Relocated led strip user code into separate file.
Added documentation. Added LED_STRIP feature, can only be enabled under certain circumstances depending on target due to pin/timer mappings - see documentation.
This commit is contained in:
Dominic Clifton
parent
3c09b6a8c7
commit
1730e3dfd3
7
Makefile
7
Makefile
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@ -139,6 +139,7 @@ COMMON_SRC = build_config.c \
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io/buzzer.c \
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io/buzzer.c \
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io/gps.c \
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io/gps.c \
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io/gps_conversion.c \
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io/gps_conversion.c \
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io/ledstrip.c \
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io/rc_controls.c \
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io/rc_controls.c \
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io/rc_curves.c \
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io/rc_curves.c \
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io/serial.c \
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io/serial.c \
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@ -227,6 +228,8 @@ STM32F30x_COMMON_SRC = startup_stm32f30x_md_gcc.S \
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drivers/bus_spi.c \
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drivers/bus_spi.c \
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drivers/gpio_stm32f30x.c \
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drivers/gpio_stm32f30x.c \
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drivers/light_led_stm32f30x.c \
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drivers/light_led_stm32f30x.c \
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drivers/light_ws2811strip.c \
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drivers/light_ws2811strip_stm32f30x.c \
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drivers/pwm_mapping.c \
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drivers/pwm_mapping.c \
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drivers/pwm_output.c \
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drivers/pwm_output.c \
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drivers/pwm_rssi.c \
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drivers/pwm_rssi.c \
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@ -252,9 +255,7 @@ NAZE32PRO_SRC = $(STM32F30x_COMMON_SRC) \
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STM32F3DISCOVERY_COMMON_SRC = $(STM32F30x_COMMON_SRC) \
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STM32F3DISCOVERY_COMMON_SRC = $(STM32F30x_COMMON_SRC) \
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drivers/accgyro_l3gd20.c \
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drivers/accgyro_l3gd20.c \
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drivers/accgyro_l3gd20.c \
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drivers/accgyro_l3gd20.c \
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drivers/accgyro_lsm303dlhc.c \
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drivers/accgyro_lsm303dlhc.c
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drivers/light_ws2811strip.c \
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drivers/light_ws2811strip_stm32f30x.c
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STM32F3DISCOVERY_SRC = $(STM32F3DISCOVERY_COMMON_SRC) \
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STM32F3DISCOVERY_SRC = $(STM32F3DISCOVERY_COMMON_SRC) \
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drivers/accgyro_adxl345.c \
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drivers/accgyro_adxl345.c \
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@ -0,0 +1,97 @@
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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
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be programmed with a unique and independant color. This is far more advanced than the normal RGB strips which
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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
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supports the following:
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* Indicators showing pitch/roll stick positions.
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* Heading/Orientation lights.
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* Flight mode specific color schemes.
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* Low battery warning.
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In the future, if someone codes it, they could be used to show GPS navigation status, thrust levels, RSSI, etc.
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Lots of scope for ideas and improvements.
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Likewise, support for more than 10 LEDs is possible, it just requires additional development. 10 was chosen to
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start with due to current draw and RAM usage.
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## Supported hardware
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Only strips of 10 WS2812 LEDs are supported currently. If the strip is longer than 10 leds it does not matter,
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but only the first 10 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.
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Note: The initial code may work with WS2801 + External LEDs since the protocol is the same, WS2811/WS2812B should also work but
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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.
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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.
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WS2812 LEDs on full brightness can consume quite a bit of current. It is recommended to verify the current draw and ensure your
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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
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uses. e.g. ESC1/BEC1 -> FC, ESC2/BEC2 -> LED strip.
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| Target | Pin | Led Strip |
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| --------------------- | --- | --------- |
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| Naze/Olimexino | RC5 | Data In |
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| ChebuzzF3/F3Discovery | PB8 | Data In |
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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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## Positioning
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Cut the strip of 10 LED's in half, the first half goes at the front of the quad, from front left to from right. Position
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the center LED in the middle. 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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The second half of the strip goes at the back of the aircraft, from back right to back left, again place the center LED in the middle.
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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 LED numbers and positions for a quad.
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```
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1 2 4 5
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\ /
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\ 3 /
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\ FRONT /
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/ BACK \
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/ 8 \
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/ \
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10 9 7 6
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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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## Troubleshooting
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On initial power up the first 10 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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After a short delay the LEDs will show the unarmed color sequence and or low-battery warning sequence.
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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
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LEDs you have against the supported timings (for now, you'll have to look in the source).
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Also check that the feature `LED_STRIP` was correctly enabled and that it does not conflict with other features, as above.
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@ -407,57 +407,50 @@ void validateAndFixConfig(void)
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}
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}
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if (feature(FEATURE_RX_PPM)) {
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if (feature(FEATURE_RX_PPM)) {
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if (feature(FEATURE_RX_PARALLEL_PWM)) {
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featureClear(FEATURE_RX_PARALLEL_PWM);
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featureClear(FEATURE_RX_PARALLEL_PWM);
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}
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}
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if (feature(FEATURE_RX_PARALLEL_PWM)) {
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#if defined(NAZE) || defined(OLIMEXINO)
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if (feature(FEATURE_RSSI_ADC)) {
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featureClear(FEATURE_RSSI_ADC);
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}
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if (feature(FEATURE_CURRENT_METER)) {
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featureClear(FEATURE_CURRENT_METER);
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}
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#endif
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}
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}
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if (feature(FEATURE_RX_MSP)) {
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if (feature(FEATURE_RX_MSP)) {
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if (feature(FEATURE_RX_SERIAL)) {
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featureClear(FEATURE_RX_SERIAL);
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featureClear(FEATURE_RX_SERIAL);
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featureClear(FEATURE_RX_PARALLEL_PWM);
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}
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featureClear(FEATURE_RX_PPM);
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if (feature(FEATURE_RX_PARALLEL_PWM)) {
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featureClear(FEATURE_RX_PARALLEL_PWM);
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}
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if (feature(FEATURE_RX_PPM)) {
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featureClear(FEATURE_RX_PPM);
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}
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}
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}
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if (feature(FEATURE_RX_SERIAL)) {
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if (feature(FEATURE_RX_SERIAL)) {
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if (feature(FEATURE_RX_PARALLEL_PWM)) {
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featureClear(FEATURE_RX_PARALLEL_PWM);
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featureClear(FEATURE_RX_PARALLEL_PWM);
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featureClear(FEATURE_RX_PPM);
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}
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if (feature(FEATURE_RX_PPM)) {
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featureClear(FEATURE_RX_PPM);
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}
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}
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}
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if (feature(FEATURE_RX_PARALLEL_PWM)) {
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#if defined(STM32F103_MD)
