AP_HAL: add helper functions for LEDs

add PRIORITY_LED for led output thread
tridge · Apr 21, 2023 · c5d81c9 · c5d81c9
1 parent 95b419a
commit c5d81c9
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Showing 2 changed files with 13 additions and 0 deletions.
diff --git a/libraries/AP_HAL/RCOutput.h b/libraries/AP_HAL/RCOutput.h
@@ -222,6 +222,15 @@ class AP_HAL::RCOutput {
     // static to allow use in the ChibiOS thread stuff
     static bool is_dshot_protocol(const enum output_mode mode);
 
+    static bool is_led_protocol(const enum output_mode mode) {
+      switch (mode) {
+      case MODE_NEOPIXEL:
+      case MODE_PROFILED:
+        return true;
+      default:
+        return false;
+      }
+    }
 
     // BLHeli32: https://github.com/bitdump/BLHeli/blob/master/BLHeli_32%20ARM/BLHeli_32%20Firmware%20specs/Digital_Cmd_Spec.txt
     // BLHeli_S: https://github.com/bitdump/BLHeli/blob/master/BLHeli_S%20SiLabs/Dshotprog%20spec%20BLHeli_S.txt
@@ -382,6 +391,9 @@ class AP_HAL::RCOutput {
     static constexpr uint32_t PROFI_BIT_0_TICKS = 7;
     static constexpr uint32_t PROFI_BIT_1_TICKS = 14;
 
+    // suitably long LED output period to support high LED counts
+    static constexpr uint32_t LED_OUTPUT_PERIOD_US = 10000;
+
 protected:
 
     // helper functions for implementation of get_output_mode_banner

diff --git a/libraries/AP_HAL/Scheduler.h b/libraries/AP_HAL/Scheduler.h
@@ -109,6 +109,7 @@ class AP_HAL::Scheduler {
         PRIORITY_CAN,
         PRIORITY_TIMER,
         PRIORITY_RCOUT,
+        PRIORITY_LED,
         PRIORITY_RCIN,
         PRIORITY_IO,
         PRIORITY_UART,