Merge branch 'lights'

src/modules/px4iofirmware/px4io.c

@@ -85,6 +85,9 @@ static volatile uint8_t msg_next_out, msg_next_in;
 #define NUM_MSG 2
 static char msg[NUM_MSG][40];
 
+static void heartbeat_blink(void);
+static void ring_blink(void);
+
 /*
  * add a debug message to be printed on the console
  */
@@ -124,8 +127,54 @@ heartbeat_blink(void)
 {
 	static bool heartbeat = false;
 	LED_BLUE(heartbeat = !heartbeat);
+}
+
+static void
+ring_blink(void)
+{
 #ifdef GPIO_LED4
-	LED_RING(heartbeat);
+
+	// XXX this led code does have
+	// intentionally a few magic numbers.
+	const unsigned max_brightness = 118;
+
+	static unsigned counter = 0;
+	static unsigned brightness = max_brightness;
+	static unsigned brightness_counter = 0;
+	static unsigned on_counter = 0;
+
+	if (brightness_counter < max_brightness) {
+
+		bool on = ((on_counter * 100) / brightness_counter+1) <= ((brightness * 100) / max_brightness+1);
+
+		LED_RING(on);
+		brightness_counter++;
+
+		if (on) {
+			on_counter++;
+		}
+
+	} else {
+
+		if (counter >= 62) {
+			counter = 0;
+		}
+
+		int n;
+
+		if (counter < 32) {
+			n = counter;
+
+		} else {
+			n = 62 - counter;
+		}
+
+		brightness = (n * n) / 9;
+		brightness_counter = 0;
+		on_counter = 0;
+		counter++;
+	}
+
 #endif
 }
 
@@ -300,6 +349,8 @@ user_start(int argc, char *argv[])
                     heartbeat_blink();
                 }
 
+                ring_blink();
+
                 check_reboot();
 
 		/* check for debug activity (default: none) */