Merge branch 'master' into oled-ssd1306
Conflicts: src/main/common/printf.c src/main/main.c src/main/sensors/initialisation.c src/main/target/NAZE/target.h
This commit is contained in:
Dominic Clifton
commit
876cf6bdd7
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@ -0,0 +1,13 @@
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*.md text
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*.c text
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||||||
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*.h text
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*.cc text
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*.S text
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*.s text
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||||||
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*.hex -text
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||||||
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*.elf -text
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||||||
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*.ld text
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||||||
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Makefile text
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||||||
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*.bat eol=crlf
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||||||
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*.txt text
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||||||
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|
||||||
389
docs/LedStrip.md
389
docs/LedStrip.md
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|
@ -1,96 +1,293 @@
|
||||||
# Led Strip
|
# Led Strip
|
||||||
|
|
||||||
Cleanflight supports the use of addressable LED strips. Addressable LED strips allow each LED in the strip to
|
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
|
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.
|
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
|
Addressable LED strips can be used to show information from the flight controller system, the current implementation
|
||||||
supports the following:
|
supports the following:
|
||||||
|
|
||||||
* Indicators showing pitch/roll stick positions.
|
* Up to 32 LEDs.
|
||||||
* Heading/Orientation lights.
|
* Indicators showing pitch/roll stick positions.
|
||||||
* Flight mode specific color schemes.
|
* Heading/Orientation lights.
|
||||||
* Low battery warning.
|
* 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..
|
|
||||||
|
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.
|
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 28 LEDs is possible, it just requires additional development.
|
|
||||||
|
Likewise, support for more than 32 LEDs is possible, it just requires additional development.
|
||||||
## Supported hardware
|
|
||||||
|
## Supported hardware
|
||||||
Only strips of 28 WS2812 LEDs are supported currently. If the strip is longer than 28 leds it does not matter,
|
|
||||||
but only the first 28 are used.
|
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.
|
|
||||||
|
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.
|
Note: The initial code may work with WS2801 + External LEDs since the protocol is the same, WS2811/WS2812B should also work but
|
||||||
Not all WS2812 ICs use the same timings, some batches use different timings.
|
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.
|
|
||||||
|
It could be possible to be able to specify the timings required via CLI if users request it.
|
||||||
## Connections
|
|
||||||
|
## Connections
|
||||||
WS2812 LED strips generally require a single data line, 5V and GND.
|
|
||||||
|
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
|
WS2812 LEDs on full brightness can consume quite a bit of current. It is recommended to verify the current draw and ensure your
|
||||||
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
|
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
|
||||||
from another BEC. Just ensure that the GROUND is the same for all BEC outputs and LEDs.
|
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 |
|
|
||||||
| --------------------- | --- | --------- |
|
| Target | Pin | Led Strip | Signal |
|
||||||
| Naze/Olimexino | RC5 | Data In |
|
| --------------------- | --- | --------- | -------|
|
||||||
| ChebuzzF3/F3Discovery | PB8 | Data In |
|
| 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.
|
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
|
||||||
## Positioning
|
can not be used at the same time at Parallel PWM.
|
||||||
|
|
||||||
Cut the strip into 5 sections as per diagram 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.
|
## Configuration
|
||||||
|
|
||||||
Orientation is when viewed with the front of the aircraft facing away from you and viewed from above.
|
Enable the `LED_STRIP` feature via the cli:
|
||||||
|
|
||||||
LED numbers and positions for a quad.
|
```
|
||||||
|
feature LED_STRIP
|
||||||
```
|
```
|
||||||
17-19 10-12
|
|
||||||
20-22 \ / 7-9
|
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.
|
||||||
\ 13-16 /
|
|
||||||
\ FRONT /
|
Configure the LEDs using the `led` command.
|
||||||
/ BACK \
|
|
||||||
/ \
|
The `led` command takes either zero or two arguments - an zero-based led number and a pair of coordinates, direction flags and mode flags.
|
||||||
23-25 / \ 4-6
|
|
||||||
26-28 1-3
|
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`
|
||||||
## Configuration
|
|
||||||
|
`x` and `y` are grid coordinates of a 0 based 16x16 grid, north west is 0,0, south east is 15,15
|
||||||
Enable the `LED_STRIP` feature via the cli:
|
`ddd` specifies the directions, since an led can face in any direction it can have multiple directions. Directions are:
|
||||||
|
|
||||||
```
|
`N` - North
|
||||||
feature LED_STRIP
|
`E` - East
|
||||||
```
|
`S` - South
|
||||||
|
`W` - West
|
||||||
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.
|
`U` - Up
|
||||||
|
`D` - Down
|
||||||
## Troubleshooting
|
|
||||||
|
For instance, an LED that faces South-east at a 45 degree downwards angle could be configured as `SED`.
