forked from Archive/PX4-Autopilot
led drivers and controller move to uORB::Subscription
This commit is contained in:
parent
41dee3875e
commit
5ae408382b
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@ -55,13 +55,6 @@ RGBLED::RGBLED(const char *name)
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{
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};
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RGBLED::~RGBLED()
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{
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if (_led_controller.led_control_subscription() >= 0) {
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orb_unsubscribe(_led_controller.led_control_subscription());
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}
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};
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int RGBLED::start()
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{
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int res = DevObj::init();
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@ -133,15 +126,14 @@ cleanup:
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return res;
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}
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int RGBLED::stop()
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int
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RGBLED::stop()
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{
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int res;
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_gpioR.unexportPin();
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_gpioG.unexportPin();
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_gpioB.unexportPin();
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res = DevObj::stop();
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int res = DevObj::stop();
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if (res < 0) {
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DF_LOG_ERR("could not stop DevObj");
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@ -152,13 +144,9 @@ int RGBLED::stop()
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return 0;
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}
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void RGBLED::_measure()
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void
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RGBLED::_measure()
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{
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if (!_led_controller.is_init()) {
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int led_control_sub = orb_subscribe(ORB_ID(led_control));
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_led_controller.init(led_control_sub);
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}
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LedControlData led_control_data;
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if (_led_controller.update(led_control_data) == 1) {
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@ -41,7 +41,7 @@ class RGBLED : public DriverFramework::DevObj
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{
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public:
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RGBLED(const char *name);
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virtual ~RGBLED();
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virtual ~RGBLED() = default;
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int start();
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int stop();
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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
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* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@ -46,10 +46,8 @@
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#include <lib/led/led.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include "uORB/topics/parameter_update.h"
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#define RGBLED_ONTIME 120
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#define RGBLED_OFFTIME 120
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/parameter_update.h>
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#define ADDR 0x55 /**< I2C adress of TCA62724FMG */
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#define SUB_ADDR_START 0x01 /**< write everything (with auto-increment) */
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@ -61,29 +59,28 @@
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#define SETTING_NOT_POWERSAVE 0x01 /**< power-save mode not off */
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#define SETTING_ENABLE 0x02 /**< on */
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class RGBLED : public device::I2C, public px4::ScheduledWorkItem
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{
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public:
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RGBLED(int bus, int rgbled);
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virtual ~RGBLED();
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virtual int init();
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virtual int probe();
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int status();
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int status();
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private:
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float _brightness;
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float _max_brightness;
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uint8_t _r;
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uint8_t _g;
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uint8_t _b;
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volatile bool _running;
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volatile bool _should_run;
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bool _leds_enabled;
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int _param_sub;
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float _brightness{1.0f};
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float _max_brightness{1.0f};
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uint8_t _r{0};
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uint8_t _g{0};
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uint8_t _b{0};
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volatile bool _running{false};
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volatile bool _should_run{true};
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bool _leds_enabled{true};
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uORB::Subscription _param_sub{ORB_ID(parameter_update)};
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LedController _led_controller;
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@ -92,7 +89,7 @@ private:
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int send_led_enable(bool enable);
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int send_led_rgb();
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int get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b);
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void update_params();
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void update_params();
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};
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/* for now, we only support one RGBLED */
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@ -107,16 +104,7 @@ extern "C" __EXPORT int rgbled_main(int argc, char *argv[]);
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RGBLED::RGBLED(int bus, int rgbled) :
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I2C("rgbled", RGBLED0_DEVICE_PATH, bus, rgbled, 100000),
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ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
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_brightness(1.0f),
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_max_brightness(1.0f),
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_r(0),
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_g(0),
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_b(0),
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_running(false),
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_should_run(true),
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_leds_enabled(true),
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_param_sub(-1)
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ScheduledWorkItem(px4::device_bus_to_wq(get_device_id()))
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{
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}
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@ -133,8 +121,7 @@ RGBLED::~RGBLED()
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int
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RGBLED::init()
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{
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int ret;
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ret = I2C::init();
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int ret = I2C::init();
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if (ret != OK) {
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return ret;
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@ -187,11 +174,10 @@ RGBLED::probe()
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int
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RGBLED::status()
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{
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int ret;
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bool on, powersave;
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uint8_t r, g, b;
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ret = get(on, powersave, r, g, b);
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int ret = get(on, powersave, r, g, b);
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if (ret == OK) {
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/* we don't care about power-save mode */
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@ -212,40 +198,19 @@ void
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RGBLED::Run()
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{
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if (!_should_run) {
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if (_param_sub >= 0) {
