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

src/drivers/lights/rgbled/rgbled.cpp

@@ -48,9 +48,6 @@
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/module.h>
-#include <uORB/Subscription.hpp>
-#include <uORB/SubscriptionInterval.hpp>
-#include <uORB/topics/parameter_update.h>
 
 using namespace time_literals;
 
@@ -78,26 +75,20 @@ public:
 
 	void			RunImpl();
 
-protected:
-	void			print_status() override;
 private:
+	void			print_status() override;
+	int			send_led_enable(bool enable);
+	int			send_led_rgb();
+	int			get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b);
 
 	float			_brightness{1.0f};
-	float			_max_brightness{1.0f};
 
 	uint8_t			_r{0};
 	uint8_t			_g{0};
 	uint8_t			_b{0};
 	bool			_leds_enabled{true};
 
-	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
-
 	LedController		_led_controller;
-
-	int			send_led_enable(bool enable);
-	int			send_led_rgb();
-	int			get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b);
-	void			update_params();
 };
 
 RGBLED::RGBLED(const I2CSPIDriverConfig &config) :
@@ -119,8 +110,6 @@ RGBLED::init()
 	send_led_enable(false);
 	send_led_rgb();
 
-	update_params();
-
 	// kick off work queue
 	ScheduleNow();
 
@@ -166,19 +155,6 @@ RGBLED::print_status()
 void
 RGBLED::RunImpl()
 {
-	// check for parameter updates
-	if (_parameter_update_sub.updated()) {
-		// clear update
-		parameter_update_s pupdate;
-		_parameter_update_sub.copy(&pupdate);
-
-		// update parameters from storage
-		update_params();
-
-		// Immediately update to change brightness
-		send_led_rgb();
-	}
-
 	LedControlData led_control_data;
 
 	if (_led_controller.update(led_control_data) == 1) {
@@ -267,9 +243,9 @@ RGBLED::send_led_rgb()
 {
 	/* To scale from 0..255 -> 0..15 shift right by 4 bits */
 	const uint8_t msg[6] = {
-		SUB_ADDR_PWM0, static_cast<uint8_t>((_b >> 4) * _brightness * _max_brightness + 0.5f),
+		SUB_ADDR_PWM0, static_cast<uint8_t>((_b >> 4) * _brightness + 0.5f),
-		SUB_ADDR_PWM1, static_cast<uint8_t>((_g >> 4) * _brightness * _max_brightness + 0.5f),
+		SUB_ADDR_PWM1, static_cast<uint8_t>((_g >> 4) * _brightness + 0.5f),
-		SUB_ADDR_PWM2, static_cast<uint8_t>((_r >> 4) * _brightness * _max_brightness + 0.5f)
+		SUB_ADDR_PWM2, static_cast<uint8_t>((_r >> 4) * _brightness + 0.5f)
 	};
 	return transfer(msg, sizeof(msg), nullptr, 0);
 }
@@ -294,22 +270,6 @@ RGBLED::get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b)
 	return ret;
 }
 
-void
-RGBLED::update_params()
-{
-	int32_t maxbrt = 15;
-	param_get(param_find("LED_RGB_MAXBRT"), &maxbrt);
-	maxbrt = maxbrt > 15 ? 15 : maxbrt;
-	maxbrt = maxbrt <  0 ?  0 : maxbrt;
-
-	// A minimum of 2 "on" steps is required for breathe effect
-	if (maxbrt == 1) {
-		maxbrt = 2;
-	}
-
-	_max_brightness = maxbrt / 15.0f;
-}
-
 void
 RGBLED::print_usage()
 {

src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp

@@ -44,12 +44,9 @@
 
 #include <drivers/device/i2c.h>
 #include <lib/led/led.h>
-#include <lib/parameters/param.h>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/module.h>
-#include <uORB/SubscriptionInterval.hpp>
-#include <uORB/topics/parameter_update.h>
 
 using namespace time_literals;
 
@@ -81,12 +78,10 @@ public:
 
 private:
 	int			send_led_rgb();
-	void			update_params();
 
 	int			write(uint8_t reg, uint8_t data);
 
 	float			_brightness{1.0f};
-	float			_max_brightness{1.0f};
 
 	uint8_t		_r{0};
 	uint8_t		_g{0};
@@ -95,8 +90,6 @@ private:
 	volatile bool		_should_run{true};
 	bool			_leds_enabled{true};
 
-	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
-
 	LedController		_led_controller;
 
 	uint8_t		_red{NCP5623_LED_PWM0};
@@ -154,8 +147,6 @@ RGBLED_NCP5623C::init()
 		return ret;
 	}
 
-	update_params();
-
 	_running = true;
 
 	ScheduleNow();
@@ -180,19 +171,6 @@ RGBLED_NCP5623C::probe()
 void
 RGBLED_NCP5623C::RunImpl()
 {
-	// check for parameter updates
-	if (_parameter_update_sub.updated()) {
-		// clear update
-		parameter_update_s pupdate;
-		_parameter_update_sub.copy(&pupdate);
-
-		// update parameters from storage
-		update_params();
-
-		// Immediately update to change brightness
-		send_led_rgb();
-	}
-
 	LedControlData led_control_data;
 
 	if (_led_controller.update(led_control_data) == 1) {
@@ -247,7 +225,7 @@ int
 RGBLED_NCP5623C::send_led_rgb()
 {
 	uint8_t msg[7] = {0x20, 0x70, 0x40, 0x70, 0x60, 0x70, 0x80};
-	uint8_t brightness = 0x1f * _max_brightness;
+	uint8_t brightness = UINT8_MAX;
 
 	msg[0] = NCP5623_LED_CURRENT | (brightness & 0x1f);
 	msg[2] = _red | (uint8_t(_r * _brightness) & 0x1f);
@@ -257,21 +235,6 @@ RGBLED_NCP5623C::send_led_rgb()
 	return transfer(&msg[0], 7, nullptr, 0);
 }
 
-void
-RGBLED_NCP5623C::update_params()
-{
-	int32_t maxbrt = 31;
-	param_get(param_find("LED_RGB1_MAXBRT"), &maxbrt);
-	maxbrt = maxbrt > 31 ? 31 : maxbrt;
-	maxbrt = maxbrt <  0 ?  0 : maxbrt;
-
-	if (maxbrt == 0) {
-		maxbrt = 1;
-	}
-
-	_max_brightness = maxbrt / 31.0f;
-}
-
 void
 RGBLED_NCP5623C::print_usage()
 {

src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c_params.c

@@ -1,55 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018 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. Redistribution of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistribution 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.
- *
- ****************************************************************************/
-
-/*
- * @file rgbled_ncp5623c_params.c
- *
- * Parameters defined by the RBG led driver
- *
- * @author CUAVcaijie <caijie@cuav.net>
- */
-
-
-#include <px4_platform_common/px4_config.h>
-#include <parameters/param.h>
-
-/**
- * RGB Led brightness limit
- *
- * Set to 0 to disable, 1 for minimum brightness up to 31 (max)
- *
- * @min 0
- * @max 31
- * @group System
- */
-PARAM_DEFINE_INT32(LED_RGB1_MAXBRT, 31);

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 color{led_control_s::COLOR_OFF}; ///< one of led_control_s::COLOR_*
-	uint8_t brightness; ///< brightness in [0, 255]
+	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() : ModuleParams(nullptr) {}
-	~LedController() = default;
+	~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

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *   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
@@ -31,25 +31,12 @@
  *
  ****************************************************************************/
 
-/*
- * @file rgbled_params.c
- *
- * Parameters defined by the RBG led driver
- *
- * @author Nate Weibley <nate.weibley@prioria.com>
- */
-
-
-#include <px4_platform_common/px4_config.h>
-#include <parameters/param.h>
-
 /**
  * RGB Led brightness limit
  *
- * Set to 0 to disable, 1 for minimum brightness up to 15 (max)
+ * Set to 0 to disable, 1 for maximum brightness
  *
- * @min 0
+ * @unit %
- * @max 15
  * @group System
  */
-PARAM_DEFINE_INT32(LED_RGB_MAXBRT, 15);
+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) {