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AP_Notify: sync oreoleds before a reboot

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This commit is contained in:
Angus Peart 2015-05-12 18:30:15 +08:00 committed by Randy Mackay
parent a887c1d1f2
commit 95c66a794e
2 changed files with 35 additions and 2 deletions
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29
libraries/AP_Notify/OreoLED_PX4.cpp
View File

@ -89,6 +89,8 @@ void OreoLED_PX4::update()
// handle firmware update event // handle firmware update event
if (AP_Notify::flags.firmware_update) { if (AP_Notify::flags.firmware_update) {
// Force a syncronisation before setting the free-running colour cycle macro
send_sync();
set_macro(OREOLED_INSTANCE_ALL, OREOLED_PARAM_MACRO_COLOUR_CYCLE); set_macro(OREOLED_INSTANCE_ALL, OREOLED_PARAM_MACRO_COLOUR_CYCLE);
return; return;
} }
@ -290,6 +292,28 @@ void OreoLED_PX4::set_macro(uint8_t instance, oreoled_macro macro)
_state_desired_semaphore = false; _state_desired_semaphore = false;
} }
// set_macro - set macro for one or all LEDs
void OreoLED_PX4::send_sync(void)
{
// return immediately if no healthy leds
if (!_overall_health) {
return;
}
// set semaphore
_state_desired_semaphore = true;
for (uint8_t i=0; i<OREOLED_NUM_LEDS; i++) {
if (_state_desired[i].mode != OREOLED_MODE_SYNC) {
_state_desired[i].mode = OREOLED_MODE_SYNC;
_send_required = true;
}
}
// release semaphore
_state_desired_semaphore = false;
}
// update_timer - called by scheduler and updates PX4 driver with commands // update_timer - called by scheduler and updates PX4 driver with commands
void OreoLED_PX4::update_timer(void) void OreoLED_PX4::update_timer(void)
{ {
@ -324,6 +348,11 @@ void OreoLED_PX4::update_timer(void)
ioctl(_oreoled_fd, OREOLED_SET_RGB, (unsigned long)&rgb_set); ioctl(_oreoled_fd, OREOLED_SET_RGB, (unsigned long)&rgb_set);
} }
break; break;
case OREOLED_MODE_SYNC:
{
ioctl(_oreoled_fd, OREOLED_FORCE_SYNC, 0);
}
break;
} }
// save state change // save state change
_state_sent[i] = _state_desired[i]; _state_sent[i] = _state_desired[i];

8
libraries/AP_Notify/OreoLED_PX4.h
View File

@ -53,14 +53,18 @@ private:
// set_rgb - set color as a combination of red, green and blue values for one or all LEDs // set_rgb - set color as a combination of red, green and blue values for one or all LEDs
void set_rgb(uint8_t instance, uint8_t red, uint8_t green, uint8_t blue); void set_rgb(uint8_t instance, uint8_t red, uint8_t green, uint8_t blue);
// set_macrxo - set macro for one or all LEDs // set_macro - set macro for one or all LEDs
void set_macro(uint8_t instance, enum oreoled_macro macro); void set_macro(uint8_t instance, enum oreoled_macro macro);
// send_sync - force a syncronisation of the LEDs
void send_sync(void);
// oreo led modes (pattern, macro or rgb) // oreo led modes (pattern, macro or rgb)
enum oreoled_mode { enum oreoled_mode {
OREOLED_MODE_PATTERN, OREOLED_MODE_PATTERN,
OREOLED_MODE_MACRO, OREOLED_MODE_MACRO,
OREOLED_MODE_RGB OREOLED_MODE_RGB,
OREOLED_MODE_SYNC
}; };
// oreo_state structure holds possible state of an led // oreo_state structure holds possible state of an led