AP_Notify: add support for controlling ProfiLED via IOMCU safety pins

libraries/AP_Notify/AP_Notify.cpp

@@ -42,6 +42,7 @@
 #include "ProfiLED.h"
 #include "ScriptingLED.h"
 #include "DShotLED.h"
+#include "ProfiLED_IOMCU.h"
 
 extern const AP_HAL::HAL& hal;
 
@@ -90,7 +91,11 @@ AP_Notify *AP_Notify::_singleton;
 
 #ifndef DEFAULT_NTF_LED_TYPES
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-  #define DEFAULT_NTF_LED_TYPES (Notify_LED_Board | I2C_LEDS)
+    #if HAL_WITH_IO_MCU
+      #define DEFAULT_NTF_LED_TYPES (Notify_LED_Board | Notify_LED_ProfiLED_IOMCU | I2C_LEDS)
+    #else
+      #define DEFAULT_NTF_LED_TYPES (Notify_LED_Board | I2C_LEDS)
+    #endif
 
 // Linux boards
 #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
@@ -215,7 +220,7 @@ const AP_Param::GroupInfo AP_Notify::var_info[] = {
     // @Param: LED_TYPES
     // @DisplayName: LED Driver Types
     // @Description: Controls what types of LEDs will be enabled
-    // @Bitmask: 0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:DroneCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting, 11:DShot, 12:ProfiLED_SPI, 13:LP5562 External, 14: LP5562 Internal, 15:IS31FL3195 External, 16: IS31FL3195 Internal, 17: DiscreteRGB, 18: NeoPixelRGB
+    // @Bitmask: 0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:DroneCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting, 11:DShot, 12:ProfiLED_SPI, 13:LP5562 External, 14: LP5562 Internal, 15:IS31FL3195 External, 16: IS31FL3195 Internal, 17: DiscreteRGB, 18: NeoPixelRGB, 19:ProfiLED_IOMCU
     // @User: Advanced
     AP_GROUPINFO("LED_TYPES", 6, AP_Notify, _led_type, DEFAULT_NTF_LED_TYPES),
 
@@ -380,6 +385,11 @@ void AP_Notify::add_backends(void)
                 ADD_BACKEND(NEW_NOTHROW DShotLED());
                 break;
 #endif
+#if HAL_WITH_IO_MCU
+            case Notify_LED_ProfiLED_IOMCU:
+                ADD_BACKEND(NEW_NOTHROW ProfiLED_IOMCU());
+                break;
+#endif
 #if AP_NOTIFY_LP5562_ENABLED
             case Notify_LED_LP5562_I2C_External:
                 FOREACH_I2C_EXTERNAL(b) {

libraries/AP_Notify/AP_Notify.h

@@ -97,6 +97,9 @@ class AP_Notify
 #endif
 #if AP_NOTIFY_NEOPIXEL_ENABLED
         Notify_LED_NeoPixelRGB              = (1 << 18), // NeoPixel AdaFruit 4544 Worldsemi WS2811
+#endif
+#if HAL_WITH_IO_MCU
+        Notify_LED_ProfiLED_IOMCU           = (1 << 19), // ProfiLED IOMCU
 #endif
         Notify_LED_MAX
     };

libraries/AP_Notify/ProfiLED_IOMCU.h

@@ -0,0 +1,40 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include "RGBLed.h"
+#include <AP_Common/AP_Common.h>
+
+#if HAL_WITH_IO_MCU
+#include <AP_IOMCU/AP_IOMCU.h>
+
+class ProfiLED_IOMCU : public RGBLed {
+public:
+    ProfiLED_IOMCU() : RGBLed(0, 0xFF, 0x7F, 0x33) {}
+
+    bool init(void) override { return true; }
+
+protected:
+    bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b) override {
+        const auto iomcu = AP::iomcu();
+        if (iomcu == nullptr) {
+            return false;
+        }
+        iomcu->set_profiled(r, g, b);
+        return true;
+    }
+};
+
+#endif