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Code Issues Wiki Activity

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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2
.gitattributes vendored Normal file
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@ -0,0 +1,2 @@
*.md eol=crlf

71
docs/LedStrip.md
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@ -89,7 +89,7 @@ Note: It is perfectly possible to configure an LED to have all directions `NESWU
`mmm` specifies the modes that should be applied an LED. Modes are: `mmm` specifies the modes that should be applied an LED. Modes are:
* `B` - `B`attery warning. * `W` - `W`warnings.
* `F` - `F`light mode & Orientation * `F` - `F`light mode & Orientation
* `I` - `I`ndicator. * `I` - `I`ndicator.
* `A` - `A`rmed state. * `A` - `A`rmed state.
@ -97,10 +97,10 @@ Note: It is perfectly possible to configure an LED to have all directions `NESWU
Example: Example:
``` ```
led 0 0,15:SD:IAB led 0 0,15:SD:IAW
led 1 15,0:ND:IAB led 1 15,0:ND:IAW
led 2 0,0:ND:IAB led 2 0,0:ND:IAW
led 3 0,15:SD:IAB led 3 0,15:SD:IAW
``` ```
to erase an led, and to mark the end of the chain, use `0,0::` as the second argument, like this: to erase an led, and to mark the end of the chain, use `0,0::` as the second argument, like this:
@ -112,9 +112,12 @@ led 4 0,0::
### Modes ### Modes
#### Battery Warning #### Warning
This mode simply flashes the LED RED when the battery is low if battery monitoring is enabled. This mode simply uses the leds to flash when warnings occur.
* Battery warning flashes the LEDs between red and off when the battery is low if battery monitoring is enabled.
* Failsafe warning flashes the LEDs between light blue and lime green when failsafe is active.
#### Flight Mode & Orientation #### Flight Mode & Orientation
@ -151,17 +154,17 @@ Orientation is when viewed with the front of the aircraft facing away from you a
The default configuration is as follows The default configuration is as follows
``` ```
led 0 2,2:ES:IA led 0 2,2:ES:IA
led 1 2,1:E:BF led 1 2,1:E:WF
led 2 2,0:NE:IA led 2 2,0:NE:IA
led 3 1,0:N:F led 3 1,0:N:F
led 4 0,0:NW:IA led 4 0,0:NW:IA
led 5 0,1:W:BF led 5 0,1:W:WF
led 6 0,2:SW:IA led 6 0,2:SW:IA
led 7 1,2:S:BF led 7 1,2:S:WF
led 8 1,1:U:BF led 8 1,1:U:WF
led 9 1,1:U:BF led 9 1,1:U:WF
led 10 1,1:D:BF led 10 1,1:D:WF
led 11 1,1:D:BF led 11 1,1:D:WF
``` ```
Which translates into the following positions: Which translates into the following positions:
@ -189,21 +192,21 @@ This is the default so that if you don't want to place LEDs top and bottom in th
``` ```
15,15:SD:IA 15,15:SD:IA
8,8:E:FB 8,8:E:FW
8,7:E:FB 8,7:E:FW
15,0:ND:IA 15,0:ND:IA
7,7:N:FB 7,7:N:FW
8,7:N:FB 8,7:N:FW
0,0:ND:IA 0,0:ND:IA
7,7:W:FB 7,7:W:FW
7,8:W:FB 7,8:W:FW
0,15:SD:IA 0,15:SD:IA
7,8:S:FB 7,8:S:FW
8,8:S:FB 8,8:S:FW
7,7:D:FB 7,7:D:FW
8,7:D:FB 8,7:D:FW
7,7:U:FB 7,7:U:FW
8,7:U:FB 8,7:U:FW
``` ```
Which translates into the following positions: Which translates into the following positions:
@ -228,8 +231,8 @@ LEDs 15-16 should be placed facing up, in the middle
### Exmple 28 LED config ### Exmple 28 LED config
``` ```
9,9:S:FB 9,9:S:FW
10,10:S:FB 10,10:S:FW
11,11:S:IA 11,11:S:IA
11,11:E:IA 11,11:E:IA
10,10:E:F 10,10:E:F
@ -240,10 +243,10 @@ LEDs 15-16 should be placed facing up, in the middle
12,2:N:IA 12,2:N:IA
11,1:N:F 11,1:N:F
10,0:N:F 10,0:N:F
7,0:N:FB 7,0:N:FW
6,0:N:FB 6,0:N:FW
5,0:N:FB 5,0:N:FW
4,0:N:FB 4,0:N:FW
2,0:N:F 2,0:N:F
1,1:N:F 1,1:N:F
0,2:N:IA 0,2:N:IA
@ -254,8 +257,8 @@ LEDs 15-16 should be placed facing up, in the middle
1,10:W:F 1,10:W:F
0,11:W:IA 0,11:W:IA
