mirror of https://github.com/ArduPilot/ardupilot
115 lines
4.5 KiB
C++
115 lines
4.5 KiB
C++
/*
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* AP_Notify Library.
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* based upon a prototype library by David "Buzz" Bussenschutt.
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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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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "NotifyDevice.h"
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class RGBLed: public NotifyDevice {
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public:
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RGBLed(uint8_t led_off, uint8_t led_bright, uint8_t led_medium, uint8_t led_dim);
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// init - initialised the LED
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virtual bool init(void) override;
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// set_rgb - set color as a combination of red, green and blue levels from 0 ~ 15
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virtual void set_rgb(uint8_t red, uint8_t green, uint8_t blue);
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// update - updates led according to timed_updated. Should be
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// called at 50Hz
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virtual void update() override;
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// handle LED control, only used when LED_OVERRIDE=1
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virtual void handle_led_control(mavlink_message_t *msg) override;
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protected:
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// methods implemented in hardware specific classes
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virtual bool hw_init(void) = 0;
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virtual bool hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) = 0;
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// set_rgb - set color as a combination of red, green and blue levels from 0 ~ 15
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virtual void _set_rgb(uint8_t red, uint8_t green, uint8_t blue);
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void update_override();
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// meta-data common to all hw devices
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uint8_t _red_des, _green_des, _blue_des; // color requested by timed update
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uint8_t _red_curr, _green_curr, _blue_curr; // current colours displayed by the led
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uint8_t _led_off;
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uint8_t _led_bright;
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uint8_t _led_medium;
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uint8_t _led_dim;
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struct {
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uint8_t r, g, b;
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uint8_t rate_hz;
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uint32_t start_ms;
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} _led_override;
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private:
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void update_colours();
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uint32_t get_colour_sequence() const;
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uint32_t get_colour_sequence_obc() const;
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uint8_t get_brightness(void) const;
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#define DEFINE_COLOUR_SEQUENCE(S0, S1, S2, S3, S4, S5, S6, S7, S8, S9) \
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((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))
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#define DEFINE_COLOUR_SEQUENCE_SLOW(colour) \
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DEFINE_COLOUR_SEQUENCE(colour,colour,colour,colour,colour,OFF,OFF,OFF,OFF,OFF)
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#define DEFINE_COLOUR_SEQUENCE_FAILSAFE(colour) \
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DEFINE_COLOUR_SEQUENCE(YELLOW,YELLOW,YELLOW,YELLOW,YELLOW,colour,colour,colour,colour,colour)
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#define DEFINE_COLOUR_SEQUENCE_SOLID(colour) \
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DEFINE_COLOUR_SEQUENCE(colour,colour,colour,colour,colour,colour,colour,colour,colour,colour)
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#define DEFINE_COLOUR_SEQUENCE_ALTERNATE(colour1, colour2) \
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DEFINE_COLOUR_SEQUENCE(colour1,colour2,colour1,colour2,colour1,colour2,colour1,colour2,colour1,colour2)
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#define OFF 0
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#define BLUE 1
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#define GREEN 2
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#define RED 4
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#define YELLOW (RED|GREEN)
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#define WHITE (RED|GREEN|BLUE)
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const uint32_t sequence_initialising = DEFINE_COLOUR_SEQUENCE_ALTERNATE(RED,BLUE);
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const uint32_t sequence_trim_or_esc = DEFINE_COLOUR_SEQUENCE(RED,BLUE,GREEN,RED,BLUE,GREEN,RED,BLUE,GREEN,OFF);
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const uint32_t sequence_failsafe_leak = DEFINE_COLOUR_SEQUENCE_FAILSAFE(WHITE);
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const uint32_t sequence_failsafe_ekf = DEFINE_COLOUR_SEQUENCE_FAILSAFE(RED);
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const uint32_t sequence_failsafe_gps_glitching = DEFINE_COLOUR_SEQUENCE_FAILSAFE(BLUE);
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const uint32_t sequence_failsafe_radio_or_battery = DEFINE_COLOUR_SEQUENCE_FAILSAFE(OFF);
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const uint32_t sequence_armed = DEFINE_COLOUR_SEQUENCE_SOLID(GREEN);
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const uint32_t sequence_armed_nogps = DEFINE_COLOUR_SEQUENCE_SOLID(BLUE);
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const uint32_t sequence_prearm_failing = DEFINE_COLOUR_SEQUENCE(YELLOW,YELLOW,OFF,OFF,YELLOW,YELLOW,OFF,OFF,OFF,OFF);
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const uint32_t sequence_disarmed_good_dgps = DEFINE_COLOUR_SEQUENCE_ALTERNATE(GREEN,OFF);
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const uint32_t sequence_disarmed_good_gps = DEFINE_COLOUR_SEQUENCE_SLOW(GREEN);
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const uint32_t sequence_disarmed_bad_gps = DEFINE_COLOUR_SEQUENCE_SLOW(BLUE);
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uint8_t last_step;
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enum rgb_source_t {
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standard = 0,
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mavlink = 1,
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obc = 2,
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};
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rgb_source_t rgb_source() const;
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};
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