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Allow led strip to show failsafe state. Closes #76.

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This commit is contained in:
Dominic Clifton 2014-09-15 23:00:18 +01:00
parent e14347bf47
commit a287f9247d
6 changed files with 388 additions and 349 deletions
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92
src/main/io/ledstrip.c
View file

@ -42,9 +42,12 @@
#include "config/config.h"
#include "rx/rx.h"
#include "io/rc_controls.h"
#include "flight/failsafe.h"
#include "io/ledstrip.h"
static failsafe_t* failsafe;
#if MAX_LED_STRIP_LENGTH > WS2811_LED_STRIP_LENGTH
#error "Led strip length must match driver"
#endif
@ -74,6 +77,8 @@ const rgbColor24bpp_t red = { LED_RED };
const rgbColor24bpp_t orange = { LED_ORANGE };
const rgbColor24bpp_t green = { LED_GREEN };
const rgbColor24bpp_t blue = { LED_BLUE };
const rgbColor24bpp_t lightBlue = { LED_LIGHT_BLUE };
const rgbColor24bpp_t limeGreen = { LED_LIME_GREEN };
uint8_t ledGridWidth;
@ -84,17 +89,17 @@ ledConfig_t *ledConfigs;
const ledConfig_t defaultLedStripConfig[] = {
{ CALCULATE_LED_XY( 2, 2), LED_DIRECTION_SOUTH | LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
{ CALCULATE_LED_XY( 2, 1), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 2, 1), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 2, 0), LED_DIRECTION_NORTH | LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
{ CALCULATE_LED_XY( 1, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 0, 0), LED_DIRECTION_NORTH | LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
{ CALCULATE_LED_XY( 0, 1), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 0, 1), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 0, 2), LED_DIRECTION_SOUTH | LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
{ CALCULATE_LED_XY( 1, 2), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 1, 1), LED_DIRECTION_UP | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 1, 1), LED_DIRECTION_UP | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 1, 1), LED_DIRECTION_DOWN | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 1, 1), LED_DIRECTION_DOWN | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 1, 2), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 1, 1), LED_DIRECTION_UP | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 1, 1), LED_DIRECTION_UP | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 1, 1), LED_DIRECTION_DOWN | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 1, 1), LED_DIRECTION_DOWN | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
};
@ -130,11 +135,11 @@ static const uint8_t directionMappings[DIRECTION_COUNT] = {
LED_DIRECTION_DOWN
};
static const char functionCodes[] = { 'I', 'B', 'F', 'A' };
static const char functionCodes[] = { 'I', 'W', 'F', 'A' };
#define FUNCTION_COUNT (sizeof(functionCodes) / sizeof(functionCodes[0]))
static const uint16_t functionMappings[FUNCTION_COUNT] = {
LED_FUNCTION_INDICATOR,
LED_FUNCTION_BATTERY,
LED_FUNCTION_WARNING,
LED_FUNCTION_FLIGHT_MODE,
LED_FUNCTION_ARM_STATE
};
@ -310,7 +315,7 @@ void generateLedConfig(uint8_t ledIndex, char *ledConfigBuffer, size_t bufferSiz
// timers
uint32_t nextAnimationUpdateAt = 0;
