mirror of https://github.com/ArduPilot/ardupilot
ArduCopter - LEDS - main code to support COPTER_LEDS.
Code by Robert Lefebvre
This commit is contained in:
rmackay9
parent
a429c78d20
commit
33bd558a94
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@ -454,6 +454,10 @@ static boolean GPS_light;
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// This is current status for the LED lights state machine
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// setting this value changes the output of the LEDs
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static byte led_mode = NORMAL_LEDS;
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// Blinking indicates GPS status
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static byte copter_leds_GPS_blink = 0;
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// Blinking indicates battery status
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static byte copter_leds_motor_blink = 0;
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////////////////////////////////////////////////////////////////////////////////
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// GPS variables
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@ -1121,6 +1125,10 @@ static void medium_loop()
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USERHOOK_MEDIUMLOOP
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#endif
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#if COPTER_LEDS == ENABLED
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update_copter_leds();
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#endif
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slow_loop();
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break;
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@ -1239,10 +1247,6 @@ static void slow_loop()
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if(g.radio_tuning > 0)
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tuning();
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#if MOTOR_LEDS == 1
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update_motor_leds();
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#endif
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#if USB_MUX_PIN > 0
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check_usb_mux();
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#endif
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@ -97,39 +97,201 @@ static void clear_leds()
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led_mode = NORMAL_LEDS;
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}
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#if MOTOR_LEDS == 1
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static void update_motor_leds(void)
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{
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if (motors.armed()){
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if (low_batt == true){
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// blink rear
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static bool blink = false;
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/////////////////////////////////////////////////////////////////////////////////////////////
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// Copter LEDS by Robert Lefebvre
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// Based on the work of U4eake, Bill Sanford, and Max Levine
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// g.copter_leds_mode controls the copter leds function via bitmath
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// Zeroeth bit turns copter leds on and off: 00000001
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// First bit turns GPS function on and off: 00000010
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// Second bit turns Aux function on and off: 00000100
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// This code is written in order to be backwards compatible with the old Motor_LEDS code
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// I hope to include at least some of the Show_LEDS code in the future
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// copter_leds_GPS_blink controls the blinking of the GPS LEDS
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// copter_leds_motor_blink controls the blinking of the motor LEDS
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/////////////////////////////////////////////////////////////////////////////////////////////
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if (blink){
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digitalWrite(RE_LED, LED_ON);
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digitalWrite(FR_LED, LED_ON);
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digitalWrite(RI_LED, LED_OFF);
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digitalWrite(LE_LED, LED_OFF);
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}else{
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digitalWrite(RE_LED, LED_OFF);
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digitalWrite(FR_LED, LED_OFF);
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digitalWrite(RI_LED, LED_ON);
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digitalWrite(LE_LED, LED_ON);
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#if COPTER_LEDS == ENABLED
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static void update_copter_leds(void)
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{
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if (g.copter_leds_mode == 0) { //method of reintializing LED state
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copter_leds_reset();
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}
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if ( bitRead(g.copter_leds_mode, 0) ) {
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if (motors.armed() == true) {
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if (low_batt == true) {
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copter_leds_oscillate(); //if motors are armed, but battery level is low, motor leds oscillate
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} else {
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copter_leds_on(); //if motors are armed, battery level OK, all motor leds ON
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}
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blink = !blink;
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}else{
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digitalWrite(RE_LED, LED_ON);
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digitalWrite(FR_LED, LED_ON);
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digitalWrite(RI_LED, LED_ON);
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digitalWrite(LE_LED, LED_ON);
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} else {
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copter_leds_blink(); //if motors are not armed, blink motor leds
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}
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}else {
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digitalWrite(RE_LED, LED_OFF);
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digitalWrite(FR_LED, LED_OFF);
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digitalWrite(RI_LED, LED_OFF);
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digitalWrite(LE_LED, LED_OFF);
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}
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if ( bitRead(g.copter_leds_mode, 1) ){
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// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
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// ---------------------------------------------------------------------
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switch (g_gps->status()){
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case(2):
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if(home_is_set) {
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copter_leds_GPS_on(); //Turn GPS LEDs on when gps has valid fix AND home is set
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} else {
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copter_leds_GPS_fast_blink(); //if GPS has fix, but home is not set, blink GPS LED fast
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}
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break;
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case(1):
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copter_leds_GPS_slow_blink(); //if GPS has valid reads, but no fix, blink GPS LED slow
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break;
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default:
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copter_leds_GPS_off(); //if no valid GPS signal, turn GPS LED off
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break;
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}
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}
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if ( bitRead(g.copter_leds_mode, 2) ) {
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if (200 <= g.rc_7.control_in && g.rc_7.control_in < 400) {
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copter_leds_aux_on(); //if sub-control of Ch7 is high, turn Aux LED on
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} else if (g.rc_7.control_in < 200) {
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copter_leds_aux_off(); //if sub-control of Ch7 is low, turn Aux LED off
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}
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}
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}
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static void copter_leds_reset(void) {
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digitalWrite(COPTER_LED_1, LED_OFF);
