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AP_Periph: added a rainbow pattern on startup of CUAV_GPS

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This commit is contained in:
Andrew Tridgell 2019-09-10 14:07:24 +10:00
parent a4b3467dad
commit dec72302f2
1 changed files with 60 additions and 0 deletions
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60
Tools/AP_Periph/AP_Periph.cpp
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@ -45,6 +45,8 @@ void loop(void)
periph.update();
}
static uint32_t start_ms;
void AP_Periph_FW::init()
{
hal.uartA->begin(AP_SERIALMANAGER_CONSOLE_BAUD, 32, 128);
@ -72,8 +74,63 @@ void AP_Periph_FW::init()
hal.rcout->init();
hal.rcout->set_neopixel_num_LEDs(HAL_PERIPH_NEOPIXEL_CHAN, HAL_PERIPH_NEOPIXEL_COUNT);
#endif
start_ms = AP_HAL::millis();
}
#if HAL_PERIPH_NEOPIXEL_COUNT == 8
/*
rotating rainbow pattern on startup
*/
static void update_rainbow()
{
static bool rainbow_done;
if (rainbow_done) {
return;
}
uint32_t now = AP_HAL::millis();
if (now-start_ms > 1500) {
rainbow_done = true;
hal.rcout->set_neopixel_rgb_data(HAL_PERIPH_NEOPIXEL_CHAN, 0xFF, 0, 0, 0);
hal.rcout->neopixel_send();
return;
}
static uint32_t last_update_ms;
const uint8_t step_ms = 30;
if (now - last_update_ms < step_ms) {
return;
}
const struct {
uint8_t red;
uint8_t green;
uint8_t blue;
} rgb_rainbow[] = {
{ 255, 0, 0 },
{ 255, 127, 0 },
{ 255, 255, 0 },
{ 0, 255, 0 },
{ 0, 0, 255 },
{ 75, 0, 130 },
{ 143, 0, 255 },
{ 0, 0, 0 },
};
last_update_ms = now;
static uint8_t step;
const uint8_t nsteps = ARRAY_SIZE(rgb_rainbow);
float brightness = 0.3;
for (uint8_t n=0; n<8; n++) {
uint8_t i = (step + n) % nsteps;
hal.rcout->set_neopixel_rgb_data(HAL_PERIPH_NEOPIXEL_CHAN, 1U<<n,
rgb_rainbow[i].red*brightness,
rgb_rainbow[i].green*brightness,
rgb_rainbow[i].blue*brightness);
}
step++;
hal.rcout->neopixel_send();
}
#endif
void AP_Periph_FW::update()
{
static uint32_t last_led_ms;
@ -98,6 +155,9 @@ void AP_Periph_FW::update()
}
can_update();
hal.scheduler->delay(1);
#if HAL_PERIPH_NEOPIXEL_COUNT == 8
update_rainbow();
#endif
}
AP_HAL_MAIN();