|
||||||
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
|
Note: It is perfectly possible to configure an LED to have all directions `NESWUD` but probably doesn't make sense.
|
||||||
in each LED module on the strip is also functioning.
|
|
||||||
|
`mmm` specifies the modes that should be applied an LED. Modes are:
|
||||||
After a short delay the LEDs will show the unarmed color sequence and or low-battery warning sequence.
|
|
||||||
|
* `W` - `W`warnings.
|
||||||
If the LEDs flash intermittently or do not show the correct colors verify all connections and check the specifications of the
|
* `F` - `F`light mode & Orientation
|
||||||
LEDs you have against the supported timings (for now, you'll have to look in the source).
|
* `I` - `I`ndicator.
|
||||||
|
* `A` - `A`rmed state.
|
||||||
Also check that the feature `LED_STRIP` was correctly enabled and that it does not conflict with other features, as above.
|
|
||||||
|
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.
|
||||||
|
|
|
||||||
|
|
@ -139,6 +139,7 @@ void tfp_format(void *putp, putcf putf, char *fmt, va_list va)
|
||||||
break;
|
break;
|
||||||
case '%':
|
case '%':
|
||||||
putf(putp, ch);
|
putf(putp, ch);
|
||||||
|
break;
|
||||||
default:
|
default:
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -122,23 +122,23 @@ char a2i(char ch, char **src, int base, int *nump)
|
||||||
** Code from http://groups.google.com/group/comp.lang.c/msg/66552ef8b04fe1ab?pli=1
|
** Code from http://groups.google.com/group/comp.lang.c/msg/66552ef8b04fe1ab?pli=1
|
||||||
*/
|
*/
|
||||||
|
|
||||||
static char *_i2a(unsigned i, char *a, unsigned r)
|
static char *_i2a(unsigned i, char *a, unsigned base)
|
||||||
{
|
{
|
||||||
if (i / r > 0)
|
if (i / base > 0)
|
||||||
a = _i2a(i / r, a, r);
|
a = _i2a(i / base, a, base);
|
||||||
*a = "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ"[i % r];
|
*a = "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ"[i % base];
|
||||||
return a + 1;
|
return a + 1;
|
||||||
}
|
}
|
||||||
|
|
||||||
char *itoa(int i, char *a, int r)
|
char *itoa(int i, char *a, int base)
|
||||||
{
|
{
|
||||||
if ((r < 2) || (r > 36))
|
if ((base < 2) || (base > 36))
|
||||||
r = 10;
|
base = 10;
|
||||||
if (i < 0) {
|
if (i < 0) {
|
||||||
*a = '-';
|
*a = '-';
|
||||||
*_i2a(-(unsigned) i, a + 1, r) = 0;
|
*_i2a(-(unsigned) i, a + 1, base) = 0;
|
||||||
} else
|
} else
|
||||||
*_i2a(i, a, r) = 0;
|
*_i2a(i, a, base) = 0;
|
||||||
return a;
|
return a;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -50,6 +50,7 @@
|
||||||
#include "rx/rx.h"
|
#include "rx/rx.h"
|
||||||
#include "io/rc_controls.h"
|
#include "io/rc_controls.h"
|
||||||
#include "io/rc_curves.h"
|
#include "io/rc_curves.h"
|
||||||
|
#include "io/ledstrip.h"
|
||||||
#include "io/gps.h"
|
#include "io/gps.h"
|
||||||
#include "flight/failsafe.h"
|
#include "flight/failsafe.h"
|
||||||
#include "flight/imu.h"
|
#include "flight/imu.h"
|
||||||
|
|
@ -70,6 +71,7 @@ void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DCon
|
||||||
|
|
||||||
#define FLASH_TO_RESERVE_FOR_CONFIG 0x800
|
#define FLASH_TO_RESERVE_FOR_CONFIG 0x800
|
||||||
|
|
||||||
|
#ifndef FLASH_PAGE_COUNT
|
||||||
#ifdef STM32F303xC
|
#ifdef STM32F303xC
|
||||||
#define FLASH_PAGE_COUNT 128
|
#define FLASH_PAGE_COUNT 128
|
||||||
#define FLASH_PAGE_SIZE ((uint16_t)0x800)
|
#define FLASH_PAGE_SIZE ((uint16_t)0x800)
|
||||||
|
|
@ -84,18 +86,19 @@ void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DCon
|
||||||
#define FLASH_PAGE_COUNT 128
|
#define FLASH_PAGE_COUNT 128
|
||||||
#define FLASH_PAGE_SIZE ((uint16_t)0x800)
|
#define FLASH_PAGE_SIZE ((uint16_t)0x800)
|
||||||
#endif
|
#endif
|
||||||
|
#endif
|
||||||
|
|
||||||
#ifndef FLASH_PAGE_COUNT
|
#if !defined(FLASH_PAGE_COUNT) || !defined(FLASH_PAGE_SIZE)
|
||||||
#error "Flash page count not defined for target."
|
#error "Flash page count not defined for target."
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
// use the last flash pages for storage
|
// use the last flash pages for storage
|
||||||
static uint32_t flashWriteAddress = (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG));
|
#define CONFIG_START_FLASH_ADDRESS (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG))
|
||||||
|
|
||||||
master_t masterConfig; // master config struct with data independent from profiles
|
master_t masterConfig; // master config struct with data independent from profiles
|
||||||
profile_t *currentProfile; // profile config struct
|
profile_t *currentProfile; // profile config struct
|
||||||
|
|
||||||
static const uint8_t EEPROM_CONF_VERSION = 76;
|
static const uint8_t EEPROM_CONF_VERSION = 77;
|
||||||
|
|
||||||
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
|
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
|
||||||
{
|
{
|
||||||
|
|
@ -372,6 +375,10 @@ static void resetConf(void)
|
||||||
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
|
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
|
||||||
masterConfig.customMixer[i].throttle = 0.0f;
|
masterConfig.customMixer[i].throttle = 0.0f;
|
||||||
|
|
||||||
|
#ifdef LED_STRIP
|
||||||
|
applyDefaultLedStripConfig(masterConfig.ledConfigs);
|
||||||
|
#endif
|
||||||
|
|
||||||
// copy first profile into remaining profile
|
// copy first profile into remaining profile
|
||||||
for (i = 1; i < 3; i++)
|
for (i = 1; i < 3; i++)
|
||||||
memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t));
|
memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t));
|
||||||
|
|
@ -389,7 +396,7 @@ static uint8_t calculateChecksum(const uint8_t *data, uint32_t length)
|
||||||
|
|
||||||
static bool isEEPROMContentValid(void)
|
static bool isEEPROMContentValid(void)
|
||||||
{
|
{
|
||||||
const master_t *temp = (const master_t *) flashWriteAddress;
|
const master_t *temp = (const master_t *) CONFIG_START_FLASH_ADDRESS;
|
||||||
uint8_t checksum = 0;
|
uint8_t checksum = 0;
|
||||||
|
|
||||||
// check version number
|
// check version number
|
||||||
|
|
@ -474,7 +481,7 @@ void validateAndFixConfig(void)
|
||||||
featureClear(FEATURE_RX_PPM);
|
featureClear(FEATURE_RX_PPM);
|
||||||
}
|
}
|
||||||
|
|
||||||
if (feature(FEATURE_CURRENT_METER)) {
|
if (feature(FEATURE_RX_PARALLEL_PWM)) {
|
||||||
#if defined(STM32F10X)
|
#if defined(STM32F10X)
|
||||||
// rssi adc needs the same ports
|
// rssi adc needs the same ports
|
||||||
featureClear(FEATURE_RSSI_ADC);
|
featureClear(FEATURE_RSSI_ADC);
|
||||||
|
|
@ -523,15 +530,6 @@ void validateAndFixConfig(void)
|
||||||
|
|
||||||
void initEEPROM(void)
|
void initEEPROM(void)
|
||||||
{
|
{
|
||||||
#if defined(STM32F10X)
|
|
||||||
|
|
||||||
#define FLASH_SIZE_REGISTER 0x1FFFF7E0
|
|
||||||
|
|
||||||
const uint32_t flashSize = *((uint32_t *)FLASH_SIZE_REGISTER) & 0xFFFF;
|
|
||||||
|
|
||||||
// calculate write address based on contents of Flash size register. Use last 2 kbytes for storage
|
|
||||||
flashWriteAddress = 0x08000000 + (FLASH_PAGE_SIZE * (flashSize - 2));
|
|
||||||
#endif
|
|
||||||
}
|
}
|
||||||
|
|
||||||
void readEEPROM(void)
|
void readEEPROM(void)
|
||||||
|
|
@ -541,7 +539,7 @@ void readEEPROM(void)
|
||||||
failureMode(10);
|
failureMode(10);
|
||||||
|
|
||||||
// Read flash
|
// Read flash
|
||||||
memcpy(&masterConfig, (char *) flashWriteAddress, sizeof(master_t));
|
memcpy(&masterConfig, (char *) CONFIG_START_FLASH_ADDRESS, sizeof(master_t));
|
||||||
// Copy current profile
|
// Copy current profile
|
||||||
if (masterConfig.current_profile_index > 2) // sanity check
|
if (masterConfig.current_profile_index > 2) // sanity check
|
||||||
masterConfig.current_profile_index = 0;
|
masterConfig.current_profile_index = 0;
|
||||||
|
|
@ -587,13 +585,13 @@ void writeEEPROM(void)
|
||||||
#endif
|
#endif
|
||||||
for (wordOffset = 0; wordOffset < sizeof(master_t); wordOffset += 4) {
|
for (wordOffset = 0; wordOffset < sizeof(master_t); wordOffset += 4) {
|
||||||
if (wordOffset % FLASH_PAGE_SIZE == 0) {
|
if (wordOffset % FLASH_PAGE_SIZE == 0) {
|
||||||
status = FLASH_ErasePage(flashWriteAddress + wordOffset);
|
status = FLASH_ErasePage(CONFIG_START_FLASH_ADDRESS + wordOffset);
|
||||||
if (status != FLASH_COMPLETE) {
|
if (status != FLASH_COMPLETE) {
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
status = FLASH_ProgramWord(flashWriteAddress + wordOffset,
|
status = FLASH_ProgramWord(CONFIG_START_FLASH_ADDRESS + wordOffset,
|
||||||
*(uint32_t *) ((char *) &masterConfig + wordOffset));
|
*(uint32_t *) ((char *) &masterConfig + wordOffset));
|
||||||
if (status != FLASH_COMPLETE) {
|
if (status != FLASH_COMPLETE) {
|
||||||
break;
|
break;
|
||||||
|
|
@ -619,22 +617,6 @@ void ensureEEPROMContainsValidData(void)
|
||||||
|
|
||||||
resetEEPROM();
|
resetEEPROM();
|
||||||
}
|
}
|
||||||
/*
|
|
||||||
* 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/>.
|
|
||||||
*/
|
|
||||||
|
|
||||||
void resetEEPROM(void)
|
void resetEEPROM(void)
|
||||||
{
|
{
|
||||||
|
|
|
||||||
|
|
@ -74,6 +74,8 @@ typedef struct master_t {
|
||||||
|
|
||||||
telemetryConfig_t telemetryConfig;
|
telemetryConfig_t telemetryConfig;
|
||||||
|
|
||||||
|
ledConfig_t ledConfigs[MAX_LED_STRIP_LENGTH];
|
||||||
|
|
||||||
profile_t profile[3]; // 3 separate profiles
|
profile_t profile[3]; // 3 separate profiles
|
||||||
uint8_t current_profile_index; // currently loaded profile
|
uint8_t current_profile_index; // currently loaded profile
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -302,6 +302,7 @@ bool mpu6000SpiGyroDetect(gyro_t *gyro, uint16_t lpf)
|
||||||
break;
|
break;
|
||||||
case 5:
|
case 5:
|
||||||
mpuLowPassFilter = BITS_DLPF_CFG_5HZ;
|
mpuLowPassFilter = BITS_DLPF_CFG_5HZ;
|
||||||
|
break;
|
||||||
case 0:
|
case 0:
|
||||||
mpuLowPassFilter = BITS_DLPF_CFG_2100HZ_NOLPF;
|
mpuLowPassFilter = BITS_DLPF_CFG_2100HZ_NOLPF;
|
||||||
break;
|
break;
|
||||||
|
|
|
||||||
|
|
@ -180,7 +180,7 @@ uint8_t spiTransferByte(SPI_TypeDef *instance, uint8_t data)
|
||||||
#ifdef STM32F10X
|
#ifdef STM32F10X
|
||||||
return ((uint8_t)SPI_I2S_ReceiveData(instance));
|
return ((uint8_t)SPI_I2S_ReceiveData(instance));
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
|
|
||||||
bool spiTransfer(SPI_TypeDef *instance, uint8_t *out, uint8_t *in, int len)
|
bool spiTransfer(SPI_TypeDef *instance, uint8_t *out, uint8_t *in, int len)
|
||||||
{
|
{
|
||||||
|
|
|
||||||
|
|
@ -17,11 +17,7 @@
|
||||||
|
|
||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
#ifdef USE_ALTERNATE_LED_LAYOUT
|
#define WS2811_LED_STRIP_LENGTH 32
|
||||||
#define WS2811_LED_STRIP_LENGTH 31
|
|
||||||
#else
|
|
||||||
#define WS2811_LED_STRIP_LENGTH 28
|
|
||||||
#endif
|
|
||||||
#define WS2811_BITS_PER_LED 24
|
#define WS2811_BITS_PER_LED 24
|
||||||
#define WS2811_DELAY_BUFFER_LENGTH 42 // for 50us delay
|
#define WS2811_DELAY_BUFFER_LENGTH 42 // for 50us delay
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -38,7 +38,7 @@ void ws2811LedStripHardwareInit(void)
|
||||||
|
|
||||||
uint16_t prescalerValue;
|
uint16_t prescalerValue;
|
||||||
|
|
||||||
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
|
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
|
||||||
|
|
||||||
GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_1);
|
GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_1);
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -18,6 +18,7 @@
|
||||||
|
|
||||||
#include <stdbool.h>
|
#include <stdbool.h>
|
||||||
#include <stdint.h>
|
#include <stdint.h>
|
||||||
|
#include <stdlib.h>
|
||||||
|
|
||||||
#include "platform.h"
|
#include "platform.h"
|
||||||
|
|
||||||
|
|
@ -44,6 +45,7 @@
|
||||||
#include "io/gimbal.h"
|
#include "io/gimbal.h"
|
||||||
#include "io/gps.h"
|
#include "io/gps.h"
|
||||||
#include "io/serial.h"
|
#include "io/serial.h"
|
||||||
|
#include "io/ledstrip.h"
|
||||||
#include "flight/failsafe.h"
|
#include "flight/failsafe.h"
|
||||||
#include "flight/imu.h"
|
#include "flight/imu.h"
|
||||||
#include "flight/mixer.h"
|
#include "flight/mixer.h"
|
||||||
|
|
|
||||||
|
|
@ -18,14 +18,23 @@
|
||||||
#include <stdbool.h>
|
#include <stdbool.h>
|
||||||
#include <stdlib.h>
|
#include <stdlib.h>
|
||||||
#include <stdint.h>
|
#include <stdint.h>
|
||||||
|
#include <string.h>
|
||||||
|
#include <stdarg.h>
|
||||||
|
|
||||||
#include <platform.h>
|
#include <platform.h>
|
||||||
|
|
||||||
|
#include <build_config.h>
|
||||||
|
|
||||||
#ifdef LED_STRIP
|
#ifdef LED_STRIP
|
||||||
#include <common/maths.h>
|
|
||||||
|
|
||||||
#include "drivers/light_ws2811strip.h"
|
#include "drivers/light_ws2811strip.h"
|
||||||
#include "drivers/system.h"
|
#include "drivers/system.h"
|
||||||
|
#include "drivers/serial.h"
|
||||||
|
|
||||||
|
#include <common/maths.h>
|
||||||
|
#include <common/printf.h>
|
||||||
|
#include <common/typeconversion.h>
|
||||||
|
|
||||||
|
|
||||||
#include "sensors/battery.h"
|
#include "sensors/battery.h"
|
||||||
|
|
||||||
|
|
@ -33,145 +42,107 @@
|
||||||
#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"
|
||||||
|
|
||||||
#define LED_WHITE {255, 255, 255}
|
static failsafe_t* failsafe;
|
||||||
#define LED_BLACK {0, 0, 0 }
|
|
||||||
#define LED_RED {255, 0, 0 }
|
#if MAX_LED_STRIP_LENGTH > WS2811_LED_STRIP_LENGTH
|
||||||
#define LED_GREEN {0, 255, 0 }
|
#error "Led strip length must match driver"
|
||||||
#define LED_BLUE {0, 0, 255}
|
#endif
|
||||||
#define LED_CYAN {0, 255, 255}
|
|
||||||
#define LED_YELLOW {255, 255, 0 }
|
//#define USE_LED_ANIMATION
|
||||||
#define LED_ORANGE {255, 128, 0 }
|
|
||||||
#define LED_PINK {255, 0, 128}
|
#define LED_WHITE {255, 255, 255}
|
||||||
#define LED_PURPLE {192, 64, 255}
|
#define LED_BLACK {0, 0, 0 }
|
||||||
|
|
||||||
|
#define LED_RED {255, 0, 0 }
|
||||||
|
#define LED_ORANGE {255, 128, 0 }
|
||||||
|
#define LED_YELLOW {255, 255, 0 }
|
||||||
|
#define LED_LIME_GREEN {128, 255, 0 }
|
||||||
|
#define LED_CYAN {0, 255, 255}
|
||||||
|
#define LED_GREEN {0, 255, 0 }
|
||||||
|
#define LED_LIGHT_BLUE {0, 128, 255}
|
||||||
|
#define LED_BLUE {0, 0, 255}
|
||||||
|
#define LED_DARK_MAGENTA {128, 0, 128}
|
||||||
|
#define LED_PINK {255, 0, 255}
|
||||||
|
#define LED_DARK_VIOLET {128, 0, 255}
|
||||||
|
#define LED_DEEP_PINK {255, 0, 128}
|
||||||
|
|
||||||
const rgbColor24bpp_t black = { LED_BLACK };
|
const rgbColor24bpp_t black = { LED_BLACK };
|
||||||
|
const rgbColor24bpp_t white = { LED_WHITE };
|
||||||
|
|
||||||
const rgbColor24bpp_t red = { LED_RED };
|
const rgbColor24bpp_t red = { LED_RED };
|
||||||
const rgbColor24bpp_t orange = { LED_ORANGE };
|
const rgbColor24bpp_t orange = { LED_ORANGE };
|
||||||
const rgbColor24bpp_t white = { LED_WHITE };
|
|
||||||
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 ledGridHeight;
|
||||||
|
uint8_t ledCount;
|
||||||
|
|
||||||
|
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_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_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_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 },
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
/*
|
/*
|
||||||
* 0..5 - rear right cluster, 0..2 rear 3..5 right
|
* 6 coords @nn,nn
|
||||||
* 6..11 - front right cluster, 6..8 rear, 9..11 front
|
* 4 direction @##
|
||||||
* 12..15 - front center cluster
|
* 6 modes @####
|
||||||
* 16..21 - front left cluster, 16..18 front, 19..21 rear
|
* = 16 bytes per led
|
||||||
* 22..27 - rear left cluster, 22..24 left, 25..27 rear
|
* 16 * 32 leds = 512 bytes storage needed worst case.
|
||||||
|
* = not efficient to store led configs as strings in flash.
|
||||||
|
* = becomes a problem to send all the data via cli due to serial/cli buffers
|
||||||
*/
|
*/
|
||||||
|
|
||||||
typedef enum {
|
typedef enum {
|
||||||
LED_DISABLED = 0,
|
X_COORDINATE,
|
||||||
LED_DIRECTION_NORTH = (1 << 0),
|
Y_COORDINATE,
|
||||||
LED_DIRECTION_EAST = (1 << 1),
|
DIRECTIONS,
|
||||||
LED_DIRECTION_SOUTH = (1 << 2),
|
FUNCTIONS
|
||||||
LED_DIRECTION_WEST = (1 << 3),
|
} parseState_e;
|
||||||
LED_DIRECTION_UP = (1 << 4),
|
|
||||||
LED_DIRECTION_DOWN = (1 << 5),
|
|
||||||
LED_FUNCTION_INDICATOR = (1 << 6),
|
|
||||||
LED_FUNCTION_BATTERY = (1 << 7),
|
|
||||||
LED_FUNCTION_MODE = (1 << 8),
|
|
||||||
LED_FUNCTION_ARM_STATE = (1 << 9)
|
|
||||||
} ledFlag_e;
|
|
||||||
|
|
||||||
#define LED_X_BIT_OFFSET 4
|
#define PARSE_STATE_COUNT 4
|
||||||
#define LED_Y_BIT_OFFSET 0
|
|
||||||
|
|
||||||
#define LED_XY_MASK (0x0F)
|
static const char chunkSeparators[PARSE_STATE_COUNT] = {',', ':', ':', '\0' };
|
||||||
|
|
||||||
#define LED_X(ledConfig) ((ledConfig->xy >> LED_X_BIT_OFFSET) & LED_XY_MASK)
|
static const char directionCodes[] = { 'N', 'E', 'S', 'W', 'U', 'D' };
|
||||||
#define LED_Y(ledConfig) ((ledConfig->xy >> LED_Y_BIT_OFFSET) & LED_XY_MASK)
|
#define DIRECTION_COUNT (sizeof(directionCodes) / sizeof(directionCodes[0]))
|
||||||
|
static const uint8_t directionMappings[DIRECTION_COUNT] = {
|
||||||
#define LED_XY(x,y) (((x & LED_XY_MASK) << LED_X_BIT_OFFSET) | ((y & LED_XY_MASK) << LED_Y_BIT_OFFSET))
|
LED_DIRECTION_NORTH,
|
||||||
|
LED_DIRECTION_EAST,
|
||||||
typedef struct ledConfig_s {
|
LED_DIRECTION_SOUTH,
|
||||||
uint8_t xy; // see LED_X/Y_MASK defines
|
LED_DIRECTION_WEST,
|
||||||
uint16_t flags; // see ledFlag_e
|
LED_DIRECTION_UP,
|
||||||
} ledConfig_t;
|
LED_DIRECTION_DOWN
|
||||||
|
|
||||||
static uint8_t ledGridWidth;
|
|
||||||
static uint8_t ledGridHeight;
|
|
||||||
|
|
||||||
#ifdef USE_ALTERNATE_LED_LAYOUT
|
|
||||||
static const ledConfig_t ledConfigs[WS2811_LED_STRIP_LENGTH] = {
|
|
||||||
{ LED_XY( 1, 14), LED_DIRECTION_SOUTH | LED_FUNCTION_MODE | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
|
||||||
|
|
||||||
{ LED_XY( 0, 13), LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
|
||||||
{ LED_XY( 0, 12), LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
|
||||||
|
|
||||||
{ LED_XY( 0, 11), LED_DIRECTION_WEST | LED_FUNCTION_MODE },
|
|
||||||
{ LED_XY( 0, 10), LED_DIRECTION_WEST | LED_FUNCTION_MODE },
|
|
||||||
{ LED_XY( 0, 9), LED_DIRECTION_WEST | LED_FUNCTION_MODE },
|
|
||||||
{ LED_XY( 0, 8), LED_DIRECTION_WEST | LED_FUNCTION_MODE | LED_FUNCTION_BATTERY },
|
|
||||||
{ LED_XY( 0, 7), LED_DIRECTION_WEST | LED_FUNCTION_MODE | LED_FUNCTION_BATTERY },
|
|
||||||
{ LED_XY( 0, 6), LED_DIRECTION_WEST | LED_FUNCTION_MODE | LED_FUNCTION_BATTERY },
|
|
||||||
{ LED_XY( 0, 5), LED_DIRECTION_WEST | LED_FUNCTION_MODE },
|
|
||||||
{ LED_XY( 0, 4), LED_DIRECTION_WEST | LED_FUNCTION_MODE },
|
|
||||||
{ LED_XY( 0, 3), LED_DIRECTION_WEST | LED_FUNCTION_MODE },