uint32_t nextIndicatorFlashAt = 0;
uint32_t nextBatteryFlashAt = 0;
uint32_t nextWarningFlashAt = 0;
#define LED_STRIP_20HZ ((1000 * 1000) / 20)
#define LED_STRIP_10HZ ((1000 * 1000) / 10)
@ -506,23 +511,45 @@ void applyLedModeLayer(void)
}
}
void applyLedLowBatteryLayer(uint8_t batteryFlashState)
typedef enum {
WARNING_FLAG_NONE = 0,
WARNING_FLAG_LOW_BATTERY = (1 << 0),
WARNING_FLAG_FAILSAFE = (1 << 1)
} warningFlags_e;
void applyLedWarningLayer(uint8_t warningState, uint8_t warningFlags)
{
const ledConfig_t *ledConfig;
static uint8_t warningFlashCounter = 0;
if (warningState) {
warningFlashCounter++;
warningFlashCounter = warningFlashCounter % 4;
}
uint8_t ledIndex;
for (ledIndex = 0; ledIndex < ledCount; ledIndex++) {
ledConfig = &ledConfigs[ledIndex];
if (!(ledConfig->flags & LED_FUNCTION_BATTERY)) {
if (!(ledConfig->flags & LED_FUNCTION_WARNING)) {
continue;
}
if (batteryFlashState == 0) {
setLedColor(ledIndex, &red);
if (warningState == 0) {
if (warningFlashCounter == 0 && warningFlags & WARNING_FLAG_LOW_BATTERY) {
setLedColor(ledIndex, &red);
}
if (warningFlashCounter > 1 && warningFlags & WARNING_FLAG_FAILSAFE) {
setLedColor(ledIndex, &lightBlue);
}
} else {
setLedColor(ledIndex, &black);
if (warningFlashCounter == 0 && warningFlags & WARNING_FLAG_LOW_BATTERY) {
setLedColor(ledIndex, &black);
}
if (warningFlashCounter > 1 && warningFlags & WARNING_FLAG_FAILSAFE) {
setLedColor(ledIndex, &limeGreen);
}
}
}
}
@ -625,15 +652,15 @@ void updateLedStrip(void)
bool animationUpdateNow = (int32_t)(now - nextAnimationUpdateAt) >= 0L;
bool indicatorFlashNow = (int32_t)(now - nextIndicatorFlashAt) >= 0L;
bool batteryFlashNow = (int32_t)(now - nextBatteryFlashAt) >= 0L;
bool warningFlashNow = (int32_t)(now - nextWarningFlashAt) >= 0L;
if (!(batteryFlashNow || indicatorFlashNow || animationUpdateNow)) {
if (!(warningFlashNow || indicatorFlashNow || animationUpdateNow)) {
return;
}
static uint8_t indicatorFlashState = 0;
static uint8_t batteryFlashState = 0;
static bool batteryWarningEnabled = false;
static uint8_t warningState = 0;
static uint8_t warningFlags;
// LAYER 1
@ -641,21 +668,27 @@ void updateLedStrip(void)
// LAYER 2
if (batteryFlashNow) {
nextBatteryFlashAt = now + LED_STRIP_10HZ;
if (warningFlashNow) {
nextWarningFlashAt = now + LED_STRIP_10HZ;
if (batteryFlashState == 0) {
batteryFlashState = 1;
if (warningState == 0) {
warningState = 1;
warningFlags = WARNING_FLAG_NONE;
if (feature(FEATURE_VBAT) && shouldSoundBatteryAlarm()) {
warningFlags |= WARNING_FLAG_LOW_BATTERY;
}
if (failsafe->vTable->hasTimerElapsed()) {
warningFlags |= WARNING_FLAG_FAILSAFE;
}
batteryWarningEnabled = feature(FEATURE_VBAT) && shouldSoundBatteryAlarm();
} else {
batteryFlashState = 0;
warningState = 0;
}
}
if (batteryWarningEnabled) {
applyLedLowBatteryLayer(batteryFlashState);
if (warningFlags) {
applyLedWarningLayer(warningState, warningFlags);
}
// LAYER 3
@ -694,9 +727,10 @@ void applyDefaultLedStripConfig(ledConfig_t *ledConfigs)
reevalulateLedConfig();
}
void ledStripInit(ledConfig_t *ledConfigsToUse)
void ledStripInit(ledConfig_t *ledConfigsToUse, failsafe_t* failsafeToUse)
{
ledConfigs = ledConfigsToUse;
failsafe = failsafeToUse;
reevalulateLedConfig();
}
#endif

