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Allow led strip to show failsafe state. Closes #76.
This commit is contained in:
Dominic Clifton
parent
e14347bf47
commit
a287f9247d
6 changed files with 388 additions and 349 deletions
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*.md eol=crlf
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583
docs/LedStrip.md
583
docs/LedStrip.md
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@ -1,290 +1,293 @@
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# Led Strip
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Cleanflight supports the use of addressable LED strips. Addressable LED strips allow each LED in the strip to
|
||||
be programmed with a unique and independant color. This is far more advanced than the normal RGB strips which
|
||||
require that all the LEDs in the strip show the same color.
|
||||
|
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Addressable LED strips can be used to show information from the flight controller system, the current implementation
|
||||
supports the following:
|
||||
|
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* Up to 32 LEDs.
|
||||
* Indicators showing pitch/roll stick positions.
|
||||
* Heading/Orientation lights.
|
||||
* Flight mode specific color schemes.
|
||||
* Low battery warning.
|
||||
|
||||
The function and orientation configuration is fixed for now but later it should be able to be set via the UI or CLI..
|
||||
|
||||
In the future, if someone codes it, they could be used to show GPS navigation status, thrust levels, RSSI, etc.
|
||||
Lots of scope for ideas and improvements.
|
||||
|
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Likewise, support for more than 32 LEDs is possible, it just requires additional development.
|
||||
|
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## Supported hardware
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Only strips of 32 WS2812 LEDs are supported currently. If the strip is longer than 32 leds it does not matter,
|
||||
but only the first 32 are used.
|
||||
|
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WS2812 LEDs require an 800khz signal and precise timings and thus requires the use of a dedicated hardware timer.
|
||||
|
||||
Note: The initial code may work with WS2801 + External LEDs since the protocol is the same, WS2811/WS2812B should also work but
|
||||
may require very simple timing adjustments to be made in the source.
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||||
Not all WS2812 ICs use the same timings, some batches use different timings.
|
||||
|
||||
It could be possible to be able to specify the timings required via CLI if users request it.
|
||||
|
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## Connections
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WS2812 LED strips generally require a single data line, 5V and GND.
|
||||
|
||||
WS2812 LEDs on full brightness can consume quite a bit of current. It is recommended to verify the current draw and ensure your
|
||||
supply can cope with the load. On a multirotor that uses multiple BEC ESC's you can try use a different BEC to the one the FC
|
||||
uses. e.g. ESC1/BEC1 -> FC, ESC2/BEC2 -> LED strip. It's also possible to power one half of the strip from one BEC and the other half
|
||||
from another BEC. Just ensure that the GROUND is the same for all BEC outputs and LEDs.
|
||||
|
||||
|
||||
| Target | Pin | Led Strip | Signal |
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||||
| --------------------- | --- | --------- | -------|
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||||
| Naze/Olimexino | RC5 | Data In | PA6 |
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| CC3D | ??? | Data In | PB4 |
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||||
| ChebuzzF3/F3Discovery | PB8 | Data In | PB8 |
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Since RC5 is also used for SoftSerial on the Naze/Olimexino it means that you cannot use softserial and led strips at the same time.
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Additionally, since RC5 is also used for Parallel PWM RC input on both the Naze, Chebuzz and STM32F3Discovery targets, led strips
|
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can not be used at the same time at Parallel PWM.
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|
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## Configuration
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Enable the `LED_STRIP` feature via the cli:
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```
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feature LED_STRIP
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```
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If you enable LED_STRIP feature and the feature is turned off again after a reboot then check your config does not conflict with other features, as above.
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Configure the LEDs using the `led` command.
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The `led` command takes either zero or two arguments - an zero-based led number and a pair of coordinates, direction flags and mode flags.
|
||||
|
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If used with zero arguments it prints out the led configuration which can be copied for future reference.
|
||||
|
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Each led is configured using the following template: `x,y:ddd:mmm`
|
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`x` and `y` are grid coordinates of a 0 based 16x16 grid, north west is 0,0, south east is 15,15
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`ddd` specifies the directions, since an led can face in any direction it can have multiple directions. Directions are:
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`N` - North
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`E` - East
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`S` - South
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`W` - West
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`U` - Up
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`D` - Down
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For instance, an LED that faces South-east at a 45 degree downwards angle could be configured as `SED`.
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Note: It is perfectly possible to configure an LED to have all directions `NESWUD` but probably doesn't make sense.
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`mmm` specifies the modes that should be applied an LED. Modes are:
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* `B` - `B`attery warning.
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* `F` - `F`light mode & Orientation
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* `I` - `I`ndicator.
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* `A` - `A`rmed state.
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Example:
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```
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led 0 0,15:SD:IAB
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led 1 15,0:ND:IAB
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led 2 0,0:ND:IAB
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led 3 0,15:SD:IAB
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```
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to erase an led, and to mark the end of the chain, use `0,0::` as the second argument, like this:
|
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```
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led 4 0,0::
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```
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### Modes
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#### Battery Warning
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This mode simply flashes the LED RED when the battery is low if battery monitoring is enabled.
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|
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#### Flight Mode & Orientation
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This mode shows the flight mode and orientation.
|
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|
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When flight modes are active then the leds are updated to show different colors depending on the mode, placement on the grid and direction.
|
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|
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Leds are set in a specific order:
|
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* Leds that marked as facing up or down.
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* Leds that marked as facing west or east AND are on the west or east side of the grid.
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* Leds that marked as facing north or south AND are on the north or south side of the grid.
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That is, south facing leds have priority.
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#### Indicator
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This mode flashes LEDs that correspond to roll and pitch stick positions. i.e. they indicate the direction the craft is going to turn.
|
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|
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#### Armed state
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This mode toggles LEDs between green and blue when disarmed and armed, respectively.
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Note: Armed State cannot be used with Flight Mode.
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## Positioning
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Cut the strip into sections as per diagrams below. When the strips are cut ensure you reconnect each output to each input with cable where the break is made.
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e.g. connect 5V out to 5V in, GND to GND and Data Out to Data In.
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Orientation is when viewed with the front of the aircraft facing away from you and viewed from above.
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### Example 12 LED config
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The default configuration is as follows
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```
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led 0 2,2:ES:IA
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led 1 2,1:E:BF
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led 2 2,0:NE:IA
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led 3 1,0:N:F
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led 4 0,0:NW:IA
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led 5 0,1:W:BF
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led 6 0,2:SW:IA
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led 7 1,2:S:BF
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led 8 1,1:U:BF
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led 9 1,1:U:BF
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led 10 1,1:D:BF
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led 11 1,1:D:BF
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```
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Which translates into the following positions:
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```
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5 3
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\ /
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\ 4 /
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\ FRONT /
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6 | 9-12 | 2
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/ BACK \
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/ 8 \
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/ \
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7 1
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```
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LEDs 1,3,5 and 7 should be placed underneath the quad, facing downwards.
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LEDs 2, 4, 6 and 8 should be positioned so the face east/north/west/south, respectively.
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LEDs 9-10 should be placed facing down, in the middle
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LEDs 11-12 should be placed facing up, in the middle
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This is the default so that if you don't want to place LEDs top and bottom in the middle just connect the first 8 leds.
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### Example 16 LED config
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```
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15,15:SD:IA
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8,8:E:FB
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8,7:E:FB
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15,0:ND:IA
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7,7:N:FB
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8,7:N:FB
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0,0:ND:IA
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7,7:W:FB
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7,8:W:FB
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0,15:SD:IA
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7,8:S:FB
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8,8:S:FB
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7,7:D:FB
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8,7:D:FB
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7,7:U:FB
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8,7:U:FB
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```
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Which translates into the following positions:
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```
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7 4
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\ /
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\ 6-5 /
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8 \ FRONT / 3
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| 13-16 |
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9 / BACK \ 2
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/ 11-12 \
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/ \
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10 1
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```
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LEDs 1,4,7 and 10 should be placed underneath the quad, facing downwards.
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LEDs 2-3, 6-5, 8-9 and 11-12 should be positioned so the face east/north/west/south, respectively.
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LEDs 13-14 should be placed facing down, in the middle
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LEDs 15-16 should be placed facing up, in the middle
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### Exmple 28 LED config
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```
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9,9:S:FB
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10,10:S:FB
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11,11:S:IA
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11,11:E:IA
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10,10:E:F
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9,9:E:F
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10,5:S:F
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11,4:S:F
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12,3:S:IA
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12,2:N:IA
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11,1:N:F
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10,0:N:F
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7,0:N:FB
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6,0:N:FB
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5,0:N:FB
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4,0:N:FB
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2,0:N:F
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1,1:N:F
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0,2:N:IA
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0,3:W:IA
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1,4:W:F
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2,5:W:F
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2,9:W:F
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1,10:W:F
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0,11:W:IA
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0,11:S:IA
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1,10:S:FB
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2,9:S:FB
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```
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```
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17-19 10-12
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20-22 \ / 7-9
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\ 13-16 /
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\ FRONT /
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/ BACK \
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/ \
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23-25 / \ 4-6
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26-28 1-3
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```
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All LEDs should face outwards from the chassis in this configuration.
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Note:
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This configuration is specifically designed for the Alien Spider AQ50D PRO 250mm frame.
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|
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http://www.goodluckbuy.com/alien-spider-aq50d-pro-250mm-mini-quadcopter-carbon-fiber-micro-multicopter-frame.html
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## Troubleshooting
|
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|
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On initial power up the LEDs on the strip will be set to WHITE. This means you can attach a current meter to verify
|
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the current draw if your measurement equipment is fast enough. This also means that you can make sure that each R,G and B LED
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in each LED module on the strip is also functioning.
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|
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After a short delay the LEDs will show the unarmed color sequence and or low-battery warning sequence.
|
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|
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If the LEDs flash intermittently or do not show the correct colors verify all connections and check the specifications of the
|
||||
LEDs you have against the supported timings (for now, you'll have to look in the source).
|
||||
|
||||
Also check that the feature `LED_STRIP` was correctly enabled and that it does not conflict with other features, as above.
|
||||
# Led Strip
|
||||
|
||||
Cleanflight supports the use of addressable LED strips. Addressable LED strips allow each LED in the strip to
|
||||
be programmed with a unique and independant color. This is far more advanced than the normal RGB strips which
|
||||
require that all the LEDs in the strip show the same color.
|
||||
|
||||
Addressable LED strips can be used to show information from the flight controller system, the current implementation
|
||||
supports the following:
|
||||
|
||||
* Up to 32 LEDs.
|
||||
* Indicators showing pitch/roll stick positions.
|
||||
* Heading/Orientation lights.
|
||||
* Flight mode specific color schemes.
|
||||
* Low battery warning.
|
||||
|
||||
The function and orientation configuration is fixed for now but later it should be able to be set via the UI or CLI..
|
||||
|
||||
In the future, if someone codes it, they could be used to show GPS navigation status, thrust levels, RSSI, etc.
|
||||
Lots of scope for ideas and improvements.
|
||||
|
||||
Likewise, support for more than 32 LEDs is possible, it just requires additional development.
|
||||
|
||||
## Supported hardware
|
||||
|
||||
Only strips of 32 WS2812 LEDs are supported currently. If the strip is longer than 32 leds it does not matter,
|
||||
but only the first 32 are used.
|
||||
|
||||
WS2812 LEDs require an 800khz signal and precise timings and thus requires the use of a dedicated hardware timer.
|
||||
|
||||
Note: The initial code may work with WS2801 + External LEDs since the protocol is the same, WS2811/WS2812B should also work but
|
||||
may require very simple timing adjustments to be made in the source.
|
||||
Not all WS2812 ICs use the same timings, some batches use different timings.
|
||||
|
||||
It could be possible to be able to specify the timings required via CLI if users request it.
|
||||
|
||||
## Connections
|
||||
|
||||
WS2812 LED strips generally require a single data line, 5V and GND.
|
||||
|
||||
WS2812 LEDs on full brightness can consume quite a bit of current. It is recommended to verify the current draw and ensure your
|
||||
supply can cope with the load. On a multirotor that uses multiple BEC ESC's you can try use a different BEC to the one the FC
|
||||
uses. e.g. ESC1/BEC1 -> FC, ESC2/BEC2 -> LED strip. It's also possible to power one half of the strip from one BEC and the other half
|
||||
from another BEC. Just ensure that the GROUND is the same for all BEC outputs and LEDs.
|
||||
|
||||
|
||||
| Target | Pin | Led Strip | Signal |
|
||||
| --------------------- | --- | --------- | -------|
|
||||
| Naze/Olimexino | RC5 | Data In | PA6 |
|
||||
| CC3D | ??? | Data In | PB4 |
|
||||
| ChebuzzF3/F3Discovery | PB8 | Data In | PB8 |
|
||||
|
||||
|
||||
Since RC5 is also used for SoftSerial on the Naze/Olimexino it means that you cannot use softserial and led strips at the same time.
|
||||
Additionally, since RC5 is also used for Parallel PWM RC input on both the Naze, Chebuzz and STM32F3Discovery targets, led strips
|
||||
can not be used at the same time at Parallel PWM.
|
||||
|
||||
|
||||
## Configuration
|
||||
|
||||
Enable the `LED_STRIP` feature via the cli:
|
||||
|
||||
```
|
||||
feature LED_STRIP
|
||||
```
|
||||
|
||||
If you enable LED_STRIP feature and the feature is turned off again after a reboot then check your config does not conflict with other features, as above.
|
||||
|
||||
Configure the LEDs using the `led` command.
|
||||
|
||||
The `led` command takes either zero or two arguments - an zero-based led number and a pair of coordinates, direction flags and mode flags.
|
||||
|
||||
If used with zero arguments it prints out the led configuration which can be copied for future reference.
|
||||
|
||||
Each led is configured using the following template: `x,y:ddd:mmm`
|
||||
|
||||
`x` and `y` are grid coordinates of a 0 based 16x16 grid, north west is 0,0, south east is 15,15
|
||||
`ddd` specifies the directions, since an led can face in any direction it can have multiple directions. Directions are:
|
||||
|
||||
`N` - North
|
||||
`E` - East
|
||||
`S` - South
|
||||
`W` - West
|
||||
`U` - Up
|
||||
`D` - Down
|
||||
|
||||
For instance, an LED that faces South-east at a 45 degree downwards angle could be configured as `SED`.
|
||||
|
||||
Note: It is perfectly possible to configure an LED to have all directions `NESWUD` but probably doesn't make sense.
|
||||
|
||||
`mmm` specifies the modes that should be applied an LED. Modes are:
|
||||
|
||||
* `W` - `W`warnings.
|
||||
* `F` - `F`light mode & Orientation
|
||||
* `I` - `I`ndicator.
|
||||
* `A` - `A`rmed state.
|
||||
|
||||
Example:
|
||||
|
||||
```
|
||||
led 0 0,15:SD:IAW
|
||||
led 1 15,0:ND:IAW
|
||||
led 2 0,0:ND:IAW
|
||||
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:
|
||||
|
||||
```
|
||||
led 4 0,0::
|
||||
```
|
||||
|
||||
|
||||
### Modes
|
||||
|
||||
#### Warning
|
||||
|
||||
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
|
||||
|
||||
This mode shows the flight mode and orientation.
|
||||
|
||||
When flight modes are active then the leds are updated to show different colors depending on the mode, placement on the grid and direction.
|
||||
|
||||
Leds are set in a specific order:
|
||||
* Leds that marked as facing up or down.
|
||||
* Leds that marked as facing west or east AND are on the west or east side of the grid.
|
||||
* Leds that marked as facing north or south AND are on the north or south side of the grid.
|
||||
|
||||
That is, south facing leds have priority.
|
||||
|
||||
#### Indicator
|
||||
|
||||
This mode flashes LEDs that correspond to roll and pitch stick positions. i.e. they indicate the direction the craft is going to turn.
|
||||
|
||||
#### Armed state
|
||||
|
||||
This mode toggles LEDs between green and blue when disarmed and armed, respectively.
|
||||
|
||||
Note: Armed State cannot be used with Flight Mode.
|
||||
|
||||
## Positioning
|
||||
|
||||
Cut the strip into sections as per diagrams below. When the strips are cut ensure you reconnect each output to each input with cable where the break is made.
|
||||
e.g. connect 5V out to 5V in, GND to GND and Data Out to Data In.
|
||||
|
||||
Orientation is when viewed with the front of the aircraft facing away from you and viewed from above.
|
||||
|
||||
### Example 12 LED config
|
||||
|
||||
The default configuration is as follows
|
||||
```
|
||||
led 0 2,2:ES:IA
|
||||
led 1 2,1:E:WF
|
||||
led 2 2,0:NE:IA
|
||||
led 3 1,0:N:F
|
||||
led 4 0,0:NW:IA
|
||||
led 5 0,1:W:WF
|
||||
led 6 0,2:SW:IA
|
||||
led 7 1,2:S:WF
|
||||
led 8 1,1:U:WF
|
||||
led 9 1,1:U:WF
|
||||
led 10 1,1:D:WF
|
||||
led 11 1,1:D:WF
|
||||
```
|
||||
|
||||
Which translates into the following positions:
|
||||
|
||||
```
|
||||
5 3
|
||||
\ /
|
||||
\ 4 /
|
||||
\ FRONT /
|
||||
6 | 9-12 | 2
|
||||
/ BACK \
|
||||
/ 8 \
|
||||
/ \
|
||||
7 1
|
||||
```
|
||||
|
||||
LEDs 1,3,5 and 7 should be placed underneath the quad, facing downwards.
|
||||
LEDs 2, 4, 6 and 8 should be positioned so the face east/north/west/south, respectively.
|
||||
LEDs 9-10 should be placed facing down, in the middle
|
||||
LEDs 11-12 should be placed facing up, in the middle
|
||||
|
||||
This is the default so that if you don't want to place LEDs top and bottom in the middle just connect the first 8 leds.
|
||||
|
||||
### Example 16 LED config
|
||||
|
||||
```
|
||||
15,15:SD:IA
|
||||
8,8:E:FW
|
||||
8,7:E:FW
|
||||
15,0:ND:IA
|
||||
7,7:N:FW
|
||||
8,7:N:FW
|
||||
0,0:ND:IA
|
||||
7,7:W:FW
|
||||
7,8:W:FW
|
||||
0,15:SD:IA
|
||||
7,8:S:FW
|
||||
8,8:S:FW
|
||||
7,7:D:FW
|
||||
8,7:D:FW
|
||||
7,7:U:FW
|
||||
8,7:U:FW
|
||||
```
|
||||
|
||||
Which translates into the following positions:
|
||||
|
||||
```
|
||||
7 4
|
||||
\ /
|
||||
\ 6-5 /
|
||||
8 \ FRONT / 3
|
||||
| 13-16 |
|
||||
9 / BACK \ 2
|
||||
/ 11-12 \
|
||||
/ \
|
||||
10 1
|
||||
```
|
||||
|
||||
LEDs 1,4,7 and 10 should be placed underneath the quad, facing downwards.