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digitalWrite(COPTER_LED_2, LED_OFF);
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digitalWrite(COPTER_LED_3, LED_OFF);
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digitalWrite(COPTER_LED_4, LED_OFF);
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digitalWrite(COPTER_LED_5, LED_OFF);
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digitalWrite(COPTER_LED_6, LED_OFF);
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digitalWrite(COPTER_LED_7, LED_OFF);
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digitalWrite(COPTER_LED_8, LED_OFF);
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}
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static void copter_leds_on(void) {
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digitalWrite(COPTER_LED_1, LED_ON);
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digitalWrite(COPTER_LED_2, LED_ON);
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digitalWrite(COPTER_LED_3, LED_ON);
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digitalWrite(COPTER_LED_4, LED_ON);
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if ( !bitRead(g.copter_leds_mode, 2) ){
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digitalWrite(COPTER_LED_5, LED_ON);
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digitalWrite(COPTER_LED_6, LED_ON);
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}
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if ( !bitRead(g.copter_leds_mode, 1) ){
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digitalWrite(COPTER_LED_7, LED_ON);
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digitalWrite(COPTER_LED_8, LED_ON);
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}
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}
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#endif
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static void copter_leds_off(void) {
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digitalWrite(COPTER_LED_1, LED_OFF);
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digitalWrite(COPTER_LED_2, LED_OFF);
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digitalWrite(COPTER_LED_3, LED_OFF);
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digitalWrite(COPTER_LED_4, LED_OFF);
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if ( !bitRead(g.copter_leds_mode, 2) ){
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digitalWrite(COPTER_LED_5, LED_OFF);
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digitalWrite(COPTER_LED_6, LED_OFF);
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}
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if ( !bitRead(g.copter_leds_mode, 1) ){
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digitalWrite(COPTER_LED_7, LED_OFF);
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digitalWrite(COPTER_LED_8, LED_OFF);
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}
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}
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static void copter_leds_blink(void) {
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copter_leds_motor_blink++; // this increments once every 1/10 second because it is in the 10hz loop
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if ( 0 < copter_leds_motor_blink && copter_leds_motor_blink < 6 ){ // when the counter reaches 5 (1/2 sec), then toggle the leds
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copter_leds_on();
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}else if (5 < copter_leds_motor_blink && copter_leds_motor_blink < 11){
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copter_leds_off();
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}
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else copter_leds_motor_blink = 0; // start blink cycle again
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}
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static void copter_leds_oscillate(void) {
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copter_leds_motor_blink++; // this increments once every 1/10 second because it is in the 10hz loop
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if ( 0 < copter_leds_motor_blink && copter_leds_motor_blink < 3 ) { // when the counter reaches 3 (1/5 sec), then toggle the leds
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digitalWrite(COPTER_LED_1, LED_ON);
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digitalWrite(COPTER_LED_2, LED_ON);
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digitalWrite(COPTER_LED_3, LED_OFF);
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digitalWrite(COPTER_LED_4, LED_OFF);
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if ( !bitRead(g.copter_leds_mode, 2) ) {
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digitalWrite(COPTER_LED_5, LED_ON);
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digitalWrite(COPTER_LED_6, LED_ON);
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}
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if ( !bitRead(g.copter_leds_mode, 1) ) {
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digitalWrite(COPTER_LED_7, LED_OFF);
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digitalWrite(COPTER_LED_8, LED_OFF);
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}
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}else if (2 < copter_leds_motor_blink && copter_leds_motor_blink < 5) {
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digitalWrite(COPTER_LED_1, LED_OFF);
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digitalWrite(COPTER_LED_2, LED_OFF);
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digitalWrite(COPTER_LED_3, LED_ON);
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digitalWrite(COPTER_LED_4, LED_ON);
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if ( !bitRead(g.copter_leds_mode, 2) ) {
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digitalWrite(COPTER_LED_5, LED_OFF);
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digitalWrite(COPTER_LED_6, LED_OFF);
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}
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if ( !bitRead(g.copter_leds_mode, 1) ) {
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digitalWrite(COPTER_LED_7, LED_ON);
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digitalWrite(COPTER_LED_8, LED_ON);
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}
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}
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else copter_leds_motor_blink = 0; // start blink cycle again
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}
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static void copter_leds_GPS_on(void) {
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digitalWrite(COPTER_LED_7, LED_ON);
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digitalWrite(COPTER_LED_8, LED_ON);
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}
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static void copter_leds_GPS_off(void) {
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digitalWrite(COPTER_LED_7, LED_OFF);
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digitalWrite(COPTER_LED_8, LED_OFF);
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}
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static void copter_leds_GPS_slow_blink(void) {
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copter_leds_GPS_blink++; // this increments once every 1/10 second because it is in the 10hz loop
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if ( 0 < copter_leds_GPS_blink && copter_leds_GPS_blink < 6 ){ // when the counter reaches 5 (1/2 sec), then toggle the leds
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copter_leds_GPS_off();
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}else if (5 < copter_leds_GPS_blink && copter_leds_GPS_blink < 11){
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copter_leds_GPS_on();
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}
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else copter_leds_GPS_blink = 0; // start blink cycle again
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}
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static void copter_leds_GPS_fast_blink(void) {
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copter_leds_GPS_blink++; // this increments once every 1/10 second because it is in the 10hz loop
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if ( 0 < copter_leds_GPS_blink && copter_leds_GPS_blink < 3 ) { // when the counter reaches 3 (1/5 sec), then toggle the leds
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copter_leds_GPS_off();
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}else if (2 < copter_leds_GPS_blink && copter_leds_GPS_blink < 5){
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copter_leds_GPS_on();
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}
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else copter_leds_GPS_blink = 0; // start blink cycle again
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}
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static void copter_leds_aux_off(void)
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{
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digitalWrite(COPTER_LED_5, LED_OFF);
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digitalWrite(COPTER_LED_6, LED_OFF);
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}
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static void copter_leds_aux_on(void)
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{
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digitalWrite(COPTER_LED_5, LED_ON);
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digitalWrite(COPTER_LED_6, LED_ON);
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}
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#endif //COPTER_LEDS
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