mirror of https://github.com/ArduPilot/ardupilot
408 lines
12 KiB
C++
408 lines
12 KiB
C++
/*
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Generic RGBLed driver
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*/
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_GPS/AP_GPS.h>
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#include "RGBLed.h"
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#include "AP_Notify.h"
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extern const AP_HAL::HAL& hal;
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RGBLed::RGBLed(uint8_t led_off, uint8_t led_bright, uint8_t led_medium, uint8_t led_dim):
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counter(0),
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step(0),
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_healthy(false),
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_red_des(0),
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_green_des(0),
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_blue_des(0),
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_red_curr(0),
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_green_curr(0),
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_blue_curr(0),
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_led_off(led_off),
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_led_bright(led_bright),
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_led_medium(led_medium),
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_led_dim(led_dim)
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{
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}
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bool RGBLed::init()
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{
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_healthy = hw_init();
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return _healthy;
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}
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// set_rgb - set color as a combination of red, green and blue values
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void RGBLed::_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
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{
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if (red != _red_curr ||
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green != _green_curr ||
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blue != _blue_curr) {
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// call the hardware update routine
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if (hw_set_rgb(red, green, blue)) {
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_red_curr = red;
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_green_curr = green;
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_blue_curr = blue;
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}
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}
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}
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// set_rgb - set color as a combination of red, green and blue values
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void RGBLed::set_rgb(uint8_t red, uint8_t green, uint8_t blue)
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{
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// return immediately if not enabled
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if (!_healthy) {
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return;
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}
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if (pNotify->_rgb_led_override) {
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// don't set if in override mode
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return;
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}
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_set_rgb(red, green, blue);
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}
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// _scheduled_update - updates _red, _green, _blue according to notify flags
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void RGBLed::update_colours(void)
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{
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uint8_t brightness = _led_bright;
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switch (pNotify->_rgb_led_brightness) {
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case RGB_LED_OFF:
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brightness = _led_off;
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break;
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case RGB_LED_LOW:
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brightness = _led_dim;
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break;
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case RGB_LED_MEDIUM:
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brightness = _led_medium;
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break;
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case RGB_LED_HIGH:
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brightness = _led_bright;
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break;
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}
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// slow rate from 50Hz to 10hz
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counter++;
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if (counter < 5) {
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return;
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}
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// reset counter
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counter = 0;
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// move forward one step
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step++;
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if (step >= 10) {
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step = 0;
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}
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// use dim light when connected through USB
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if (hal.gpio->usb_connected() && brightness > _led_dim) {
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brightness = _led_dim;
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}
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// initialising pattern
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if (AP_Notify::flags.initialising) {
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if (step & 1) {
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// odd steps display red light
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_red_des = brightness;
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_blue_des = _led_off;
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_green_des = _led_off;
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} else {
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// even display blue light
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_red_des = _led_off;
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_blue_des = brightness;
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_green_des = _led_off;
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}
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// exit so no other status modify this pattern
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return;
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}
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// save trim and esc calibration pattern
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if (AP_Notify::flags.save_trim || AP_Notify::flags.esc_calibration) {
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switch(step) {
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case 0:
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case 3:
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case 6:
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// red on
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_red_des = brightness;
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_blue_des = _led_off;
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_green_des = _led_off;
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break;
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case 1:
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case 4:
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case 7:
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// blue on
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_red_des = _led_off;
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_blue_des = brightness;
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_green_des = _led_off;
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break;
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case 2:
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case 5:
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case 8:
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// green on
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_red_des = _led_off;
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_blue_des = _led_off;
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_green_des = brightness;
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break;
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case 9:
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// all off
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_red_des = _led_off;
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_blue_des = _led_off;
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_green_des = _led_off;
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break;
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}
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// exit so no other status modify this pattern
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return;
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}
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// radio and battery failsafe patter: flash yellow
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// gps failsafe pattern : flashing yellow and blue
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// ekf_bad pattern : flashing yellow and red
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if (AP_Notify::flags.failsafe_radio || AP_Notify::flags.failsafe_battery ||
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AP_Notify::flags.ekf_bad || AP_Notify::flags.gps_glitching || AP_Notify::flags.leak_detected) {
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switch(step) {
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case 0:
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case 1:
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case 2:
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case 3:
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case 4:
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// yellow on
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_red_des = brightness;
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_blue_des = _led_off;
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_green_des = brightness;
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break;
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case 5:
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case 6:
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case 7:
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case 8:
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case 9:
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if (AP_Notify::flags.leak_detected) {
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// purple if leak detected
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_red_des = brightness;
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_blue_des = brightness;
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_green_des = brightness;
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} else if (AP_Notify::flags.ekf_bad) {
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// red on if ekf bad
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_red_des = brightness;
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_blue_des = _led_off;
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_green_des = _led_off;
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} else if (AP_Notify::flags.gps_glitching) {
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// blue on gps glitch
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_red_des = _led_off;
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_blue_des = brightness;
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_green_des = _led_off;
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}else{
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// all off for radio or battery failsafe
