_NEOPIXELRGB (RGB) color ordering - Up to 128 LEDs per channel - Uses /dev/spidev0.0 (GPIO10/pin 19) on Raspberry Pi - Thread-safe with mutex protection - Embedded object instead of heap allocation for SerialLED_SPI - Uses calloc/free for dynamic arrays (less overhead than new/delete)
57 lines
1.8 KiB
C++
57 lines
1.8 KiB
C++
/*
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* Code by Andy Piper <github@andypiper.com>
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* RCOutput driver for Raspberry Pi boards.
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* Provides serial LED support via SPI, PWM outputs are not supported.
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*/
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#pragma once
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#include "AP_HAL_Linux.h"
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#include <AP_HAL/RCOutput.h>
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#include <AP_HAL_Empty/AP_HAL_Empty.h>
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#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
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#if HAL_LINUX_SERIALLED_ENABLED
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#include "SerialLED_SPI.h"
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#endif
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namespace Linux {
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/*
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* RCOutput implementation for Raspberry Pi boards.
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*
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* PWM output functions are no-ops since this board typically doesn't
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* have dedicated PWM outputs for motor control. Serial LED support
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* is provided via SPI when HAL_LINUX_SERIALLED_ENABLED is set.
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*/
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class RCOutput_RPI : public Empty::RCOutput {
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public:
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// Initialize the driver
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void init() override;
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// Serial LED functions
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bool set_serial_led_num_LEDs(const uint16_t chan, uint8_t num_leds, output_mode mode = MODE_PWM_NONE, uint32_t clock_mask = 0) override;
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bool set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t red, uint8_t green, uint8_t blue) override;
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bool serial_led_send(const uint16_t chan) override;
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private:
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#if HAL_LINUX_SERIALLED_ENABLED
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SerialLED_SPI _serial_led;
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#endif
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};
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} // namespace Linux
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