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// rssi adc needs the same ports
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featureClear(FEATURE_RSSI_ADC);
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// current meter needs the same ports
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featureClear(FEATURE_CURRENT_METER);
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#ifdef SONAR
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#ifdef SONAR
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if (feature(FEATURE_SONAR)) {
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// sonar needs a free PWM port
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// sonar needs a free PWM port
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if (!feature(FEATURE_RX_PARALLEL_PWM)) {
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featureClear(FEATURE_SONAR);
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featureClear(FEATURE_SONAR);
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#endif
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}
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#endif
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#if defined(STM32F103_MD) || defined(CHEBUZZ) || defined(STM32F3DISCOVERY)
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// led strip needs the same ports
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featureClear(FEATURE_LED_STRIP);
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#endif
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// software serial needs free PWM ports
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featureClear(FEATURE_SOFTSERIAL);
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}
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#if defined(STM32F103_MD)
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// led strip needs the same timer as softserial
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if (feature(FEATURE_SOFTSERIAL)) {
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featureClear(FEATURE_LED_STRIP);
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}
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}
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#endif
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#endif
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if (feature(FEATURE_SOFTSERIAL)) {
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// software serial needs free PWM ports
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if (feature(FEATURE_RX_PARALLEL_PWM)) {
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featureClear(FEATURE_SOFTSERIAL);
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}
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}
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useRxConfig(&masterConfig.rxConfig);
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useRxConfig(&masterConfig.rxConfig);
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@ -33,7 +33,8 @@ typedef enum {
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FEATURE_3D = 1 << 12,
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FEATURE_3D = 1 << 12,
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FEATURE_RX_PARALLEL_PWM = 1 << 13,
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FEATURE_RX_PARALLEL_PWM = 1 << 13,
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FEATURE_RX_MSP = 1 << 14,
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FEATURE_RX_MSP = 1 << 14,
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FEATURE_RSSI_ADC = 1 << 15
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FEATURE_RSSI_ADC = 1 << 15,
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FEATURE_LED_STRIP = 1 << 16
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} AvailableFeatures;
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} AvailableFeatures;
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bool feature(uint32_t mask);
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bool feature(uint32_t mask);
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@ -198,6 +198,28 @@ void pwmInit(drv_pwm_config_t *init)
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continue;
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continue;
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#endif
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#endif
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#if defined(STM32F10X_MD)
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#define LED_STRIP_PWM PWM4
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#endif
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#if defined(STM32F303xC) && !(defined(CHEBUZZF3) || defined(NAZE32PRO))
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#define LED_STRIP_PWM PWM2
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#endif
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#if defined(CHEBUZZF3)
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#define LED_STRIP_PWM PWM2
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#endif
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#if defined(NAZE32PRO)
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#define LED_STRIP_PWM PWM13
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#endif
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#ifdef LED_STRIP_PWM
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// skip LED Strip output
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if (init->useLEDStrip && timerIndex == LED_STRIP_PWM)
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continue;
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#endif
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#ifdef STM32F10X_MD
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#ifdef STM32F10X_MD
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// skip ADC for RSSI
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// skip ADC for RSSI
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if (init->useRSSIADC && timerIndex == PWM2)
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if (init->useRSSIADC && timerIndex == PWM2)
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@ -43,6 +43,7 @@ typedef struct drv_pwm_config_t {
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bool useUART2;
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bool useUART2;
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#endif
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#endif
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bool useSoftSerial;
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bool useSoftSerial;
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bool useLEDStrip;
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bool useServos;
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bool useServos;
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bool extraServos; // configure additional 4 channels in PPM mode as servos, not motors
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bool extraServos; // configure additional 4 channels in PPM mode as servos, not motors
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bool airplane; // fixed wing hardware config, lots of servos etc
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bool airplane; // fixed wing hardware config, lots of servos etc
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@ -0,0 +1,230 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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||||||
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*
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||||||
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* You should have received a copy of the GNU General Public License
|
||||||
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include <common/maths.h>
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#include "drivers/light_ws2811strip.h"
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#include "drivers/system.h"
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#include "sensors/battery.h"
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#include "config/runtime_config.h"
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#include "config/config.h"
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#include "rx/rx.h"
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#include "io/rc_controls.h"
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#include "io/ledstrip.h"
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#define LED_RED {255, 0, 0 }
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#define LED_GREEN {0, 255, 0 }
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#define LED_BLUE {0, 0, 255}
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#define LED_CYAN {0, 255, 255}
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#define LED_YELLOW {255, 255, 0 }
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#define LED_ORANGE {255, 128, 0 }
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#define LED_PINK {255, 0, 128}
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#define LED_PURPLE {192, 64, 255}
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static const rgbColor24bpp_t stripOrientation[] =
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{
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{LED_GREEN},
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{LED_GREEN},
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{LED_GREEN},
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{LED_GREEN},
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{LED_GREEN},
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{LED_RED},
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{LED_RED},
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{LED_RED},
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{LED_RED},
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{LED_RED}
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};
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static const rgbColor24bpp_t stripHorizon[] =
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{
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{LED_BLUE},
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{LED_BLUE},
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{LED_BLUE},
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{LED_BLUE},
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{LED_BLUE},
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{LED_YELLOW},
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{LED_YELLOW},
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{LED_YELLOW},
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{LED_YELLOW},