|
|
||||||
|
|
||||||
{ LED_XY( 0, 2), LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
|
||||||
{ LED_XY( 0, 1), LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
|
||||||
|
|
||||||
{ LED_XY( 1, 0), LED_DIRECTION_NORTH | LED_FUNCTION_MODE | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
|
||||||
{ LED_XY( 2, 0), LED_DIRECTION_NORTH | LED_FUNCTION_MODE | LED_FUNCTION_ARM_STATE },
|
|
||||||
{ LED_XY( 3, 0), LED_DIRECTION_NORTH | LED_FUNCTION_MODE | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
|
||||||
|
|
||||||
{ LED_XY( 4, 1), LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
|
||||||
{ LED_XY( 4, 2), LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
|
||||||
|
|
||||||
{ LED_XY( 4, 3), LED_DIRECTION_EAST | LED_FUNCTION_MODE },
|
|
||||||
{ LED_XY( 4, 4), LED_DIRECTION_EAST | LED_FUNCTION_MODE },
|
|
||||||
{ LED_XY( 4, 5), LED_DIRECTION_EAST | LED_FUNCTION_MODE },
|
|
||||||
{ LED_XY( 4, 6), LED_DIRECTION_EAST | LED_FUNCTION_MODE | LED_FUNCTION_BATTERY },
|
|
||||||
{ LED_XY( 4, 7), LED_DIRECTION_EAST | LED_FUNCTION_MODE | LED_FUNCTION_BATTERY },
|
|
||||||
{ LED_XY( 4, 8), LED_DIRECTION_EAST | LED_FUNCTION_MODE | LED_FUNCTION_BATTERY },
|
|
||||||
{ LED_XY( 4, 9), LED_DIRECTION_EAST | LED_FUNCTION_MODE },
|
|
||||||
{ LED_XY( 4, 10), LED_DIRECTION_EAST | LED_FUNCTION_MODE },
|
|
||||||
{ LED_XY( 4, 11), LED_DIRECTION_EAST | LED_FUNCTION_MODE },
|
|
||||||
|
|
||||||
{ LED_XY( 4, 12), LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
|
||||||
{ LED_XY( 4, 13), LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
|
||||||
|
|
||||||
{ LED_XY( 3, 14), LED_DIRECTION_SOUTH | LED_FUNCTION_MODE | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
|
||||||
};
|
};
|
||||||
#else
|
|
||||||
static const ledConfig_t ledConfigs[WS2811_LED_STRIP_LENGTH] = {
|
|
||||||
{ LED_XY( 9, 9), LED_DIRECTION_SOUTH | LED_FUNCTION_MODE | LED_FUNCTION_BATTERY },
|
|
||||||
{ LED_XY(10, 10), LED_DIRECTION_SOUTH | LED_FUNCTION_MODE | LED_FUNCTION_BATTERY },
|
|
||||||
{ LED_XY(11, 11), LED_DIRECTION_SOUTH | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
|
||||||
{ LED_XY(11, 11), LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
|
||||||
{ LED_XY(10, 10), LED_DIRECTION_EAST | LED_FUNCTION_MODE },
|
|
||||||
{ LED_XY( 9, 9), LED_DIRECTION_EAST | LED_FUNCTION_MODE },
|
|
||||||
|
|
||||||
{ LED_XY(10, 5), LED_DIRECTION_SOUTH | LED_FUNCTION_MODE },
|
static const char functionCodes[] = { 'I', 'W', 'F', 'A' };
|
||||||
{ LED_XY(11, 4), LED_DIRECTION_SOUTH | LED_FUNCTION_MODE },
|
#define FUNCTION_COUNT (sizeof(functionCodes) / sizeof(functionCodes[0]))
|
||||||
{ LED_XY(12, 3), LED_DIRECTION_SOUTH | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
static const uint16_t functionMappings[FUNCTION_COUNT] = {
|
||||||
{ LED_XY(12, 2), LED_DIRECTION_NORTH | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
LED_FUNCTION_INDICATOR,
|
||||||
{ LED_XY(11, 1), LED_DIRECTION_NORTH | LED_FUNCTION_MODE },
|
LED_FUNCTION_WARNING,
|
