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Changed RGBLED behaviour, breathe mode when disarmed and ready to arm

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This commit is contained in:
Julian Oes
2013-08-29 16:45:33 +02:00
parent 55cfa5152c
commit 9bcfe49cff
3 changed files with 78 additions and 65 deletions
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src/drivers/rgbled/rgbled.cpp
+41 -5
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (C) 2012, 2013 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
@@ -96,6 +96,11 @@ private:
rgbled_mode_t _mode;
rgbled_pattern_t _pattern;
float _brightness;
uint8_t _r;
uint8_t _g;
uint8_t _b;
bool _should_run;
bool _running;
int _led_interval;
@@ -104,6 +109,7 @@ private:
void set_color(rgbled_color_t ledcolor);
void set_mode(rgbled_mode_t mode);
void set_pattern(rgbled_pattern_t *pattern);
void set_brightness(float brightness);
static void led_trampoline(void *arg);
void led();
@@ -128,6 +134,10 @@ RGBLED::RGBLED(int bus, int rgbled) :
_color(RGBLED_COLOR_OFF),
_mode(RGBLED_MODE_OFF),
_running(false),
_brightness(1.0f),
_r(0),
_g(0),
_b(0),
_led_interval(0),
_counter(0)
{
@@ -191,7 +201,6 @@ int
RGBLED::ioctl(struct file *filp, int cmd, unsigned long arg)
{
int ret = ENOTTY;
switch (cmd) {
case RGBLED_SET_RGB:
/* set the specified RGB values */
@@ -246,6 +255,15 @@ RGBLED::led()
else
set_on(false);
break;
case RGBLED_MODE_BREATHE:
if (_counter >= 30)
_counter = 0;
if (_counter <= 15) {
set_brightness(((float)_counter)*((float)_counter)/(15.0f*15.0f));
} else {
set_brightness(((float)(30-_counter))*((float)(30-_counter))/(15.0f*15.0f));
}
break;
case RGBLED_MODE_PATTERN:
/* don't run out of the pattern array and stop if the next frame is 0 */
if (_counter >= RGBLED_PATTERN_LENGTH || _pattern.duration[_counter] <= 0)
@@ -294,7 +312,7 @@ RGBLED::set_color(rgbled_color_t color) {
case RGBLED_COLOR_AMBER: // amber
set_rgb(255,20,0);
break;
case RGBLED_COLOR_DIM_RED: // red
case RGBLED_COLOR_DIM_RED: // red
set_rgb(90,0,0);
break;
case RGBLED_COLOR_DIM_YELLOW: // yellow
@@ -306,7 +324,7 @@ RGBLED::set_color(rgbled_color_t color) {
case RGBLED_COLOR_DIM_GREEN: // green
set_rgb(0,90,0);
break;
case RGBLED_COLOR_DIM_BLUE: // blue
case RGBLED_COLOR_DIM_BLUE: // blue
set_rgb(0,0,90);
break;
case RGBLED_COLOR_DIM_WHITE: // white
@@ -347,6 +365,12 @@ RGBLED::set_mode(rgbled_mode_t mode)
_should_run = true;
_led_interval = 100;
break;
case RGBLED_MODE_BREATHE:
_should_run = true;
set_on(true);
_counter = 0;
_led_interval = 1000/15;
break;
case RGBLED_MODE_PATTERN:
_should_run = true;
set_on(true);
@@ -377,6 +401,13 @@ RGBLED::set_pattern(rgbled_pattern_t *pattern)
set_mode(RGBLED_MODE_PATTERN);
}
void
RGBLED::set_brightness(float brightness) {
_brightness = brightness;
set_rgb(_r, _g, _b);
}
int
RGBLED::set(bool on, uint8_t r, uint8_t g, uint8_t b)
{
@@ -413,7 +444,12 @@ RGBLED::set_on(bool on)
int
RGBLED::set_rgb(uint8_t r, uint8_t g, uint8_t b)
{
const uint8_t msg[6] = { SUB_ADDR_PWM0, (uint8_t)(b*15/255), SUB_ADDR_PWM1, (uint8_t)(g*15/255), SUB_ADDR_PWM2, (uint8_t)(r*15/255)};
/* save the RGB values in case we want to change the brightness later */
_r = r;
_g = g;
_b = b;
const uint8_t msg[6] = { SUB_ADDR_PWM0, (uint8_t)((float)b/255.0f*15.0f*_brightness), SUB_ADDR_PWM1, (uint8_t)((float)g/255.0f*15.0f*_brightness), SUB_ADDR_PWM2, (uint8_t)((float)r/255.0f*15.0f*_brightness)};
return transfer(msg, sizeof(msg), nullptr, 0);
}