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{LED_YELLOW}
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};
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static const rgbColor24bpp_t stripAngle[] =
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{
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{LED_CYAN},
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{LED_CYAN},
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{LED_CYAN},
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{LED_CYAN},
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{LED_CYAN},
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{LED_YELLOW},
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{LED_YELLOW},
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{LED_YELLOW},
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{LED_YELLOW},
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{LED_YELLOW}
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};
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static const rgbColor24bpp_t stripMag[] =
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{
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{LED_PURPLE},
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{LED_PURPLE},
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{LED_PURPLE},
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||||||
|
{LED_PURPLE},
|
||||||
|
{LED_PURPLE},
|
||||||
|
{LED_ORANGE},
|
||||||
|
{LED_ORANGE},
|
||||||
|
{LED_ORANGE},
|
||||||
|
{LED_ORANGE},
|
||||||
|
{LED_ORANGE}
|
||||||
|
};
|
||||||
|
|
||||||
|
static const rgbColor24bpp_t stripHeadfree[] =
|
||||||
|
{
|
||||||
|
{LED_PINK},
|
||||||
|
{LED_PINK},
|
||||||
|
{LED_PINK},
|
||||||
|
{LED_PINK},
|
||||||
|
{LED_PINK},
|
||||||
|
{LED_ORANGE},
|
||||||
|
{LED_ORANGE},
|
||||||
|
{LED_ORANGE},
|
||||||
|
{LED_ORANGE},
|
||||||
|
{LED_ORANGE}
|
||||||
|
};
|
||||||
|
|
||||||
|
static const rgbColor24bpp_t stripReds[] =
|
||||||
|
{
|
||||||
|
{{ 32, 0, 0}},
|
||||||
|
{{ 96, 0, 0}},
|
||||||
|
{{160, 0, 0}},
|
||||||
|
{{224, 0, 0}},
|
||||||
|
{{255, 0, 0}},
|
||||||
|
{{255, 0, 0}},
|
||||||
|
{{224, 0, 0}},
|
||||||
|
{{160, 0, 0}},
|
||||||
|
{{ 96, 0, 0}},
|
||||||
|
{{ 32, 0, 0}},
|
||||||
|
};
|
||||||
|
|
||||||
|
uint32_t nextIndicatorFlashAt = 0;
|
||||||
|
uint32_t nextBatteryFlashAt = 0;
|
||||||
|
|
||||||
|
#define LED_STRIP_10HZ ((1000 * 1000) / 10)
|
||||||
|
#define LED_STRIP_5HZ ((1000 * 1000) / 5)
|
||||||
|
|
||||||
|
void updateLedStrip(void)
|
||||||
|
{
|
||||||
|
if (!isWS2811LedStripReady()) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint32_t now = micros();
|
||||||
|
|
||||||
|
bool indicatorFlashNow = (int32_t)(now - nextIndicatorFlashAt) >= 0L;
|
||||||
|
bool batteryFlashNow = (int32_t)(now - nextBatteryFlashAt) >= 0L;
|
||||||
|
|
||||||
|
if (!(batteryFlashNow || indicatorFlashNow)) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
static uint8_t indicatorFlashState = 0;
|
||||||
|
static uint8_t batteryFlashState = 0;
|
||||||
|
|
||||||
|
static const rgbColor24bpp_t *flashColor;
|
||||||
|
|
||||||
|
// LAYER 1
|
||||||
|
|
||||||
|
if (f.ARMED) {
|
||||||
|
setStripColors(stripOrientation);
|
||||||
|
} else {
|
||||||
|
setStripColors(stripReds);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (f.HEADFREE_MODE) {
|
||||||
|
setStripColors(stripHeadfree);
|
||||||
|
#ifdef MAG
|
||||||
|
} else if (f.MAG_MODE) {
|
||||||
|
setStripColors(stripMag);
|
||||||
|
#endif
|
||||||
|
} else if (f.HORIZON_MODE) {
|
||||||
|
setStripColors(stripHorizon);
|
||||||
|
} else if (f.ANGLE_MODE) {
|
||||||
|
setStripColors(stripAngle);
|
||||||
|
}
|
||||||
|
|
||||||
|
// LAYER 2
|
||||||
|
|
||||||
|
if (batteryFlashNow) {
|
||||||
|
nextBatteryFlashAt = now + LED_STRIP_10HZ;
|
||||||
|
|
||||||
|
if (batteryFlashState == 0) {
|
||||||
|
batteryFlashState = 1;
|
||||||
|
} else {
|
||||||
|
batteryFlashState = 0;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (batteryFlashState == 1 && feature(FEATURE_VBAT) && shouldSoundBatteryAlarm()) {
|
||||||
|
setStripColor(&black);
|
||||||
|
}
|
||||||
|
|
||||||
|
// LAYER 3
|
||||||
|
|
||||||
|
if (indicatorFlashNow) {
|
||||||
|
|
||||||
|
uint8_t rollScale = abs(rcCommand[ROLL]) / 50;
|
||||||
|
uint8_t pitchScale = abs(rcCommand[PITCH]) / 50;
|
||||||
|
uint8_t scale = max(rollScale, pitchScale);
|
||||||
|
nextIndicatorFlashAt = now + (LED_STRIP_5HZ / max(1, scale));
|
||||||
|
|
||||||
|
if (indicatorFlashState == 0) {
|
||||||
|
indicatorFlashState = 1;
|
||||||
|
} else {
|
||||||
|
indicatorFlashState = 0;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (indicatorFlashState == 0) {
|
||||||
|
flashColor = &orange;
|
||||||
|
} else {
|
||||||
|
flashColor = &black;
|
||||||
|
}
|
||||||
|
if (rcCommand[ROLL] < -50) {
|
||||||
|
setLedColor(0, flashColor);
|
||||||
|
setLedColor(9, flashColor);
|
||||||
|
}
|
||||||
|
if (rcCommand[ROLL] > 50) {
|
||||||
|
setLedColor(4, flashColor);
|
||||||
|
setLedColor(5, flashColor);
|
||||||
|
}
|
||||||
|
if (rcCommand[PITCH] > 50) {
|
||||||
|
setLedColor(0, flashColor);
|
||||||
|
setLedColor(4, flashColor);
|
||||||
|
}
|
||||||
|
if (rcCommand[PITCH] < -50) {
|
||||||
|
setLedColor(5, flashColor);
|
||||||
|
setLedColor(9, flashColor);
|
||||||
|
}
|
||||||
|
|
||||||
|
ws2811UpdateStrip();
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,20 @@
|
||||||
|
/*
|
||||||
|
* This file is part of Cleanflight.