|
||||
LEDs 2-3, 6-5, 8-9 and 11-12 should be positioned so the face east/north/west/south, respectively.
|
||||
LEDs 13-14 should be placed facing down, in the middle
|
||||
LEDs 15-16 should be placed facing up, in the middle
|
||||
|
||||
### Exmple 28 LED config
|
||||
|
||||
```
|
||||
9,9:S:FW
|
||||
10,10:S:FW
|
||||
11,11:S:IA
|
||||
11,11:E:IA
|
||||
10,10:E:F
|
||||
9,9:E:F
|
||||
10,5:S:F
|
||||
11,4:S:F
|
||||
12,3:S:IA
|
||||
12,2:N:IA
|
||||
11,1:N:F
|
||||
10,0:N:F
|
||||
7,0:N:FW
|
||||
6,0:N:FW
|
||||
5,0:N:FW
|
||||
4,0:N:FW
|
||||
2,0:N:F
|
||||
1,1:N:F
|
||||
0,2:N:IA
|
||||
0,3:W:IA
|
||||
1,4:W:F
|
||||
2,5:W:F
|
||||
2,9:W:F
|
||||
1,10:W:F
|
||||
0,11:W:IA
|
||||
0,11:S:IA
|
||||
1,10:S:FW
|
||||
2,9:S:FW
|
||||
```
|
||||
|
||||
```
|
||||
17-19 10-12
|
||||
20-22 \ / 7-9
|
||||
\ 13-16 /
|
||||
\ FRONT /
|
||||
/ BACK \
|
||||
/ \
|
||||
23-25 / \ 4-6
|
||||
26-28 1-3
|
||||
```
|
||||
|
||||
All LEDs should face outwards from the chassis in this configuration.
|
||||
|
||||
Note:
|
||||
This configuration is specifically designed for the Alien Spider AQ50D PRO 250mm frame.
|
||||
|
||||
http://www.goodluckbuy.com/alien-spider-aq50d-pro-250mm-mini-quadcopter-carbon-fiber-micro-multicopter-frame.html
|
||||
|
||||
## Troubleshooting
|
||||
|
||||
On initial power up the LEDs on the strip will be set to WHITE. This means you can attach a current meter to verify
|
||||
the current draw if your measurement equipment is fast enough. This also means that you can make sure that each R,G and B LED
|
||||
in each LED module on the strip is also functioning.
|
||||
|
||||
After a short delay the LEDs will show the unarmed color sequence and or low-battery warning sequence.
|
||||
|
||||
If the LEDs flash intermittently or do not show the correct colors verify all connections and check the specifications of the
|
||||
LEDs you have against the supported timings (for now, you'll have to look in the source).
|
||||
|
||||
Also check that the feature `LED_STRIP` was correctly enabled and that it does not conflict with other features, as above.
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
||||
|
|
|
|||
|
|
@ -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)
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"10,0:N:F",
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// center front cluster
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"7,0:N:FB",
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"6,0:N:FB",
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"5,0:N:FB",
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"4,0:N:FB",
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"7,0:N:FW",
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"6,0:N:FW",
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"5,0:N:FW",
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"4,0:N:FW",
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// left front cluster
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"2,0:N:F",
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||||
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@ -134,8 +135,8 @@ TEST(LedStripTest, parseLedStripConfig)
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"1,10:W:F",
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"0,11:W:IA",
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"0,11:S:IA",
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"1,10:S:FB",
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"2,9:S:FB"
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"1,10:S:FW",
|
||||
"2,9:S:FW"
|
||||
};
|
||||
// and
|
||||
memset(&systemLedConfigs, 0, sizeof(systemLedConfigs));
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||||
|
|
@ -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 },
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||||
{ 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 },
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue