Add led script into firmware

.github/workflows/build-h7a3.yml

@@ -0,0 +1,45 @@
+name: Build Matek H7A3 Firmware
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+      # Step 1: Check out the repository
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      # Step 2: Install dependencies
+      - name: Install build dependencies
+        run: |
+          sudo apt update
+          sudo apt install -y git python3 python3-pip python3-dev gcc-arm-none-eabi g++-arm-none-eabi make
+          pip3 install future
+
+      # Step 3: Configure the build for Matek H7 A3
+      - name: Configure build
+        run: |
+          ./waf configure --board MatekH7A3
+
+      # Step 4: Build the firmware
+      - name: Build firmware
+        run: |
+          ./waf build
+
+      # Step 5: Upload firmware artifact
+      - name: Upload firmware
+        uses: actions/upload-artifact@v3
+        with:
+          name: matek-h7a3-firmware
+          path: build/MatekH7A3/bin/*.apj

ROMFS_custom/scripts/led-control.lua

@@ -0,0 +1,114 @@
+-- led-control.lua: Control serial LEDs with ArduPilot parameters and RC switch
+
+-- Constants
+local PIXEL_GROUPING = Parameter("PIXEL_GROUPING", 1) -- LEDs per arm
+local PIXEL_DEFAULT = Parameter("PIXEL_DEFAULT", 0)  -- Default behavior (0: arming-based, 1: always active)
+local PIXEL_ARM = {
+    Parameter("PIXEL_ARM1", 1),
+    Parameter("PIXEL_ARM2", 1),
+    Parameter("PIXEL_ARM3", 1),
+    Parameter("PIXEL_ARM4", 1)
+}
+local RC_SWITCH_CHANNEL = 300 -- Use RC channel set in ArduPilot parameters
+local AuxSwitchPos = {LOW=0, MIDDLE=1, HIGH=2} -- Switch positions
+
+local RGB_COLORS = {
+    {0, 255, 0},  -- Green
+    {255, 0, 0},  -- Red
+    {255, 255, 255},  -- White
+    {128, 0, 128}  -- Purple
+}
+
+local NUM_ARMS = 4
+local prev_pos = -1
+local leds_enabled = true
+
+-- Initialize serial LED channel
+local led_chan = assert(SRV_Channels:find_channel(94), "LED: channel not set") + 1
+gcs:send_text(6, "LED strip: chan=" .. tostring(led_chan))
+assert(serialLED:set_num_profiled(led_chan, 8), "Failed LED setup")
+
+-- Validate parameters to ensure safe behavior
+local function validate_params()
+    if PIXEL_GROUPING:get() < 1 then
+        gcs:send_text(3, "Invalid PIXEL_GROUPING. Defaulting to 1.")
+        PIXEL_GROUPING:set(1)
+    end
+
+    for i = 1, NUM_ARMS do
+        local arm_behavior = PIXEL_ARM[i]:get()
+        if arm_behavior < 1 or arm_behavior > #RGB_COLORS then
+            gcs:send_text(3, "Invalid PIXEL_ARM" .. i .. ". Defaulting to 1 (Green).")
+            PIXEL_ARM[i]:set(1)
+        end
+    end
+end
+
+-- Set LEDs
+local function set_leds(color, start, count)
+    for i = start, start + count - 1 do
+        serialLED:set_RGB(led_chan, i, color[1], color[2], color[3]) -- RGB values
+    end
+end
+
+-- Update LED behavior
+local function update_leds()
+    local armed = arming:is_armed()
+    local grouping = PIXEL_GROUPING:get()
+
+    for arm = 1, NUM_ARMS do
+        local behavior = PIXEL_ARM[arm]:get()
+        local color = RGB_COLORS[behavior]
+
+        -- Default to red if disarmed and PIXEL_DEFAULT is 0
+        if not armed and PIXEL_DEFAULT:get() == 0 then
+            color = RGB_COLORS[2] -- Red
+        end
+
+        local start_idx = (arm - 1) * grouping
+        set_leds(color, start_idx, grouping)
+    end
+
+    serialLED:send(led_chan)
+end
+
+-- Main update loop
+local function update()
+    -- Get the current RC switch position
+    local sw_pos = rc:get_aux_cached(RC_SWITCH_CHANNEL)
+
+    if sw_pos == nil then
+        gcs:send_text(3, "RC_SWITCH_CHANNEL not configured.")
+        return update, 1000
+    end
+
+    if sw_pos ~= prev_pos then
+        if sw_pos == AuxSwitchPos.LOW then
+            leds_enabled = false
+            serialLED:clear(led_chan)
+            gcs:send_text(6, "LEDs turned OFF")
+        elseif sw_pos == AuxSwitchPos.MIDDLE then
+            leds_enabled = true
+            gcs:send_text(6, "LEDs turned ON (Dimmed)") -- Dimming logic can be added later
+        elseif sw_pos == AuxSwitchPos.HIGH then
+            leds_enabled = true
+            gcs:send_text(6, "LEDs turned ON (Full Brightness)")
+        end
+        prev_pos = sw_pos
+    end
+
+    if leds_enabled then
+        update_leds()
+    end
+
+    return update, 1000 -- Run every 1 second
+end
+
+-- Initialization
+serialLED:clear(led_chan)
+validate_params()
+if leds_enabled then
+    update_leds()
+end
+
+return update()