|
||||||
|
*
|
||||||
|
* Cleanflight is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* Cleanflight is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
void updateLedStrip(void);
|
||||||
|
|
@ -103,7 +103,7 @@ static const char * const featureNames[] = {
|
||||||
"RX_PPM", "VBAT", "INFLIGHT_ACC_CAL", "RX_SERIAL", "MOTOR_STOP",
|
"RX_PPM", "VBAT", "INFLIGHT_ACC_CAL", "RX_SERIAL", "MOTOR_STOP",
|
||||||
"SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE",
|
"SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE",
|
||||||
"SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
|
"SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
|
||||||
"RX_MSP", "RSSI_ADC", NULL
|
"RX_MSP", "RSSI_ADC", "LED_STRIP", NULL
|
||||||
};
|
};
|
||||||
|
|
||||||
// sync this with AvailableSensors enum from board.h
|
// sync this with AvailableSensors enum from board.h
|
||||||
|
|
|
||||||
|
|
@ -182,6 +182,7 @@ void init(void)
|
||||||
pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
|
pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
|
||||||
pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM);
|
pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM);
|
||||||
pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC);
|
pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC);
|
||||||
|
pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP);
|
||||||
pwm_params.usePPM = feature(FEATURE_RX_PPM);
|
pwm_params.usePPM = feature(FEATURE_RX_PPM);
|
||||||
pwm_params.useServos = isMixerUsingServos();
|
pwm_params.useServos = isMixerUsingServos();
|
||||||
pwm_params.extraServos = currentProfile.gimbalConfig.gimbal_flags & GIMBAL_FORWARDAUX;
|
pwm_params.extraServos = currentProfile.gimbalConfig.gimbal_flags & GIMBAL_FORWARDAUX;
|
||||||
|
|
@ -215,7 +216,9 @@ void init(void)
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
ws2811LedStripInit();
|
if (feature(FEATURE_LED_STRIP)) {
|
||||||
|
ws2811LedStripInit();
|
||||||
|
}
|
||||||
|
|
||||||
if (feature(FEATURE_TELEMETRY))
|
if (feature(FEATURE_TELEMETRY))
|
||||||
initTelemetry();
|
initTelemetry();
|
||||||
|
|
|
||||||
203
src/main/mw.c
203
src/main/mw.c
|
|
@ -28,7 +28,6 @@
|
||||||
#include "drivers/accgyro.h"
|
#include "drivers/accgyro.h"
|
||||||
#include "drivers/light_ledring.h"
|
#include "drivers/light_ledring.h"
|
||||||
#include "drivers/light_led.h"
|
#include "drivers/light_led.h"
|
||||||
#include "drivers/light_ws2811strip.h"
|
|
||||||
|
|
||||||
#include "drivers/gpio.h"
|
#include "drivers/gpio.h"
|
||||||
#include "drivers/system.h"
|
#include "drivers/system.h"
|
||||||
|
|
@ -51,6 +50,7 @@
|
||||||
#include "flight/mixer.h"
|
#include "flight/mixer.h"
|
||||||
#include "io/gimbal.h"
|
#include "io/gimbal.h"
|
||||||
#include "io/gps.h"
|
#include "io/gps.h"
|
||||||
|
#include "io/ledstrip.h"
|
||||||
#include "io/serial_cli.h"
|
#include "io/serial_cli.h"
|
||||||
#include "io/serial.h"
|
#include "io/serial.h"
|
||||||
#include "io/statusindicator.h"
|
#include "io/statusindicator.h"
