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author | Julian Oes <julian@oes.ch> | 2013-08-29 16:45:33 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-08-29 16:45:33 +0200 |
commit | 9bcfe49cff7b8fce6dfbeac7f8233e554672ebff (patch) | |
tree | 75127053b428cee90c00077f0f30c094cd10fd40 /src/drivers/rgbled/rgbled.cpp | |
parent | 55cfa5152c5e3ca3148eee776ec4467dd53eeca3 (diff) | |
download | px4-firmware-9bcfe49cff7b8fce6dfbeac7f8233e554672ebff.tar.gz px4-firmware-9bcfe49cff7b8fce6dfbeac7f8233e554672ebff.tar.bz2 px4-firmware-9bcfe49cff7b8fce6dfbeac7f8233e554672ebff.zip |
Changed RGBLED behaviour, breathe mode when disarmed and ready to arm
Diffstat (limited to 'src/drivers/rgbled/rgbled.cpp')
-rw-r--r-- | src/drivers/rgbled/rgbled.cpp | 46 |
1 files changed, 41 insertions, 5 deletions
diff --git a/src/drivers/rgbled/rgbled.cpp b/src/drivers/rgbled/rgbled.cpp index 05f079ede..feb8f1c6c 100644 --- a/src/drivers/rgbled/rgbled.cpp +++ b/src/drivers/rgbled/rgbled.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -96,6 +96,11 @@ private: rgbled_mode_t _mode; rgbled_pattern_t _pattern; + float _brightness; + uint8_t _r; + uint8_t _g; + uint8_t _b; + bool _should_run; bool _running; int _led_interval; @@ -104,6 +109,7 @@ private: void set_color(rgbled_color_t ledcolor); void set_mode(rgbled_mode_t mode); void set_pattern(rgbled_pattern_t *pattern); + void set_brightness(float brightness); static void led_trampoline(void *arg); void led(); @@ -128,6 +134,10 @@ RGBLED::RGBLED(int bus, int rgbled) : _color(RGBLED_COLOR_OFF), _mode(RGBLED_MODE_OFF), _running(false), + _brightness(1.0f), + _r(0), + _g(0), + _b(0), _led_interval(0), _counter(0) { @@ -191,7 +201,6 @@ int RGBLED::ioctl(struct file *filp, int cmd, unsigned long arg) { int ret = ENOTTY; - switch (cmd) { case RGBLED_SET_RGB: /* set the specified RGB values */ @@ -246,6 +255,15 @@ RGBLED::led() else set_on(false); break; + case RGBLED_MODE_BREATHE: + if (_counter >= 30) + _counter = 0; + if (_counter <= 15) { + set_brightness(((float)_counter)*((float)_counter)/(15.0f*15.0f)); + } else { + set_brightness(((float)(30-_counter))*((float)(30-_counter))/(15.0f*15.0f)); + } + break; case RGBLED_MODE_PATTERN: /* don't run out of the pattern array and stop if the next frame is 0 */ if (_counter >= RGBLED_PATTERN_LENGTH || _pattern.duration[_counter] <= 0) @@ -294,7 +312,7 @@ RGBLED::set_color(rgbled_color_t color) { case RGBLED_COLOR_AMBER: // amber set_rgb(255,20,0); break; - case RGBLED_COLOR_DIM_RED: // red + case RGBLED_COLOR_DIM_RED: // red set_rgb(90,0,0); break; case RGBLED_COLOR_DIM_YELLOW: // yellow @@ -306,7 +324,7 @@ RGBLED::set_color(rgbled_color_t color) { case RGBLED_COLOR_DIM_GREEN: // green set_rgb(0,90,0); break; - case RGBLED_COLOR_DIM_BLUE: // blue + case RGBLED_COLOR_DIM_BLUE: // blue set_rgb(0,0,90); break; case RGBLED_COLOR_DIM_WHITE: // white @@ -347,6 +365,12 @@ RGBLED::set_mode(rgbled_mode_t mode) _should_run = true; _led_interval = 100; break; + case RGBLED_MODE_BREATHE: + _should_run = true; + set_on(true); + _counter = 0; + _led_interval = 1000/15; + break; case RGBLED_MODE_PATTERN: _should_run = true; set_on(true); @@ -377,6 +401,13 @@ RGBLED::set_pattern(rgbled_pattern_t *pattern) set_mode(RGBLED_MODE_PATTERN); } +void +RGBLED::set_brightness(float brightness) { + + _brightness = brightness; + set_rgb(_r, _g, _b); +} + int RGBLED::set(bool on, uint8_t r, uint8_t g, uint8_t b) { @@ -413,7 +444,12 @@ RGBLED::set_on(bool on) int RGBLED::set_rgb(uint8_t r, uint8_t g, uint8_t b) { - const uint8_t msg[6] = { SUB_ADDR_PWM0, (uint8_t)(b*15/255), SUB_ADDR_PWM1, (uint8_t)(g*15/255), SUB_ADDR_PWM2, (uint8_t)(r*15/255)}; + /* save the RGB values in case we want to change the brightness later */ + _r = r; + _g = g; + _b = b; + + const uint8_t msg[6] = { SUB_ADDR_PWM0, (uint8_t)((float)b/255.0f*15.0f*_brightness), SUB_ADDR_PWM1, (uint8_t)((float)g/255.0f*15.0f*_brightness), SUB_ADDR_PWM2, (uint8_t)((float)r/255.0f*15.0f*_brightness)}; return transfer(msg, sizeof(msg), nullptr, 0); } |