/* * AP_Notify Library. * based upon a prototype library by David "Buzz" Bussenschutt. */ /* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ #pragma once #include #include "NotifyDevice.h" class RGBLed: public NotifyDevice { public: RGBLed(uint8_t led_off, uint8_t led_bright, uint8_t led_medium, uint8_t led_dim); // init - initialised the LED virtual bool init(void); // set_rgb - set color as a combination of red, green and blue levels from 0 ~ 15 virtual void set_rgb(uint8_t red, uint8_t green, uint8_t blue); // update - updates led according to timed_updated. Should be // called at 50Hz virtual void update(); // handle LED control, only used when LED_OVERRIDE=1 virtual void handle_led_control(mavlink_message_t *msg) override; protected: // methods implemented in hardware specific classes virtual bool hw_init(void) = 0; virtual bool hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) = 0; // set_rgb - set color as a combination of red, green and blue levels from 0 ~ 15 virtual void _set_rgb(uint8_t red, uint8_t green, uint8_t blue); virtual void update_override(); // meta-data common to all hw devices uint8_t _red_des, _green_des, _blue_des; // color requested by timed update uint8_t _red_curr, _green_curr, _blue_curr; // current colours displayed by the led uint8_t _led_off; uint8_t _led_bright; uint8_t _led_medium; uint8_t _led_dim; struct { uint8_t r, g, b; uint8_t rate_hz; uint32_t start_ms; } _led_override; private: void update_colours(); uint32_t get_colour_sequence() const; uint8_t get_brightness(void) const; #define DEFINE_COLOUR_SEQUENCE(S0, S1, S2, S3, S4, S5, S6, S7, S8, S9) \ ((S0) << (0*3) | (S1) << (1*3) | (S2) << (2*3) | (S3) << (3*3) | (S4) << (4*3) | (S5) << (5*3) | (S6) << (6*3) | (S7) << (7*3) | (S8) << (8*3) | (S9) << (9*3)) #define DEFINE_COLOUR_SEQUENCE_SLOW(colour) \ DEFINE_COLOUR_SEQUENCE(colour,colour,colour,colour,colour,OFF,OFF,OFF,OFF,OFF) #define DEFINE_COLOUR_SEQUENCE_FAILSAFE(colour) \ DEFINE_COLOUR_SEQUENCE(YELLOW,YELLOW,YELLOW,YELLOW,YELLOW,colour,colour,colour,colour,colour) #define DEFINE_COLOUR_SEQUENCE_SOLID(colour) \ DEFINE_COLOUR_SEQUENCE(colour,colour,colour,colour,colour,colour,colour,colour,colour,colour) #define DEFINE_COLOUR_SEQUENCE_ALTERNATE(colour1, colour2) \ DEFINE_COLOUR_SEQUENCE(colour1,colour2,colour1,colour2,colour1,colour2,colour1,colour2,colour1,colour2) #define OFF 0 #define BLUE 1 #define GREEN 2 #define RED 4 #define YELLOW (RED|GREEN) #define WHITE (RED|GREEN|BLUE) const uint32_t sequence_initialising = DEFINE_COLOUR_SEQUENCE_ALTERNATE(RED,BLUE); const uint32_t sequence_trim_or_esc = DEFINE_COLOUR_SEQUENCE(RED,BLUE,GREEN,RED,BLUE,GREEN,RED,BLUE,GREEN,OFF); const uint32_t sequence_failsafe_leak = DEFINE_COLOUR_SEQUENCE_FAILSAFE(WHITE); const uint32_t sequence_failsafe_ekf = DEFINE_COLOUR_SEQUENCE_FAILSAFE(RED); const uint32_t sequence_failsafe_gps_glitching = DEFINE_COLOUR_SEQUENCE_FAILSAFE(BLUE); const uint32_t sequence_failsafe_radio_or_battery = DEFINE_COLOUR_SEQUENCE_FAILSAFE(OFF); const uint32_t sequence_armed = DEFINE_COLOUR_SEQUENCE_SOLID(GREEN); const uint32_t sequence_armed_nogps = DEFINE_COLOUR_SEQUENCE_SOLID(BLUE); const uint32_t sequence_prearm_failing = DEFINE_COLOUR_SEQUENCE(YELLOW,YELLOW,OFF,OFF,YELLOW,YELLOW,OFF,OFF,OFF,OFF); const uint32_t sequence_disarmed_good_dgps = DEFINE_COLOUR_SEQUENCE_ALTERNATE(GREEN,OFF); const uint32_t sequence_disarmed_good_gps = DEFINE_COLOUR_SEQUENCE_SLOW(GREEN); const uint32_t sequence_disarmed_bad_gps = DEFINE_COLOUR_SEQUENCE_SLOW(BLUE); uint8_t last_step; };