0,11:S:IA 0,11:S:IA
1,10:S:FB 1,10:S:FW
2,9:S:FB 2,9:S:FW
``` ```
``` ```

92
src/main/io/ledstrip.c
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@ -42,9 +42,12 @@
#include "config/config.h" #include "config/config.h"
#include "rx/rx.h" #include "rx/rx.h"
#include "io/rc_controls.h" #include "io/rc_controls.h"
#include "flight/failsafe.h"
#include "io/ledstrip.h" #include "io/ledstrip.h"
static failsafe_t* failsafe;
#if MAX_LED_STRIP_LENGTH > WS2811_LED_STRIP_LENGTH #if MAX_LED_STRIP_LENGTH > WS2811_LED_STRIP_LENGTH
#error "Led strip length must match driver" #error "Led strip length must match driver"
#endif #endif
@ -74,6 +77,8 @@ const rgbColor24bpp_t red = { LED_RED };
const rgbColor24bpp_t orange = { LED_ORANGE }; const rgbColor24bpp_t orange = { LED_ORANGE };
const rgbColor24bpp_t green = { LED_GREEN }; const rgbColor24bpp_t green = { LED_GREEN };
const rgbColor24bpp_t blue = { LED_BLUE }; const rgbColor24bpp_t blue = { LED_BLUE };
const rgbColor24bpp_t lightBlue = { LED_LIGHT_BLUE };
const rgbColor24bpp_t limeGreen = { LED_LIME_GREEN };
uint8_t ledGridWidth; uint8_t ledGridWidth;
@ -84,17 +89,17 @@ ledConfig_t *ledConfigs;
const ledConfig_t defaultLedStripConfig[] = { 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, 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( 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( 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, 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( 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 },
{ 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_WARNING },
{ 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_WARNING },
{ 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_WARNING },
{ 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_WARNING },
}; };
@ -130,11 +135,11 @@ static const uint8_t directionMappings[DIRECTION_COUNT] = {
LED_DIRECTION_DOWN 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])) #define FUNCTION_COUNT (sizeof(functionCodes) / sizeof(functionCodes[0]))
static const uint16_t functionMappings[FUNCTION_COUNT] = { static const uint16_t functionMappings[FUNCTION_COUNT] = {
LED_FUNCTION_INDICATOR, LED_FUNCTION_INDICATOR,
LED_FUNCTION_BATTERY, LED_FUNCTION_WARNING,
LED_FUNCTION_FLIGHT_MODE, LED_FUNCTION_FLIGHT_MODE,
LED_FUNCTION_ARM_STATE LED_FUNCTION_ARM_STATE
}; };
@ -310,7 +315,7 @@ void generateLedConfig(uint8_t ledIndex, char *ledConfigBuffer, size_t bufferSiz
// timers // timers
uint32_t nextAnimationUpdateAt = 0; uint32_t nextAnimationUpdateAt = 0;
uint32_t nextIndicatorFlashAt = 0; uint32_t nextIndicatorFlashAt = 0;
uint32_t nextBatteryFlashAt = 0; uint32_t nextWarningFlashAt = 0;
#define LED_STRIP_20HZ ((1000 * 1000) / 20) #define LED_STRIP_20HZ ((1000 * 1000) / 20)
#define LED_STRIP_10HZ ((1000 * 1000) / 10) #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; const ledConfig_t *ledConfig;
static uint8_t warningFlashCounter = 0;
if (warningState) {
warningFlashCounter++;
warningFlashCounter = warningFlashCounter % 4;
}
uint8_t ledIndex; uint8_t ledIndex;
for (ledIndex = 0; ledIndex < ledCount; ledIndex++) { for (ledIndex = 0; ledIndex < ledCount; ledIndex++) {
ledConfig = &ledConfigs[ledIndex]; ledConfig = &ledConfigs[ledIndex];
if (!(ledConfig->flags & LED_FUNCTION_BATTERY)) { if (!(ledConfig->flags & LED_FUNCTION_WARNING)) {
continue; continue;
} }
if (batteryFlashState == 0) { if (warningState == 0) {
setLedColor(ledIndex, &red); if (warningFlashCounter == 0 && warningFlags & WARNING_FLAG_LOW_BATTERY) {
setLedColor(ledIndex, &red);
}
if (warningFlashCounter > 1 && warningFlags & WARNING_FLAG_FAILSAFE) {
setLedColor(ledIndex, &lightBlue);
}
} else { } 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 animationUpdateNow = (int32_t)(now - nextAnimationUpdateAt) >= 0L;
bool indicatorFlashNow = (int32_t)(now - nextIndicatorFlashAt) >= 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; return;
} }
static uint8_t indicatorFlashState = 0; static uint8_t indicatorFlashState = 0;
static uint8_t batteryFlashState = 0; static uint8_t warningState = 0;
static bool batteryWarningEnabled = false; static uint8_t warningFlags;
// LAYER 1 // LAYER 1
@ -641,21 +668,27 @@ void updateLedStrip(void)
// LAYER 2 // LAYER 2
if (batteryFlashNow) { if (warningFlashNow) {
nextBatteryFlashAt = now + LED_STRIP_10HZ; nextWarningFlashAt = now + LED_STRIP_10HZ;
if (batteryFlashState == 0) { if (warningState == 0) {
batteryFlashState = 1; 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 { } else {
batteryFlashState = 0; warningState = 0;
} }
} }
if (batteryWarningEnabled) { if (warningFlags) {
applyLedLowBatteryLayer(batteryFlashState); applyLedWarningLayer(warningState, warningFlags);
} }
// LAYER 3 // LAYER 3
@ -694,9 +727,10 @@ void applyDefaultLedStripConfig(ledConfig_t *ledConfigs)
reevalulateLedConfig(); reevalulateLedConfig();
} }
void ledStripInit(ledConfig_t *ledConfigsToUse) void ledStripInit(ledConfig_t *ledConfigsToUse, failsafe_t* failsafeToUse)
{ {
ledConfigs = ledConfigsToUse; ledConfigs = ledConfigsToUse;
failsafe = failsafeToUse;
reevalulateLedConfig(); reevalulateLedConfig();
} }
#endif #endif

2
src/main/io/ledstrip.h
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@ -41,7 +41,7 @@ typedef enum {
LED_DIRECTION_UP = (1 << 4), LED_DIRECTION_UP = (1 << 4),
LED_DIRECTION_DOWN = (1 << 5), LED_DIRECTION_DOWN = (1 << 5),
LED_FUNCTION_INDICATOR = (1 << 6), LED_FUNCTION_INDICATOR = (1 << 6),
LED_FUNCTION_BATTERY = (1 << 7), LED_FUNCTION_WARNING = (1 << 7),
LED_FUNCTION_FLIGHT_MODE = (1 << 8), LED_FUNCTION_FLIGHT_MODE = (1 << 8),
LED_FUNCTION_ARM_STATE = (1 << 9) LED_FUNCTION_ARM_STATE = (1 << 9)
} ledFlag_e; } ledFlag_e;

5
src/main/main.c
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@ -89,8 +89,7 @@ void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig);
void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile); void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig); bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig);
void imuInit(void); void imuInit(void);
void ledStripInit(ledConfig_t *ledConfigs); void ledStripInit(ledConfig_t *ledConfigsToUse, failsafe_t* failsafeToUse);
void loop(void); void loop(void);
// FIXME bad naming - this appears to be for some new board that hasn't been made available yet. // 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 #ifdef LED_STRIP
if (feature(FEATURE_LED_STRIP)) { if (feature(FEATURE_LED_STRIP)) {
ws2811LedStripInit(); ws2811LedStripInit();
ledStripInit(masterConfig.ledConfigs); ledStripInit(masterConfig.ledConfigs, failsafe);
} }
#endif #endif

53
src/test/unit/ledstrip_unittest.cc
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@ -15,6 +15,7 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdint.h> #include <stdint.h>
#include <stdlib.h>
#include <limits.h> #include <limits.h>
@ -56,8 +57,8 @@ TEST(LedStripTest, parseLedStripConfig)
// given // given
static const ledConfig_t expectedLedStripConfig[WS2811_LED_STRIP_LENGTH] = { 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( 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_BATTERY }, { 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_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(11, 11), LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