2
src/main/io/ledstrip.h
View file

@ -41,7 +41,7 @@ typedef enum {
LED_DIRECTION_UP = (1 << 4),
LED_DIRECTION_DOWN = (1 << 5),
LED_FUNCTION_INDICATOR = (1 << 6),
LED_FUNCTION_BATTERY = (1 << 7),
LED_FUNCTION_WARNING = (1 << 7),
LED_FUNCTION_FLIGHT_MODE = (1 << 8),
LED_FUNCTION_ARM_STATE = (1 << 9)
} ledFlag_e;

5
src/main/main.c
View file

@ -89,8 +89,7 @@ void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig);
void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig);
void imuInit(void);
void ledStripInit(ledConfig_t *ledConfigs);
void ledStripInit(ledConfig_t *ledConfigsToUse, failsafe_t* failsafeToUse);
void loop(void);
// FIXME bad naming - this appears to be for some new board that hasn't been made available yet.
@ -238,7 +237,7 @@ void init(void)
#ifdef LED_STRIP
if (feature(FEATURE_LED_STRIP)) {
ws2811LedStripInit();
ledStripInit(masterConfig.ledConfigs);
ledStripInit(masterConfig.ledConfigs, failsafe);
}
#endif

53
src/test/unit/ledstrip_unittest.cc
View file

@ -15,6 +15,7 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdint.h>
#include <stdlib.h>
#include <limits.h>
@ -56,8 +57,8 @@ TEST(LedStripTest, parseLedStripConfig)
// given
static const ledConfig_t expectedLedStripConfig[WS2811_LED_STRIP_LENGTH] = {
{ CALCULATE_LED_XY( 9, 9), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY(10, 10), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 9, 9), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY(10, 10), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY(11, 11), LED_DIRECTION_SOUTH | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
{ CALCULATE_LED_XY(11, 11), LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
{ CALCULATE_LED_XY(10, 10), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },
@ -70,10 +71,10 @@ TEST(LedStripTest, parseLedStripConfig)
{ CALCULATE_LED_XY(11, 1), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY(10, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 7, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 6, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 5, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 4, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 7, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 6, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 5, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 4, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 2, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 1, 1), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE },
@ -86,8 +87,8 @@ TEST(LedStripTest, parseLedStripConfig)
{ CALCULATE_LED_XY( 1, 10), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 0, 11), LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
{ CALCULATE_LED_XY( 0, 11), LED_DIRECTION_SOUTH | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
{ CALCULATE_LED_XY( 1, 10), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 2, 9), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 1, 10), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 2, 9), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ 0, 0 },
{ 0, 0 },
@ -100,8 +101,8 @@ TEST(LedStripTest, parseLedStripConfig)
// Spider quad
// right rear cluster
"9,9:S:FB",
"10,10:S:FB",
"9,9:S:FW",
"10,10:S:FW",
"11,11:S:IA",
"11,11:E:IA",
"10,10:E:F",
@ -116,10 +117,10 @@ TEST(LedStripTest, parseLedStripConfig)
"10,0:N:F",
// center front cluster
"7,0:N:FB",
"6,0:N:FB",
"5,0:N:FB",
"4,0:N:FB",
"7,0:N:FW",
"6,0:N:FW",
"5,0:N:FW",
"4,0:N:FW",
// left front cluster
"2,0:N:F",
@ -134,8 +135,8 @@ TEST(LedStripTest, parseLedStripConfig)
"1,10:W:F",
"0,11:W:IA",
"0,11:S:IA",
"1,10:S:FB",
"2,9:S:FB"
"1,10:S:FW",
"2,9:S:FW"
};
// and
memset(&systemLedConfigs, 0, sizeof(systemLedConfigs));
@ -182,13 +183,13 @@ TEST(LedStripTest, smallestGridWithCenter)
// and
static const ledConfig_t testLedConfigs[] = {
{ CALCULATE_LED_XY( 2, 2), LED_DIRECTION_SOUTH | LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
{ CALCULATE_LED_XY( 2, 1), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 2, 1), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 2, 0), LED_DIRECTION_NORTH | LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
{ CALCULATE_LED_XY( 1, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 1, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 0, 0), LED_DIRECTION_NORTH | LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
{ CALCULATE_LED_XY( 0, 1), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 0, 1), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 0, 2), LED_DIRECTION_SOUTH | LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
{ CALCULATE_LED_XY( 1, 2), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY }
{ CALCULATE_LED_XY( 1, 2), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING }
};
memcpy(&systemLedConfigs, &testLedConfigs, sizeof(testLedConfigs));
@ -250,9 +251,9 @@ TEST(LedStripTest, smallestGrid)
{ CALCULATE_LED_XY( 0, 11), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 0, 10), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 0, 9), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 0, 8), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 0, 7), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 0, 6), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 0, 8), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 0, 7), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 0, 6), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 0, 5), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 0, 4), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 0, 3), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
@ -270,9 +271,9 @@ TEST(LedStripTest, smallestGrid)
{ CALCULATE_LED_XY( 4, 3), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 4, 4), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 4, 5), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 4, 6), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 4, 7), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 4, 8), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
{ CALCULATE_LED_XY( 4, 6), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 4, 7), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 4, 8), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ CALCULATE_LED_XY( 4, 9), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 4, 10), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 4, 11), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },