ardupilot/libraries/AP_Notify/OreoLED_PX4.h

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/*
OreoLED I2C 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/>.
*/
#pragma once
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <AP_HAL/AP_HAL.h>
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#include "NotifyDevice.h"
#include <drivers/drv_oreoled.h>
#define OREOLED_NUM_LEDS 4 // maximum number of individual LEDs connected to the oreo led cpu
#define OREOLED_INSTANCE_ALL 0xff // instance number to indicate all LEDs (used for set_rgb and set_macro)
#define OREOLED_BRIGHT 0xff // maximum brightness when flying (disconnected from usb)
#define CUSTOM_HEADER_LENGTH 4 // number of bytes in the custom LED buffer that are used to identify the command
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class OreoLED_PX4 : public NotifyDevice
{
public:
// constuctor
OreoLED_PX4(uint8_t theme);
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// init - initialised the device
bool init(void);
// update - updates device according to timed_updated. Should be
// called at 50Hz
void update();
// healthy - return true if at least one LED is responding
bool healthy() const { return _overall_health; }
// handle a LED_CONTROL message, by default device ignore message
void handle_led_control(mavlink_message_t *msg);
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private:
// update_timer - called by scheduler and updates PX4 driver with commands
void update_timer(void);
// set_rgb - set color as a combination of red, green and blue values for one or all LEDs, pattern defaults to solid color
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void set_rgb(uint8_t instance, uint8_t red, uint8_t green, uint8_t blue);
// set_rgb - set color as a combination of red, green and blue values for one or all LEDs, using the specified pattern
void set_rgb(uint8_t instance, enum oreoled_pattern pattern, uint8_t red, uint8_t green, uint8_t blue);
// set_rgb - set color as a combination of red, green and blue values for one or all LEDs, using the specified pattern and other parameters
void set_rgb(uint8_t instance, oreoled_pattern pattern, uint8_t red, uint8_t green, uint8_t blue,
uint8_t amplitude_red, uint8_t amplitude_green, uint8_t amplitude_blue,
uint16_t period, uint16_t phase_offset);
// set_macro - set macro for one or all LEDs
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void set_macro(uint8_t instance, enum oreoled_macro macro);
// send_sync - force a syncronisation of the all LED's
void send_sync();
// functions to set LEDs to specific patterns. These functions return true if no further updates should be made to LEDs this iteration
bool slow_counter(void);
void sync_counter(void);
bool mode_firmware_update(void);
bool mode_init(void);
bool mode_failsafe_radio(void);
bool set_standard_colors(void);
bool mode_failsafe_batt(void);
bool mode_auto_flight(void);
bool mode_pilot_flight(void);
// Clear the desired state
void clear_state(void);
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// oreo led modes (pattern, macro or rgb)
enum oreoled_mode {
OREOLED_MODE_NONE,
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OREOLED_MODE_MACRO,
OREOLED_MODE_RGB,
OREOLED_MODE_RGB_EXTENDED,
OREOLED_MODE_SYNC
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};
// Oreo LED modes
enum Oreo_LED_Theme {
OreoLED_Disabled = 0,
OreoLED_Aircraft = 1,
OreoLED_Automobile = 2,
};
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// oreo_state structure holds possible state of an led
struct oreo_state {
enum oreoled_mode mode;
enum oreoled_pattern pattern;
enum oreoled_macro macro;
uint8_t red;
uint8_t green;
uint8_t blue;
uint8_t amplitude_red;
uint8_t amplitude_green;
uint8_t amplitude_blue;
uint16_t period;
int8_t repeat;
uint16_t phase_offset;
oreo_state();
void clear_state();
void send_sync();
void set_macro(oreoled_macro new_macro);
void set_rgb(enum oreoled_pattern new_pattern, uint8_t new_red, uint8_t new_green, uint8_t new_blue);
void set_rgb(enum oreoled_pattern new_pattern, uint8_t new_red, uint8_t new_green,
uint8_t new_blue, uint8_t new_amplitude_red, uint8_t new_amplitude_green, uint8_t new_amplitude_blue,
uint16_t new_period, uint16_t new_phase_offset);
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bool operator==(const oreo_state &os);
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};
// private members
bool _overall_health; // overall health
int _oreoled_fd; // file descriptor
bool _send_required; // true when we need to send an update to at least one led
volatile bool _state_desired_semaphore; // true when we are updating the state desired values to ensure they are not sent prematurely
oreo_state _state_desired[OREOLED_NUM_LEDS]; // desired state
oreo_state _state_sent[OREOLED_NUM_LEDS]; // last state sent to led
uint8_t _pattern_override; // holds last processed pattern override, 0 if we are not overriding a pattern
uint8_t _oreo_theme; // theme (1=AirCraft, 2=Ground Vehicle)
uint8_t _rear_color_r = 255; // the rear LED red value
uint8_t _rear_color_g = 255; // the rear LED green value
uint8_t _rear_color_b = 255; // the rear LED blue value
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};
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4