{ CALCULATE_LED_XY(10, 10), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE }, { 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(11, 1), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY(10, 0), 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( 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_BATTERY }, { 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_BATTERY }, { 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_BATTERY }, { 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( 2, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 1, 1), 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( 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_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( 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( 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_BATTERY }, { CALCULATE_LED_XY( 2, 9), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_WARNING },
{ 0, 0 }, { 0, 0 },
{ 0, 0 }, { 0, 0 },
@ -100,8 +101,8 @@ TEST(LedStripTest, parseLedStripConfig)
// Spider quad // Spider quad
// right rear cluster // right rear cluster
"9,9:S:FB", "9,9:S:FW",
"10,10:S:FB", "10,10:S:FW",
"11,11:S:IA", "11,11:S:IA",
"11,11:E:IA", "11,11:E:IA",
"10,10:E:F", "10,10:E:F",
@ -116,10 +117,10 @@ TEST(LedStripTest, parseLedStripConfig)
"10,0:N:F", "10,0:N:F",
// center front cluster // center front cluster
"7,0:N:FB", "7,0:N:FW",
"6,0:N:FB", "6,0:N:FW",
"5,0:N:FB", "5,0:N:FW",
"4,0:N:FB", "4,0:N:FW",
// left front cluster // left front cluster
"2,0:N:F", "2,0:N:F",
@ -134,8 +135,8 @@ TEST(LedStripTest, parseLedStripConfig)
"1,10:W:F", "1,10:W:F",
"0,11:W:IA", "0,11:W:IA",
"0,11:S:IA", "0,11:S:IA",
"1,10:S:FB", "1,10:S:FW",
"2,9:S:FB" "2,9:S:FW"
}; };
// and // and
memset(&systemLedConfigs, 0, sizeof(systemLedConfigs)); memset(&systemLedConfigs, 0, sizeof(systemLedConfigs));
@ -182,13 +183,13 @@ TEST(LedStripTest, smallestGridWithCenter)
// and // and
static const ledConfig_t testLedConfigs[] = { 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, 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( 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, 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( 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)); 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, 11), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 0, 10), 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, 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, 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_BATTERY }, { 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_BATTERY }, { 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, 5), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 0, 4), 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 }, { 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, 3), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 4, 4), 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, 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, 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_BATTERY }, { 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_BATTERY }, { 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, 9), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },
{ CALCULATE_LED_XY( 4, 10), 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 }, { CALCULATE_LED_XY( 4, 11), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },