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AP_Periph: fixed scaling of LEDs 

RGBLed packets sent as 5:6:5 bits
This commit is contained in:
Andrew Tridgell 2019-10-10 08:05:08 +11:00
parent 5d4ada8085
commit 5055144cd3
1 changed files with 6 additions and 1 deletions
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7
Tools/AP_Periph/can.cpp
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@ -420,8 +420,13 @@ static void handle_lightscommand(CanardInstance* ins, CanardRxTransfer* transfer
} }
for (uint8_t i=0; i<req.commands.len; i++) { for (uint8_t i=0; i<req.commands.len; i++) {
uavcan_equipment_indication_SingleLightCommand &cmd = req.commands.data[i]; 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;
hal.rcout->set_neopixel_rgb_data(HAL_PERIPH_NEOPIXEL_CHAN, (1U<<HAL_PERIPH_NEOPIXEL_COUNT)-1, hal.rcout->set_neopixel_rgb_data(HAL_PERIPH_NEOPIXEL_CHAN, (1U<<HAL_PERIPH_NEOPIXEL_COUNT)-1,
cmd.color.red, cmd.color.green, cmd.color.blue); red, green, blue);
} }
hal.rcout->neopixel_send(); hal.rcout->neopixel_send();
} }