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AP_Notify: simplify NeoPixel driver

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use new API to avoid complexities
This commit is contained in:
Andrew Tridgell 2019-09-09 19:23:04 +10:00
parent f441223b55
commit 28b5f2b021
2 changed files with 24 additions and 93 deletions
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84
libraries/AP_Notify/NeoPixel.cpp
View File

@ -38,25 +38,28 @@ NeoPixel::NeoPixel() :
bool NeoPixel::hw_init()
{
NeoPixel::init_ports();
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&NeoPixel::timer, void));
init_ports();
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&NeoPixel::timer, void));
return true;
}
uint16_t NeoPixel::init_ports()
{
static uint16_t last_mask = 0;
uint16_t mask = 0;
for (uint16_t i=0; i<AP_NOTIFY_NEOPIXEL_MAX_INSTANCES; i++) {
const SRV_Channel::Aux_servo_function_t chan = (SRV_Channel::Aux_servo_function_t)((uint8_t)SRV_Channel::k_LED_neopixel1 + i);
if (!SRV_Channels::function_assigned(chan)) {
const SRV_Channel::Aux_servo_function_t fn = (SRV_Channel::Aux_servo_function_t)((uint8_t)SRV_Channel::k_LED_neopixel1 + i);
if (!SRV_Channels::function_assigned(fn)) {
continue;
}
mask |= SRV_Channels::get_output_channel_mask(chan);
mask |= SRV_Channels::get_output_channel_mask(fn);
}
if (mask != 0 && mask != last_mask) {
hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_NEOPIXEL);
if (mask != 0) {
for (uint16_t chan=0; chan<16; chan++) {
if ((1U<<chan) & mask) {
hal.rcout->set_neopixel_num_LEDs(chan, 1);
}
}
}
last_mask = mask;
return mask;
@ -69,73 +72,22 @@ void NeoPixel::timer()
const uint32_t now_ms = AP_HAL::millis();
if (now_ms - _last_init_ms >= 1000) {
_last_init_ms = now_ms;
enable_mask = NeoPixel::init_ports();
enable_mask = init_ports();
}
if (enable_mask == 0) {
// nothing is enabled, no pins set as LED output
return;
}
#if NEOPIXEL_WHITE_STROBE
if (now_ms - _white_long_ms >= 2000) {
//start white light
_white_long_ms = now_ms;
_white_short_ms = now_ms; // start 100ms WHITE pulse
hw_set_rgb(0xFF,0xFF,0xFF);
} else if (_white_short_ms > 0 && now_ms - _white_short_ms >= 100) {
// stop white light
_white_short_ms = 0;
hw_set_rgb(_last_rgb.r, _last_rgb.g, _last_rgb.b);
}
#endif
}
bool NeoPixel::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
{
// always rememebr this even when disabled so when we enable it will show correct color
NeoPixel::RGB value {};
value.r = red;
value.g = green;
value.b = blue;
#if NEOPIXEL_WHITE_STROBE
if (_white_short_ms == 0) {
// if not during a WHITE BLINK then record last LED
_last_rgb.rgb = value.rgb;
}
#endif
if (enable_mask == 0) {
// nothing is enabled, no pins set as LED output
return true;
}
NeoPixel::write_LED(value);
for (uint16_t chan=0; chan<16; chan++) {
if ((1U<<chan) & enable_mask) {
hal.rcout->set_neopixel_rgb_data(chan, 1, red, green, blue);
}
}
hal.rcout->neopixel_send();
return true;
}
void NeoPixel::write_LED(NeoPixel::RGB value)
{
for (uint16_t i=0; i<AP_NOTIFY_NEOPIXEL_MAX_INSTANCES; i++) {
NeoPixel::write_LED(i, value);
}
}
void NeoPixel::write_LED(uint16_t instance, NeoPixel::RGB value)
{
if (instance >= AP_NOTIFY_NEOPIXEL_MAX_INSTANCES) {
return;
}
hal.rcout->set_neopixel_rgb_data(instance, value.rgb);
}
void NeoPixel::write_LED(uint16_t instance, uint8_t red, uint8_t green, uint8_t blue)
{
NeoPixel::RGB value {};
value.r = red;
value.g = green;
value.b = blue;
NeoPixel::write_LED(instance, value);
}

33
libraries/AP_Notify/NeoPixel.h
View File

@ -17,35 +17,25 @@
#include "RGBLed.h"
#include <AP_Common/AP_Common.h>
#define NEOPIXEL_WHITE_STROBE 0
class NeoPixel: public RGBLed {
public:
NeoPixel();
typedef union {
struct PACKED {
// **NOTE** These are GRB, not RGB
uint8_t b;
uint8_t r;
uint8_t g;
uint8_t unused;
};
uint32_t rgb;
struct {
uint8_t b;
uint8_t r;
uint8_t g;
} RGB;
static void write_LED(NeoPixel::RGB value);
static void write_LED(uint16_t instance, NeoPixel::RGB value);
static void write_LED(uint16_t instance, uint8_t red, uint8_t green, uint8_t blue);
static uint16_t init_ports();
uint16_t init_ports();
protected:
bool hw_init(void) override;
bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b) override;
private:
uint16_t enable_mask;
uint16_t last_mask;
// perdiodic tick to re-init
uint32_t _last_init_ms;
@ -54,15 +44,4 @@ private:
void timer();
HAL_Semaphore_Recursive _sem;
#if NEOPIXEL_WHITE_STROBE
// remember last RGB so we can resume after a white pulse
RGB _last_rgb;
uint32_t _white_long_ms;
uint32_t _white_short_ms;
#endif
};