From 2857b57d92c010e99022b9ba60a4e372b2bf0a04 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 10 Oct 2019 14:18:59 +1100
Subject: [PATCH] AP_Periph: added LED_BRIGHTNESS param

default was too bright
---
 Tools/AP_Periph/Parameters.cpp |  4 ++++
 Tools/AP_Periph/Parameters.h   |  4 ++++
 Tools/AP_Periph/can.cpp        | 12 +++++++++---
 3 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp
index d04e0b407f..dd8a158008 100644
--- a/Tools/AP_Periph/Parameters.cpp
+++ b/Tools/AP_Periph/Parameters.cpp
@@ -50,6 +50,10 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(baro, "BARO_", AP_Baro),
 #endif
 
+#ifdef HAL_PERIPH_NEOPIXEL_COUNT
+    GSCALAR(led_brightness, "LED_BRIGHTNESS", 50),
+#endif
+
     AP_VAREND
 };
 
diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h
index 71ad200ba4..c43ea3cd91 100644
--- a/Tools/AP_Periph/Parameters.h
+++ b/Tools/AP_Periph/Parameters.h
@@ -18,6 +18,7 @@ public:
         k_param_can_baudrate,
         k_param_baro,
         k_param_buzz_volume,
+        k_param_led_brightness,
     };
 
     AP_Int16 format_version;
@@ -26,6 +27,9 @@ public:
 #ifdef HAL_PERIPH_ENABLE_BUZZER
     AP_Int8 buzz_volume;
 #endif
+#ifdef HAL_PERIPH_NEOPIXEL_COUNT
+    AP_Int8 led_brightness;
+#endif
 
     Parameters() {}
 };
diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 55b1655591..b3da733958 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -422,9 +422,15 @@ static void handle_lightscommand(CanardInstance* ins, CanardRxTransfer* transfer
         uavcan_equipment_indication_SingleLightCommand &cmd = req.commands.data[i];
         // to get the right color proportions we scale the green so that is uses the
         // same number of bits as red and blue
-        const uint8_t red = cmd.color.red<<3;
-        const uint8_t green = (cmd.color.green>>1)<<3;
-        const uint8_t blue = cmd.color.blue<<3;
+        uint8_t red = cmd.color.red<<3;
+        uint8_t green = (cmd.color.green>>1)<<3;
+        uint8_t blue = cmd.color.blue<<3;
+        if (periph.g.led_brightness != 100 && periph.g.led_brightness >= 0) {
+            float scale = periph.g.led_brightness * 0.01;
+            red = constrain_int16(red * scale, 0, 255);
+            green = constrain_int16(green * scale, 0, 255);
+            blue = constrain_int16(blue * scale, 0, 255);
+        }
         hal.rcout->set_neopixel_rgb_data(HAL_PERIPH_NEOPIXEL_CHAN, (1U<<HAL_PERIPH_NEOPIXEL_COUNT)-1,
                                          red, green, blue);
     }