fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-14 12:20:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

rgbled: more cleanup

Browse Source
This commit is contained in:
Anton Babushkin
2013-09-19 18:13:11 +02:00
parent f2d5d008a6
commit a012d5be82
1 changed files with 71 additions and 63 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/rgbled/rgbled.cpp
+71 -63
View File
@@ -241,8 +241,9 @@ RGBLED::led_trampoline(void *arg)
rgbl->led();
}
/**
* Main loop function
*/
void
RGBLED::led()
{
@@ -317,7 +318,7 @@ RGBLED::set_color(rgbled_color_t color)
case RGBLED_COLOR_YELLOW:
_r = 255;
_g = 70;
_g = 200;
_b = 0;
break;
@@ -347,7 +348,7 @@ RGBLED::set_color(rgbled_color_t color)
case RGBLED_COLOR_AMBER:
_r = 255;
_g = 20;
_g = 80;
_b = 0;
break;
@@ -399,84 +400,91 @@ RGBLED::set_color(rgbled_color_t color)
}
}
/**
* Set mode, if mode not changed has no any effect (doesn't reset blinks phase)
*/
void
RGBLED::set_mode(rgbled_mode_t mode)
{
_mode = mode;
bool should_run = false;
if (mode != _mode) {
_mode = mode;
bool should_run = false;
switch (mode) {
case RGBLED_MODE_OFF:
send_led_enable(false);
break;
switch (mode) {
case RGBLED_MODE_OFF:
send_led_enable(false);
break;
case RGBLED_MODE_ON:
_brightness = 1.0f;
send_led_rgb();
send_led_enable(true);
break;
case RGBLED_MODE_ON:
_brightness = 1.0f;
send_led_rgb();
send_led_enable(true);
break;
case RGBLED_MODE_BLINK_SLOW:
should_run = true;
_counter = 0;
_led_interval = 2000;
_brightness = 1.0f;
send_led_rgb();
break;
case RGBLED_MODE_BLINK_SLOW:
should_run = true;
_counter = 0;
_led_interval = 2000;
_brightness = 1.0f;
send_led_rgb();
break;
case RGBLED_MODE_BLINK_NORMAL:
should_run = true;
_counter = 0;
_led_interval = 500;
_brightness = 1.0f;
send_led_rgb();
break;
case RGBLED_MODE_BLINK_NORMAL:
should_run = true;
_counter = 0;
_led_interval = 500;
_brightness = 1.0f;
send_led_rgb();
break;
case RGBLED_MODE_BLINK_FAST:
should_run = true;
_counter = 0;
_led_interval = 100;
_brightness = 1.0f;
send_led_rgb();
break;
case RGBLED_MODE_BLINK_FAST:
should_run = true;
_counter = 0;
_led_interval = 100;
_brightness = 1.0f;
send_led_rgb();
break;
case RGBLED_MODE_BREATHE:
should_run = true;
_counter = 0;
_led_interval = 25;
send_led_enable(true);
break;
case RGBLED_MODE_BREATHE:
should_run = true;
_counter = 0;
_led_interval = 25;
send_led_enable(true);
break;
case RGBLED_MODE_PATTERN:
should_run = true;
_counter = 0;
_brightness = 1.0f;
send_led_enable(true);
break;
case RGBLED_MODE_PATTERN:
should_run = true;
_counter = 0;
_brightness = 1.0f;
send_led_enable(true);
break;
default:
warnx("mode unknown");
break;
}
default:
warnx("mode unknown");
break;
}
/* if it should run now, start the workq */
if (should_run && !_running) {
_running = true;
work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, 1);
}
/* if it should run now, start the workq */
if (should_run && !_running) {
_running = true;
work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, 1);
}
/* if it should stop, then cancel the workq */
if (!should_run && _running) {
_running = false;
work_cancel(LPWORK, &_work);
/* if it should stop, then cancel the workq */
if (!should_run && _running) {
_running = false;
work_cancel(LPWORK, &_work);
}
}
}
/**
* Set pattern for PATTERN mode, but don't change current mode
*/
void
RGBLED::set_pattern(rgbled_pattern_t *pattern)
{
memcpy(&_pattern, pattern, sizeof(rgbled_pattern_t));
set_mode(RGBLED_MODE_PATTERN);
}
/**
@@ -622,7 +630,7 @@ rgbled_main(int argc, char *argv[])
}
rgbled_pattern_t pattern = { {RGBLED_COLOR_RED, RGBLED_COLOR_GREEN, RGBLED_COLOR_BLUE, RGBLED_COLOR_WHITE, RGBLED_COLOR_OFF, RGBLED_COLOR_OFF},
{500, 500, 500, 500, 1000, 0 }
{500, 500, 500, 500, 1000, 0 } // "0" indicates end of pattern
};
ret = ioctl(fd, RGBLED_SET_PATTERN, (unsigned long)&pattern);