lib/led: move drivers/lights/rgbled LED_RGB_MAXBRT -> SYS_RGB_MAXBRT

src/lib/led/led.cpp

@@ -40,6 +40,31 @@
 
 int LedController::update(LedControlData &control_data)
 {
+	bool had_changes = false; // did one of the outputs change?
+
+	// check for parameter updates
+	if (_parameter_update_sub.updated()) {
+		// clear update
+		parameter_update_s pupdate;
+		_parameter_update_sub.copy(&pupdate);
+
+		updateParams();
+
+		const uint8_t max_brightness_prev = _max_brightness;
+
+		// set maximum brightness (0-255) from percentage
+		_max_brightness = roundf(math::constrain(_param_sys_rgb_maxbrt.get(), 0.f, 1.f) * UINT8_MAX);
+
+		// update existing
+		for (int i = 0; i < BOARD_MAX_LEDS; ++i) {
+			control_data.leds[i].brightness = math::min(_max_brightness, control_data.leds[i].brightness);
+		}
+
+		if (_max_brightness != max_brightness_prev) {
+			had_changes = true;
+		}
+	}
+
 	while (_led_control_sub.updated() || _force_update) {
 		const unsigned last_generation = _led_control_sub.get_last_generation();
 
@@ -78,8 +103,6 @@ int LedController::update(LedControlData &control_data)
 		_force_update = false;
 	}
 
-	bool had_changes = false; // did one of the outputs change?
-
 	// handle state updates
 	hrt_abstime now = hrt_absolute_time();
 
@@ -207,7 +230,7 @@ void LedController::get_control_data(LedControlData &control_data)
 
 	for (int i = 0; i < BOARD_MAX_LEDS; ++i) {
 		control_data.leds[i].color = led_control_s::COLOR_OFF; // set output to a defined state
-		control_data.leds[i].brightness = 255;
+		control_data.leds[i].brightness = _max_brightness;
 
 		for (int priority = led_control_s::MAX_PRIORITY; priority >= 0; --priority) {
 			bool flash_output_active = true;
@@ -226,7 +249,7 @@ void LedController::get_control_data(LedControlData &control_data)
 					// fade on and off
 					int counter = _states[i].current_blinking_time / (BREATHE_INTERVAL / 100);
 					int n = counter >= (BREATHE_STEPS / 2) ? BREATHE_STEPS - counter : counter;
-					control_data.leds[i].brightness = (n * n) * 255 / (BREATHE_STEPS * BREATHE_STEPS / 4); // (n/(steps/2))^2
+					control_data.leds[i].brightness = (n * n) * _max_brightness / (BREATHE_STEPS * BREATHE_STEPS / 4); // (n/(steps/2))^2
 					control_data.leds[i].color = cur_data.color;
 					_breathe_enabled = true;
 					break;

src/lib/led/led.h

@@ -44,15 +44,23 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_led.h>
 
+#include <px4_platform_common/module_params.h>
+
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/led_control.h>
+#include <uORB/topics/parameter_update.h>
+
+#include <lib/parameters/param.h>
+
+using namespace time_literals;
 
 struct LedControlDataSingle {
-	uint8_t color; ///< one of led_control_s::COLOR_*
-	uint8_t brightness; ///< brightness in [0, 255]
+	uint8_t color{led_control_s::COLOR_OFF}; ///< one of led_control_s::COLOR_*
+	uint8_t brightness{0}; ///< brightness in [0, 255]
 };
 struct LedControlData {
-	LedControlDataSingle leds[BOARD_MAX_LEDS];
+	LedControlDataSingle leds[BOARD_MAX_LEDS] {};
 };
 
 
@@ -60,11 +68,11 @@ struct LedControlData {
  ** class LedController
  * Handles the led_control topic: blinking, priorities and state updates.
  */
-class LedController
+class LedController : public ModuleParams
 {
 public:
-	LedController() = default;
-	~LedController() = default;
+	LedController() : ModuleParams(nullptr) {}
+	~LedController() override = default;
 
 	/**
 	 * get maxium time between two consecutive calls to update() in us.
@@ -148,8 +156,6 @@ private:
 				// handle infinite case
 				priority[next_priority].blink_times_left = 246;
 			}
-
-
 		}
 
 		void apply_next_state()
@@ -175,7 +181,16 @@ private:
 	PerLedData _states[BOARD_MAX_LEDS]; ///< keep current LED states
 
 	uORB::Subscription _led_control_sub{ORB_ID(led_control)}; ///< uorb subscription
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	hrt_abstime _last_update_call{0};
+
+	uint8_t _max_brightness{UINT8_MAX};
+
 	bool _force_update{true}; ///< force an orb_copy in the beginning
 	bool _breathe_enabled{false}; ///< true if at least one of the led's is currently in breathe mode
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::SYS_RGB_MAXBRT>) _param_sys_rgb_maxbrt
+	)
 };

src/lib/led/led_params.c

@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015-2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * RGB Led brightness limit
+ *
+ * Set to 0 to disable, 1 for maximum brightness
+ *
+ * @unit %
+ * @group System
+ */
+PARAM_DEFINE_FLOAT(SYS_RGB_MAXBRT, 1.f);

src/lib/parameters/param_translation.cpp

@@ -38,6 +38,7 @@
 #include <lib/drivers/device/Device.hpp>
 #include <drivers/drv_sensor.h>
 #include <lib/parameters/param.h>
+#include <lib/mathlib/mathlib.h>
 
 bool param_modify_on_import(bson_node_t node)
 {
@@ -91,6 +92,18 @@ bool param_modify_on_import(bson_node_t node)
 		}
 	}
 
+	// 2021-08-27: translate LED_RGB_MAXBRT (0-15) to SYS_RGB_MAXBRT(0.f-1.f)
+	if (node->type == BSON_INT32) {
+		if (strcmp("LED_RGB_MAXBRT", node->name) == 0) {
+			// convert integer (0-15) to float percentage
+			node->d = math::constrain(static_cast<double>(node->i) / 15., 0., 1.);
+			node->type = BSON_DOUBLE;
+			strcpy(node->name, "SYS_RGB_MAXBRT");
+			PX4_INFO("param migrating LED_RGB_MAXBRT (removed) -> SYS_RGB_MAXBRT: value=%.3f", node->d);
+			return true;
+		}
+	}
+
 	// 2020-06-29 (v1.11 beta): translate CAL_ACCx_EN/CAL_GYROx_EN/CAL_MAGx_EN -> CAL_ACCx_PRIO/CAL_GYROx_PRIO/CAL_MAGx_PRIO
 	if (node->type == BSON_INT32) {