ardupilot/libraries/AP_Notify/ToshibaLED.cpp

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/*
ToshibaLED driver
*/
/*
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/>.
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*/
#include <AP_HAL.h>
#include "ToshibaLED.h"
#include "AP_Notify.h"
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extern const AP_HAL::HAL& hal;
void ToshibaLED::init()
{
_healthy = hw_init();
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}
// set_rgb - set color as a combination of red, green and blue values
void ToshibaLED::set_rgb(uint8_t red, uint8_t green, uint8_t blue)
{
// return immediately if not enabled
if (!_healthy) {
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return;
}
if (red != _red_curr ||
green != _green_curr ||
blue != _blue_curr) {
// call the hardware update routine
if (hw_set_rgb(red, green, blue)) {
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_red_curr = red;
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_green_curr = green;
_blue_curr = blue;
}
}
}
// _scheduled_update - updates _red, _green, _blue according to notify flags
void ToshibaLED::update_colours(void)
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{
// slow rate from 50Hz to 10hz
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counter++;
if (counter < 5) {
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return;
}
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// reset counter
counter = 0;
// move forward one step
step++;
if (step >= 10) {
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step = 0;
}
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// initialising pattern
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if (AP_Notify::flags.initialising) {
if (step & 1) {
// odd steps display red light
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_red_des = TOSHIBA_LED_DIM;
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_blue_des = TOSHIBA_LED_OFF;
_green_des = TOSHIBA_LED_OFF;
} else {
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// even display blue light
_red_des = TOSHIBA_LED_OFF;
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_blue_des = TOSHIBA_LED_DIM;
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_green_des = TOSHIBA_LED_OFF;
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}
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// exit so no other status modify this pattern
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return;
}
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// save trim and esc calibration pattern
if (AP_Notify::flags.save_trim || AP_Notify::flags.esc_calibration) {
switch(step) {
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case 0:
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case 3:
case 6:
// red on
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_red_des = TOSHIBA_LED_DIM;
_blue_des = TOSHIBA_LED_OFF;
_green_des = TOSHIBA_LED_OFF;
break;
case 1:
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case 4:
case 7:
// blue on
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_red_des = TOSHIBA_LED_OFF;
_blue_des = TOSHIBA_LED_DIM;
_green_des = TOSHIBA_LED_OFF;
break;
case 2:
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case 5:
case 8:
// green on
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_red_des = TOSHIBA_LED_OFF;
_blue_des = TOSHIBA_LED_OFF;
_green_des = TOSHIBA_LED_DIM;
break;
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case 9:
// all off
_red_des = TOSHIBA_LED_OFF;
_blue_des = TOSHIBA_LED_OFF;
_green_des = TOSHIBA_LED_OFF;
break;
}
// exit so no other status modify this pattern
return;
}
// failsafe patterns for radio and battery - single flash yellow
// failsafe pattern for gps - flashing blue and yellow
if (AP_Notify::flags.failsafe_radio || AP_Notify::flags.failsafe_battery || AP_Notify::flags.failsafe_gps || AP_Notify::flags.gps_glitching) {
switch(step) {
case 0:
case 1:
case 2:
case 3:
case 4:
// yellow on
_red_des = TOSHIBA_LED_DIM;
_blue_des = TOSHIBA_LED_OFF;
_green_des = TOSHIBA_LED_DIM;
break;
case 5:
case 6:
case 7:
case 8:
case 9:
// all off of radio or battery, blue on for gps
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_red_des = TOSHIBA_LED_OFF;
if (AP_Notify::flags.failsafe_gps || AP_Notify::flags.gps_glitching) {
_blue_des = TOSHIBA_LED_DIM;
}else{
_blue_des = TOSHIBA_LED_OFF;
}
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_green_des = TOSHIBA_LED_OFF;
break;
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}
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// exit so no other status modify this pattern
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return;
}
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// solid green or flashing green if armed
if (AP_Notify::flags.armed) {
// solid green if armed with 3d lock
if (AP_Notify::flags.gps_status == 3) {
_red_des = TOSHIBA_LED_OFF;
_blue_des = TOSHIBA_LED_OFF;
_green_des = TOSHIBA_LED_DIM;
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}else{
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// flash green if armed with no gps lock
switch(step) {
case 0:
case 1:
case 2:
case 3:
case 4:
_red_des = TOSHIBA_LED_OFF;
_blue_des = TOSHIBA_LED_OFF;
_green_des = TOSHIBA_LED_DIM;
break;
case 5:
case 6:
case 7:
case 8:
case 9:
// all off
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_red_des = TOSHIBA_LED_OFF;
_blue_des = TOSHIBA_LED_OFF;
_green_des = TOSHIBA_LED_OFF;
break;
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}
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}
return;
}else{
// double flash yellow if failing pre-arm checks
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if (!AP_Notify::flags.pre_arm_check) {
switch(step) {
case 0:
case 1:
case 4:
case 5:
// yellow on
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_red_des = TOSHIBA_LED_DIM;
_blue_des = TOSHIBA_LED_OFF;
_green_des = TOSHIBA_LED_DIM;
break;
case 2:
case 3:
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case 6:
case 7:
case 8:
case 9:
// all off
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_red_des = TOSHIBA_LED_OFF;
_blue_des = TOSHIBA_LED_OFF;
_green_des = TOSHIBA_LED_OFF;
break;
}
}else{
// solid blue if gps 3d lock
if (AP_Notify::flags.gps_status == 3) {
_red_des = TOSHIBA_LED_OFF;
_blue_des = TOSHIBA_LED_DIM;
_green_des = TOSHIBA_LED_OFF;
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}else{
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// flashing blue if no gps lock
switch(step) {
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case 0:
case 1:
case 2:
case 3:
case 4:
// blue on
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_red_des = TOSHIBA_LED_OFF;
_blue_des = TOSHIBA_LED_DIM;
_green_des = TOSHIBA_LED_OFF;
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break;
case 5:
case 6:
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case 7:
case 8:
case 9:
// all off
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_red_des = TOSHIBA_LED_OFF;
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_blue_des = TOSHIBA_LED_OFF;
_green_des = TOSHIBA_LED_OFF;
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break;
}
}
}
}
}
// update - updates led according to timed_updated. Should be called
// at 50Hz
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void ToshibaLED::update()
{
// return immediately if not enabled
if (!_healthy) {
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return;
}
update_colours();
set_rgb(_red_des, _green_des, _blue_des);
}