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_red_des = _led_off;
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_blue_des = _led_off;
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_green_des = _led_off;
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}
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break;
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}
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// exit so no other status modify this pattern
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return;
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}
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// solid green or blue if armed
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if (AP_Notify::flags.armed) {
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// solid green if armed with GPS 3d lock
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if (AP_Notify::flags.gps_status >= AP_GPS::GPS_OK_FIX_3D) {
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_red_des = _led_off;
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_blue_des = _led_off;
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_green_des = brightness;
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}else{
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// solid blue if armed with no GPS lock
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_red_des = _led_off;
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_blue_des = brightness;
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_green_des = _led_off;
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}
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return;
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}else{
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// double flash yellow if failing pre-arm checks
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if (!AP_Notify::flags.pre_arm_check) {
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switch(step) {
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case 0:
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case 1:
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case 4:
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case 5:
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// yellow on
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_red_des = brightness;
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_blue_des = _led_off;
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_green_des = brightness;
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break;
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case 2:
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case 3:
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case 6:
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case 7:
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case 8:
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case 9:
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// all off
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_red_des = _led_off;
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_blue_des = _led_off;
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_green_des = _led_off;
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break;
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}
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}else{
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// fast flashing green if disarmed with GPS 3D lock and DGPS
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// slow flashing green if disarmed with GPS 3d lock (and no DGPS)
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// flashing blue if disarmed with no gps lock or gps pre_arm checks have failed
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bool fast_green = AP_Notify::flags.gps_status >= AP_GPS::GPS_OK_FIX_3D_DGPS && AP_Notify::flags.pre_arm_gps_check;
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switch(step) {
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case 0:
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if (fast_green) {
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_green_des = brightness;
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}
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break;
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case 1:
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if (fast_green) {
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_green_des = _led_off;
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}
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break;
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case 2:
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if (fast_green) {
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_green_des = brightness;
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}
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break;
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case 3:
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if (fast_green) {
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_green_des = _led_off;
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}
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break;
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case 4:
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_red_des = _led_off;
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if (AP_Notify::flags.gps_status >= AP_GPS::GPS_OK_FIX_3D && AP_Notify::flags.pre_arm_gps_check) {
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// flashing green if disarmed with GPS 3d lock
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_blue_des = _led_off;
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_green_des = brightness;
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}else{
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// flashing blue if disarmed with no gps lock
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_blue_des = brightness;
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_green_des = _led_off;
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}
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break;
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case 5:
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if (fast_green) {
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_green_des = _led_off;
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}
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break;
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case 6:
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if (fast_green) {
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_green_des = brightness;
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}
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break;
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case 7:
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if (fast_green) {
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_green_des = _led_off;
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}
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break;
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case 8:
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if (fast_green) {
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_green_des = brightness;
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}
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break;
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case 9:
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// all off
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_red_des = _led_off;
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_blue_des = _led_off;
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_green_des = _led_off;
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break;
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}
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}
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}
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}
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// update - updates led according to timed_updated. Should be called
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// at 50Hz
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void RGBLed::update()
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{
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// return immediately if not enabled
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if (!_healthy) {
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return;
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}
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if (!pNotify->_rgb_led_override) {
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update_colours();
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set_rgb(_red_des, _green_des, _blue_des);
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} else {
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update_override();
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}
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}
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/*
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handle LED control, only used when LED_OVERRIDE=1
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*/
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void RGBLed::handle_led_control(mavlink_message_t *msg)
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{
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if (!pNotify->_rgb_led_override) {
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// ignore LED_CONTROL commands if not in LED_OVERRIDE mode
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return;
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}
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// decode mavlink message
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mavlink_led_control_t packet;
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mavlink_msg_led_control_decode(msg, &packet);
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_led_override.start_ms = AP_HAL::millis();
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switch (packet.custom_len) {
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case 3:
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_led_override.rate_hz = 0;
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_led_override.r = packet.custom_bytes[0];
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_led_override.g = packet.custom_bytes[1];
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_led_override.b = packet.custom_bytes[2];
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break;
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case 4:
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_led_override.rate_hz = packet.custom_bytes[3];
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_led_override.r = packet.custom_bytes[0];
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_led_override.g = packet.custom_bytes[1];
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_led_override.b = packet.custom_bytes[2];
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break;
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default:
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// not understood
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break;
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}
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}
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/*
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update LED when in override mode
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*/
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void RGBLed::update_override(void)
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{
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if (_led_override.rate_hz == 0) {
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// solid colour
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_set_rgb(_led_override.r, _led_override.g, _led_override.b);
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return;
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}
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// blinking
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uint32_t ms_per_cycle = 1000 / _led_override.rate_hz;
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uint32_t cycle = (AP_HAL::millis() - _led_override.start_ms) % ms_per_cycle;
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if (cycle > ms_per_cycle / 2) {
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// on
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_set_rgb(_led_override.r, _led_override.g, _led_override.b);
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} else {
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_set_rgb(0, 0, 0);
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}
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}
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