|
||||||
|
|
@ -348,202 +348,6 @@ void updateInflightCalibrationState(void)
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
#define LED_RED {255, 0, 0 }
|
|
||||||
#define LED_GREEN {0, 255, 0 }
|
|
||||||
#define LED_BLUE {0, 0, 255}
|
|
||||||
#define LED_CYAN {0, 255, 255}
|
|
||||||
#define LED_YELLOW {255, 255, 0 }
|
|
||||||
#define LED_ORANGE {255, 128, 0 }
|
|
||||||
#define LED_PINK {255, 0, 128}
|
|
||||||
#define LED_PURPLE {192, 64, 255}
|
|
||||||
|
|
||||||
static const rgbColor24bpp_t stripOrientation[] =
|
|
||||||
{
|
|
||||||
{LED_GREEN},
|
|
||||||
{LED_GREEN},
|
|
||||||
{LED_GREEN},
|
|
||||||
{LED_GREEN},
|
|
||||||
{LED_GREEN},
|
|
||||||
{LED_RED},
|
|
||||||
{LED_RED},
|
|
||||||
{LED_RED},
|
|
||||||
{LED_RED},
|
|
||||||
{LED_RED}
|
|
||||||
};
|
|
||||||
|
|
||||||
static const rgbColor24bpp_t stripHorizon[] =
|
|
||||||
{
|
|
||||||
{LED_BLUE},
|
|
||||||
{LED_BLUE},
|
|
||||||
{LED_BLUE},
|
|
||||||
{LED_BLUE},
|
|
||||||
{LED_BLUE},
|
|
||||||
{LED_YELLOW},
|
|
||||||
{LED_YELLOW},
|
|
||||||
{LED_YELLOW},
|
|
||||||
{LED_YELLOW},
|
|
||||||
{LED_YELLOW}
|
|
||||||
};
|
|
||||||
|
|
||||||
static const rgbColor24bpp_t stripAngle[] =
|
|
||||||
{
|
|
||||||
{LED_CYAN},
|
|
||||||
{LED_CYAN},
|
|
||||||
{LED_CYAN},
|
|
||||||
{LED_CYAN},
|
|
||||||
{LED_CYAN},
|
|
||||||
{LED_YELLOW},
|
|
||||||
{LED_YELLOW},
|
|
||||||
{LED_YELLOW},
|
|
||||||
{LED_YELLOW},
|
|
||||||
{LED_YELLOW}
|
|
||||||
};
|
|
||||||
|
|
||||||
static const rgbColor24bpp_t stripMag[] =
|
|
||||||
{
|
|
||||||
{LED_PURPLE},
|
|
||||||
{LED_PURPLE},
|
|
||||||
{LED_PURPLE},
|
|
||||||
{LED_PURPLE},
|
|
||||||
{LED_PURPLE},
|
|
||||||
{LED_ORANGE},
|
|
||||||
{LED_ORANGE},
|
|
||||||
{LED_ORANGE},
|
|
||||||
{LED_ORANGE},
|
|
||||||
{LED_ORANGE}
|
|
||||||
};
|
|
||||||
|
|
||||||
static const rgbColor24bpp_t stripHeadfree[] =
|
|
||||||
{
|
|
||||||
{LED_PINK},
|
|
||||||
{LED_PINK},
|
|
||||||
{LED_PINK},
|
|
||||||
{LED_PINK},
|
|
||||||
{LED_PINK},
|
|
||||||
{LED_ORANGE},
|
|
||||||
{LED_ORANGE},
|
|
||||||
{LED_ORANGE},
|
|
||||||
{LED_ORANGE},
|
|
||||||
{LED_ORANGE}
|
|
||||||
};
|
|
||||||
|
|
||||||
static const rgbColor24bpp_t stripReds[] =
|
|
||||||
{
|
|
||||||
{{ 32, 0, 0}},
|
|
||||||
{{ 96, 0, 0}},
|
|
||||||
{{160, 0, 0}},
|
|
||||||
{{224, 0, 0}},
|
|
||||||
{{255, 0, 0}},
|
|
||||||
{{255, 0, 0}},
|
|
||||||
{{224, 0, 0}},
|
|
||||||
{{160, 0, 0}},
|
|
||||||
{{ 96, 0, 0}},
|
|
||||||
{{ 32, 0, 0}},
|
|
||||||
};
|
|
||||||
|
|
||||||
uint32_t nextIndicatorFlashAt = 0;
|
|
||||||
uint32_t nextBatteryFlashAt = 0;
|
|
||||||
|
|
||||||
#define LED_STRIP_10HZ ((1000 * 1000) / 10)
|
|
||||||
#define LED_STRIP_5HZ ((1000 * 1000) / 5)
|
|
||||||
|
|
||||||
void updateLedStrip(void)
|
|
||||||
{
|
|
||||||
if (!isWS2811LedStripReady()) {
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
uint32_t now = micros();
|
|
||||||
|
|
||||||
bool indicatorFlashNow = (int32_t)(now - nextIndicatorFlashAt) >= 0L;
|
|
||||||
bool batteryFlashNow = (int32_t)(now - nextBatteryFlashAt) >= 0L;
|
|
||||||
|
|
||||||
if (!(batteryFlashNow || indicatorFlashNow)) {
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
static uint8_t indicatorFlashState = 0;
|
|
||||||
static uint8_t batteryFlashState = 0;
|
|
||||||
|
|
||||||
static const rgbColor24bpp_t *flashColor;
|
|
||||||
|
|
||||||
// LAYER 1
|
|
||||||
|
|
||||||
if (f.ARMED) {
|
|
||||||
setStripColors(stripOrientation);
|
|
||||||
} else {
|
|
||||||
setStripColors(stripReds);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (f.HEADFREE_MODE) {
|
|
||||||
setStripColors(stripHeadfree);
|
|
||||||
#ifdef MAG
|
|
||||||
} else if (f.MAG_MODE) {
|
|
||||||
setStripColors(stripMag);
|
|
||||||
#endif
|
|
||||||
} else if (f.HORIZON_MODE) {
|
|
||||||
setStripColors(stripHorizon);
|
|
||||||
} else if (f.ANGLE_MODE) {
|
|
||||||
setStripColors(stripAngle);
|
|
||||||
}
|
|
||||||
|
|
||||||
// LAYER 2
|
|
||||||
|
|
||||||
if (batteryFlashNow) {
|
|
||||||
nextBatteryFlashAt = now + LED_STRIP_10HZ;
|
|
||||||
|
|
||||||
if (batteryFlashState == 0) {
|
|
||||||
batteryFlashState = 1;
|
|
||||||
} else {
|
|
||||||
batteryFlashState = 0;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if (batteryFlashState == 1 && feature(FEATURE_VBAT) && shouldSoundBatteryAlarm()) {
|
|
||||||
setStripColor(&black);
|
|
||||||
}
|
|
||||||
|
|
||||||
// LAYER 3
|
|
||||||
|
|
||||||
if (indicatorFlashNow) {
|
|
||||||
|
|
||||||
uint8_t rollScale = abs(rcCommand[ROLL]) / 50;
|
|
||||||
uint8_t pitchScale = abs(rcCommand[PITCH]) / 50;
|
|
||||||
uint8_t scale = max(rollScale, pitchScale);
|
|
||||||
nextIndicatorFlashAt = now + (LED_STRIP_5HZ / max(1, scale));
|
|
||||||
|
|
||||||
if (indicatorFlashState == 0) {
|
|
||||||
indicatorFlashState = 1;
|
|
||||||
} else {
|
|
||||||
indicatorFlashState = 0;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if (indicatorFlashState == 0) {
|
|
||||||
flashColor = &orange;
|
|
||||||
} else {
|
|
||||||
flashColor = &black;
|
|
||||||
}
|
|
||||||
if (rcCommand[ROLL] < -50) {
|
|
||||||
setLedColor(0, flashColor);
|
|
||||||
setLedColor(9, flashColor);
|
|
||||||
}
|
|
||||||
if (rcCommand[ROLL] > 50) {
|
|
||||||
setLedColor(4, flashColor);
|
|
||||||
setLedColor(5, flashColor);
|
|
||||||
}
|
|
||||||
if (rcCommand[PITCH] > 50) {
|
|
||||||
setLedColor(0, flashColor);
|
|
||||||
setLedColor(4, flashColor);
|
|
||||||
}
|
|
||||||
if (rcCommand[PITCH] < -50) {
|
|
||||||
setLedColor(5, flashColor);
|
|
||||||
setLedColor(9, flashColor);
|
|
||||||
}
|
|
||||||
|
|
||||||
ws2811UpdateStrip();
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
void loop(void)
|
void loop(void)
|
||||||
|
|
@ -828,5 +632,8 @@ void loop(void)
|
||||||
if (!cliMode && feature(FEATURE_TELEMETRY)) {
|
if (!cliMode && feature(FEATURE_TELEMETRY)) {
|
||||||
handleTelemetry();
|
handleTelemetry();
|
||||||
}
|
}
|
||||||
updateLedStrip();
|
|
||||||
|
if (feature(FEATURE_LED_STRIP)) {
|
||||||
|
updateLedStrip();
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue