4 changed files with 215 additions and 1 deletions
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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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#include "AP_Notify/AP_Notify.h" |
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#include "NeoPixel.h" |
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#include "SRV_Channel/SRV_Channel.h" |
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// This limit is from the dshot driver rcout groups limit
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#define AP_NOTIFY_NEOPIXEL_MAX_INSTANCES 4 |
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// Datasheet: https://cdn-shop.adafruit.com/datasheets/WS2812B.pdf
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// 24bit msg as 3 byte GRB (not RGB) where first bit is G7, and last bit is B0
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// (first) G7|G6|G5|G4|G3|G2|G1|G0|R7|R6|R5|R4|R3|R2|R1|R0|B7|B6|B5|B4|B3|B2|B1|B0 (last)
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#define NEOPIXEL_LED_LOW 0x33 |
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#define NEOPIXEL_LED_MEDIUM 0x7F |
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#define NEOPIXEL_LED_HIGH 0xFF |
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#define NEOPIXEL_LED_OFF 0x00 |
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extern const AP_HAL::HAL& hal; |
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NeoPixel::NeoPixel() : |
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RGBLed(NEOPIXEL_LED_OFF, NEOPIXEL_LED_HIGH, NEOPIXEL_LED_MEDIUM, NEOPIXEL_LED_LOW) |
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{ |
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} |
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bool NeoPixel::hw_init() |
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{ |
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NeoPixel::init_ports(); |
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hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&NeoPixel::timer, void)); |
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return true; |
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} |
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uint16_t NeoPixel::init_ports() |
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{ |
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static uint16_t last_mask = 0; |
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uint16_t mask = 0; |
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for (uint16_t i=0; i<AP_NOTIFY_NEOPIXEL_MAX_INSTANCES; i++) { |
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const SRV_Channel::Aux_servo_function_t chan = (SRV_Channel::Aux_servo_function_t)((uint8_t)SRV_Channel::k_LED_neopixel1 + i); |
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if (!SRV_Channels::function_assigned(chan)) { |
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continue; |
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} |
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mask |= SRV_Channels::get_output_channel_mask(chan); |
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} |
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if (mask != 0 && mask != last_mask) { |
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hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_NEOPIXEL); |
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} |
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last_mask = mask; |
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return mask; |
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} |
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void NeoPixel::timer() |
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{ |
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WITH_SEMAPHORE(_sem); |
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const uint32_t now_ms = AP_HAL::millis(); |
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if (now_ms - _last_init_ms >= 1000) { |
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_last_init_ms = now_ms; |
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enable_mask = NeoPixel::init_ports(); |
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} |
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if (enable_mask == 0) { |
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// nothing is enabled, no pins set as LED output
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return; |
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} |
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#if NEOPIXEL_WHITE_STROBE |
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if (now_ms - _white_long_ms >= 2000) { |
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//start white light
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_white_long_ms = now_ms; |
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_white_short_ms = now_ms; // start 100ms WHITE pulse
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hw_set_rgb(0xFF,0xFF,0xFF); |
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} else if (_white_short_ms > 0 && now_ms - _white_short_ms >= 100) { |
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// stop white light
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_white_short_ms = 0; |
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hw_set_rgb(_last_rgb.r, _last_rgb.g, _last_rgb.b); |
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} |
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#endif |
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} |
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bool NeoPixel::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) |
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{ |
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// always rememebr this even when disabled so when we enable it will show correct color
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NeoPixel::RGB value {}; |
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value.r = red; |
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value.g = green; |
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value.b = blue; |
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#if NEOPIXEL_WHITE_STROBE |
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if (_white_short_ms == 0) { |
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// if not during a WHITE BLINK then record last LED
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_last_rgb.rgb = value.rgb; |
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} |
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#endif |
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if (enable_mask == 0) { |
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// nothing is enabled, no pins set as LED output
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return true; |
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} |
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NeoPixel::write_LED(value); |
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return true; |
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} |
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void NeoPixel::write_LED(NeoPixel::RGB value) |
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{ |
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for (uint16_t i=0; i<AP_NOTIFY_NEOPIXEL_MAX_INSTANCES; i++) { |
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NeoPixel::write_LED(i, value); |
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} |
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} |
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void NeoPixel::write_LED(uint16_t instance, NeoPixel::RGB value) |
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{ |
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if (instance >= AP_NOTIFY_NEOPIXEL_MAX_INSTANCES) { |
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return; |
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} |
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hal.rcout->set_neopixel_rgb_data(instance, value.rgb); |
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} |
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void NeoPixel::write_LED(uint16_t instance, uint8_t red, uint8_t green, uint8_t blue) |
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{ |
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NeoPixel::RGB value {}; |
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value.r = red; |
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value.g = green; |
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value.b = blue; |
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NeoPixel::write_LED(instance, value); |
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} |
@ -0,0 +1,68 @@ |
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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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|
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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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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 "RGBLed.h" |
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#include <AP_Common/AP_Common.h> |
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#define NEOPIXEL_WHITE_STROBE 0 |
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class NeoPixel: public RGBLed { |
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public: |
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NeoPixel(); |
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typedef union { |
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struct PACKED { |
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// **NOTE** These are GRB, not RGB
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uint8_t b; |
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uint8_t r; |
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uint8_t g; |
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uint8_t unused; |
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}; |
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uint32_t rgb; |
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} RGB; |
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static void write_LED(NeoPixel::RGB value); |
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static void write_LED(uint16_t instance, NeoPixel::RGB value); |
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static void write_LED(uint16_t instance, uint8_t red, uint8_t green, uint8_t blue); |
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static uint16_t init_ports(); |
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protected: |
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bool hw_init(void) override; |
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bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b) override; |
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private: |
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uint16_t enable_mask; |
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// perdiodic tick to re-init
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uint32_t _last_init_ms; |
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// periodic callback
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void timer(); |
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HAL_Semaphore_Recursive _sem; |
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#if NEOPIXEL_WHITE_STROBE |
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// remember last RGB so we can resume after a white pulse
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RGB _last_rgb; |
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uint32_t _white_long_ms; |
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uint32_t _white_short_ms; |
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#endif |
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}; |
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