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orb_unsubscribe(_param_sub);
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}
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int led_control_sub = _led_controller.led_control_subscription();
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if (led_control_sub >= 0) {
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orb_unsubscribe(led_control_sub);
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}
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_running = false;
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return;
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}
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if (_param_sub < 0) {
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_param_sub = orb_subscribe(ORB_ID(parameter_update));
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}
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if (_param_sub.updated()) {
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// clear update
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parameter_update_s pupdate;
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_param_sub.copy(&pupdate);
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if (!_led_controller.is_init()) {
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int led_control_sub = orb_subscribe(ORB_ID(led_control));
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_led_controller.init(led_control_sub);
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}
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update_params();
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if (_param_sub >= 0) {
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bool updated = false;
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orb_check(_param_sub, &updated);
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if (updated) {
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parameter_update_s pupdate;
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orb_copy(ORB_ID(parameter_update), _param_sub, &pupdate);
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update_params();
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// Immediately update to change brightness
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send_led_rgb();
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}
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// Immediately update to change brightness
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send_led_rgb();
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}
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LedControlData led_control_data;
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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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* Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@ -45,7 +45,8 @@
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#include <lib/led/led.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include "uORB/topics/parameter_update.h"
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/parameter_update.h>
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#define ADDR 0x39 /**< I2C adress of NCP5623C */
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@ -65,21 +66,21 @@ public:
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RGBLED_NPC5623C(int bus, int rgbled);
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virtual ~RGBLED_NPC5623C();
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virtual int init();
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virtual int probe();
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private:
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float _brightness;
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float _max_brightness;
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float _brightness{1.0f};
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float _max_brightness{1.0f};
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uint8_t _r;
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uint8_t _g;
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uint8_t _b;
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volatile bool _running;
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volatile bool _should_run;
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bool _leds_enabled;
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int _param_sub;
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uint8_t _r{0};
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uint8_t _g{0};
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uint8_t _b{0};
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volatile bool _running{false};
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volatile bool _should_run{true};
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bool _leds_enabled{true};
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uORB::Subscription _param_sub{ORB_ID(parameter_update)};
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LedController _led_controller;
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RGBLED_NPC5623C::RGBLED_NPC5623C(int bus, int rgbled) :
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I2C("rgbled1", RGBLED1_DEVICE_PATH, bus, rgbled, 100000),
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ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
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_brightness(1.0f),
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_max_brightness(1.0f),
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_r(0),
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_g(0),
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_b(0),
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_running(false),
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_should_run(true),
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_leds_enabled(true),
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_param_sub(-1)
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ScheduledWorkItem(px4::device_bus_to_wq(get_device_id()))
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{
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}
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int counter = 0;
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while (_running && ++counter < 10) {
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usleep(100000);
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px4_usleep(100000);
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}
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}
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@ -140,8 +132,7 @@ RGBLED_NPC5623C::write(uint8_t reg, uint8_t data)
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int
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RGBLED_NPC5623C::init()
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{
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int ret;
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ret = I2C::init();
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int ret = I2C::init();
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if (ret != OK) {
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return ret;
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@ -171,40 +162,19 @@ void
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RGBLED_NPC5623C::Run()
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{
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if (!_should_run) {
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if (_param_sub >= 0) {
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orb_unsubscribe(_param_sub);
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}
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int led_control_sub = _led_controller.led_control_subscription();
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if (led_control_sub >= 0) {
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orb_unsubscribe(led_control_sub);
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}
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_running = false;
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return;
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}
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if (_param_sub < 0) {
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_param_sub = orb_subscribe(ORB_ID(parameter_update));
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}
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if (_param_sub.updated()) {
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// clear update
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parameter_update_s pupdate;
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_param_sub.copy(&pupdate);
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if (!_led_controller.is_init()) {
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int led_control_sub = orb_subscribe(ORB_ID(led_control));
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_led_controller.init(led_control_sub);
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}
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update_params();
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if (_param_sub >= 0) {
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bool updated = false;
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orb_check(_param_sub, &updated);
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if (updated) {
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parameter_update_s pupdate;
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orb_copy(ORB_ID(parameter_update), _param_sub, &pupdate);
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update_params();
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// Immediately update to change brightness
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send_led_rgb();
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}
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// Immediately update to change brightness
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send_led_rgb();
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}
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LedControlData led_control_data;
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@ -45,10 +45,6 @@
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#include <lib/led/led.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <systemlib/err.h>
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#define RGBLED_ONTIME 120
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#define RGBLED_OFFTIME 120
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class RGBLED_PWM : public device::CDev, public px4::ScheduledWorkItem
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{
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@ -56,19 +52,18 @@ public:
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RGBLED_PWM();
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virtual ~RGBLED_PWM();
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virtual int init();
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virtual int probe();
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int status();
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int status();
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private:
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uint8_t _r;
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uint8_t _g;
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uint8_t _b;
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uint8_t _r{0};
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uint8_t _g{0};
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uint8_t _b{0};
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volatile bool _running;
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volatile bool _should_run;
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volatile bool _running{false};
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volatile bool _should_run{true};
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LedController _led_controller;
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@ -93,12 +88,7 @@ RGBLED_PWM *g_rgbled = nullptr;
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RGBLED_PWM::RGBLED_PWM() :
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CDev("rgbled_pwm", RGBLED_PWM0_DEVICE_PATH),
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ScheduledWorkItem(px4::wq_configurations::lp_default),
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_r(0),
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_g(0),
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_b(0),
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_running(false),
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_should_run(true)
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ScheduledWorkItem(px4::wq_configurations::lp_default)
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{
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}
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@ -108,7 +98,7 @@ RGBLED_PWM::~RGBLED_PWM()
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int counter = 0;
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while (_running && ++counter < 10) {
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usleep(100000);
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px4_usleep(100000);
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}
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}
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@ -128,14 +118,19 @@ RGBLED_PWM::init()
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return OK;
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}
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int
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RGBLED_PWM::probe()
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{
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return PX4_OK;
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}
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int
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RGBLED_PWM::status()
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{
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int ret;
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bool on, powersave;
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uint8_t r, g, b;
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ret = get(on, powersave, r, g, b);
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int ret = get(on, powersave, r, g, b);
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if (ret == OK) {
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/* we don't care about power-save mode */
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@ -148,11 +143,6 @@ RGBLED_PWM::status()
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return ret;
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}
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int
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RGBLED_PWM::probe()
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{
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return (OK);
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}
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/**
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* Main loop function
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@ -161,21 +151,10 @@ void
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RGBLED_PWM::Run()
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{
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if (!_should_run) {
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int led_control_sub = _led_controller.led_control_subscription();
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if (led_control_sub >= 0) {
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orb_unsubscribe(led_control_sub);
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}
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_running = false;
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return;
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}
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if (!_led_controller.is_init()) {
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int led_control_sub = orb_subscribe(ORB_ID(led_control));
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_led_controller.init(led_control_sub);
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}
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LedControlData led_control_data;
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if (_led_controller.update(led_control_data) == 1) {
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@ -280,58 +259,60 @@ rgbled_pwm_main(int argc, char *argv[])
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default:
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rgbled_usage();
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exit(0);
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return 1;
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}
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}
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if (myoptind >= argc) {
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rgbled_usage();
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exit(0);
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return 1;
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}
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const char *verb = argv[myoptind];
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if (!strcmp(verb, "start")) {
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if (g_rgbled != nullptr) {
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errx(1, "already started");
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PX4_WARN("already started");
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return 1;
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}
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if (g_rgbled == nullptr) {
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g_rgbled = new RGBLED_PWM();
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if (g_rgbled == nullptr) {
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errx(1, "new failed");
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PX4_WARN("alloc failed");
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return 1;
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}
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if (OK != g_rgbled->init()) {
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delete g_rgbled;
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g_rgbled = nullptr;
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errx(1, "init failed");
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PX4_ERR("init failed");
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return 1;
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}
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}
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exit(0);
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return 0;
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}
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/* need the driver past this point */
|
||||
if (g_rgbled == nullptr) {
|
||||
PX4_WARN("not started");
|
||||
rgbled_usage();
|
||||
exit(1);
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "status")) {
|
||||
g_rgbled->status();
|
||||
exit(0);
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "stop")) {
|
||||
delete g_rgbled;
|
||||
g_rgbled = nullptr;
|
||||
exit(0);
|
||||
return 0;
|
||||
}
|
||||
|
||||
rgbled_usage();
|
||||
exit(0);
|
||||
return 1;
|
||||
}
|
||||
|
|
|
@ -38,24 +38,13 @@
|
|||
|
||||
#include "led.h"
|
||||
|
||||
int LedController::init(int led_control_sub)
|
||||
{
|
||||
_led_control_sub = led_control_sub;
|
||||
_last_update_call = hrt_absolute_time();
|
||||
return 0;
|
||||
}
|
||||
|
||||
int LedController::update(LedControlData &control_data)
|
||||
{
|
||||
bool updated = false;
|
||||
|
||||
orb_check(_led_control_sub, &updated);
|
||||
|
||||
while (updated || _force_update) {
|
||||
while (_led_control_sub.updated() || _force_update) {
|
||||
// handle new state
|
||||
led_control_s led_control;
|
||||
|
||||
if (orb_copy(ORB_ID(led_control), _led_control_sub, &led_control) == 0) {
|
||||
if (_led_control_sub.copy(&led_control)) {
|
||||
|
||||
// don't apply the new state just yet to avoid interrupting an ongoing blinking state
|
||||
for (int i = 0; i < BOARD_MAX_LEDS; ++i) {
|
||||
|
@ -80,14 +69,18 @@ int LedController::update(LedControlData &control_data)
|
|||
}
|
||||
|
||||
_force_update = false;
|
||||
|
||||
orb_check(_led_control_sub, &updated);
|
||||
}
|
||||
|
||||
bool had_changes = false; // did one of the outputs change?
|
||||
|
||||
// handle state updates
|
||||
hrt_abstime now = hrt_absolute_time();
|
||||
|
||||
if (_last_update_call == 0) {
|
||||
_last_update_call = now;
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint16_t blink_delta_t = (uint16_t)((now - _last_update_call) / 100); // Note: this is in 0.1ms
|
||||
constexpr uint16_t breathe_duration = BREATHE_INTERVAL * BREATHE_STEPS / 100;
|
||||
|
||||
|
|
|
@ -44,6 +44,8 @@
|
|||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_led.h>
|
||||
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/topics/led_control.h>
|
||||
|
||||
struct LedControlDataSingle {
|
||||
uint8_t color; ///< one of led_control_s::COLOR_*
|
||||
|
@ -64,18 +66,6 @@ public:
|
|||
LedController() = default;
|
||||
~LedController() = default;
|
||||
|
||||
/**
|
||||
* initialize. Call this once before using the object
|
||||
* @param led_control_sub uorb subscription for led_control
|
||||
* @return 0 on success, <0 on error otherwise
|
||||
*/
|
||||
int init(int led_control_sub);
|
||||
|
||||
/**
|
||||
* check if already initialized
|
||||
*/
|
||||
bool is_init() const { return _led_control_sub >= 0; }
|
||||
|
||||
/**
|
||||
* get maxium time between two consecutive calls to update() in us.
|
||||
*/
|
||||
|
@ -92,18 +82,16 @@ public:
|
|||
*/
|
||||
int update(LedControlData &control_data);
|
||||
|
||||
static const int BREATHE_INTERVAL = 25 * 1000; /**< single step when in breathe mode */
|
||||
static const int BREATHE_STEPS = 64; /**< number of steps in breathe mode for a full on-off cycle */
|
||||
static constexpr int BREATHE_INTERVAL = 25 * 1000; /**< single step when in breathe mode */
|
||||
static constexpr int BREATHE_STEPS = 64; /**< number of steps in breathe mode for a full on-off cycle */
|
||||
|
||||
static const int BLINK_FAST_DURATION = 100 * 1000; /**< duration of half a blinking cycle
|
||||
static constexpr int BLINK_FAST_DURATION = 100 * 1000; /**< duration of half a blinking cycle
|
||||
(on-to-off and off-to-on) in us */
|
||||
static const int BLINK_NORMAL_DURATION = 500 * 1000; /**< duration of half a blinking cycle
|
||||
static constexpr int BLINK_NORMAL_DURATION = 500 * 1000; /**< duration of half a blinking cycle
|
||||
(on-to-off and off-to-on) in us */
|
||||
static const int BLINK_SLOW_DURATION = 2000 * 1000; /**< duration of half a blinking cycle
|
||||
static constexpr int BLINK_SLOW_DURATION = 2000 * 1000; /**< duration of half a blinking cycle
|
||||
(on-to-off and off-to-on) in us */
|
||||
|
||||
int led_control_subscription() const { return _led_control_sub; }
|
||||
|
||||
private:
|
||||
|
||||
/** set control_data based on current Led states */
|
||||
|
@ -186,8 +174,8 @@ private:
|
|||
|
||||
PerLedData _states[BOARD_MAX_LEDS]; ///< keep current LED states
|
||||
|
||||
int _led_control_sub = -1; ///< uorb subscription
|
||||
hrt_abstime _last_update_call;
|
||||
bool _force_update = true; ///< force an orb_copy in the beginning
|
||||
bool _breathe_enabled = false; ///< true if at least one of the led's is currently in breathe mode
|
||||
uORB::Subscription _led_control_sub{ORB_ID(led_control)}; ///< uorb subscription
|
||||
hrt_abstime _last_update_call{0};
|
||||
bool _force_update{true}; ///< force an orb_copy in the beginning
|
||||
bool _breathe_enabled{false}; ///< true if at least one of the led's is currently in breathe mode
|
||||
};
|
||||
|
|
Loading…
Reference in New Issue