||||||
{ LED_XY(10, 0), LED_DIRECTION_NORTH | LED_FUNCTION_MODE },
|
LED_FUNCTION_FLIGHT_MODE,
|
||||||
|
LED_FUNCTION_ARM_STATE
|
||||||
{ LED_XY( 7, 0), LED_DIRECTION_NORTH | LED_FUNCTION_MODE | LED_FUNCTION_BATTERY },
|
|
||||||
{ LED_XY( 6, 0), LED_DIRECTION_NORTH | LED_FUNCTION_MODE | LED_FUNCTION_BATTERY },
|
|
||||||
{ LED_XY( 5, 0), LED_DIRECTION_NORTH | LED_FUNCTION_MODE | LED_FUNCTION_BATTERY },
|
|
||||||
{ LED_XY( 4, 0), LED_DIRECTION_NORTH | LED_FUNCTION_MODE | LED_FUNCTION_BATTERY },
|
|
||||||
|
|
||||||
{ LED_XY( 2, 0), LED_DIRECTION_NORTH | LED_FUNCTION_MODE },
|
|
||||||
{ LED_XY( 1, 1), LED_DIRECTION_NORTH | LED_FUNCTION_MODE },
|
|
||||||
{ LED_XY( 0, 2), LED_DIRECTION_NORTH | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
|
||||||
{ LED_XY( 0, 3), LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
|
||||||
{ LED_XY( 1, 4), LED_DIRECTION_WEST | LED_FUNCTION_MODE },
|
|
||||||
{ LED_XY( 2, 5), LED_DIRECTION_WEST | LED_FUNCTION_MODE },
|
|
||||||
|
|
||||||
{ LED_XY( 2, 9), LED_DIRECTION_WEST | LED_FUNCTION_MODE },
|
|
||||||
{ LED_XY( 1, 10), LED_DIRECTION_WEST | LED_FUNCTION_MODE },
|
|
||||||
{ LED_XY( 0, 11), LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
|
||||||
{ LED_XY( 0, 11), LED_DIRECTION_SOUTH | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
|
||||||
{ LED_XY( 1, 10), LED_DIRECTION_SOUTH | LED_FUNCTION_MODE | LED_FUNCTION_BATTERY },
|
|
||||||
{ LED_XY( 2, 9), LED_DIRECTION_SOUTH | LED_FUNCTION_MODE | LED_FUNCTION_BATTERY }
|
|
||||||
};
|
};
|
||||||
#endif
|
|
||||||
|
|
||||||
// grid offsets
|
// grid offsets
|
||||||
uint8_t highestYValueForNorth;
|
uint8_t highestYValueForNorth;
|
||||||
|
|
@ -179,10 +150,172 @@ uint8_t lowestYValueForSouth;
|
||||||
uint8_t highestXValueForWest;
|
uint8_t highestXValueForWest;
|
||||||
uint8_t lowestXValueForEast;
|
uint8_t lowestXValueForEast;
|
||||||
|
|
||||||
|
void determineLedStripDimensions(void)
|
||||||
|
{
|
||||||
|
ledGridWidth = 0;
|
||||||
|
ledGridHeight = 0;
|
||||||
|
|
||||||
|
uint8_t ledIndex;
|
||||||
|
const ledConfig_t *ledConfig;
|
||||||
|
|
||||||
|
for (ledIndex = 0; ledIndex < ledCount; ledIndex++) {
|
||||||
|
ledConfig = &ledConfigs[ledIndex];
|
||||||
|
|
||||||
|
if (GET_LED_X(ledConfig) >= ledGridWidth) {
|
||||||
|
ledGridWidth = GET_LED_X(ledConfig) + 1;
|
||||||
|
}
|
||||||
|
if (GET_LED_Y(ledConfig) >= ledGridHeight) {
|
||||||
|
ledGridHeight = GET_LED_Y(ledConfig) + 1;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void determineOrientationLimits(void)
|
||||||
|
{
|
||||||
|
bool isOddHeight = (ledGridHeight & 1);
|
||||||
|
bool isOddWidth = (ledGridWidth & 1);
|
||||||
|
uint8_t heightModifier = isOddHeight ? 1 : 0;
|
||||||
|
uint8_t widthModifier = isOddWidth ? 1 : 0;
|
||||||
|
|
||||||
|
highestYValueForNorth = (ledGridHeight / 2) - 1;
|
||||||
|
lowestYValueForSouth = (ledGridHeight / 2) + heightModifier;
|
||||||
|
highestXValueForWest = (ledGridWidth / 2) - 1;
|
||||||
|
lowestXValueForEast = (ledGridWidth / 2) + widthModifier;
|
||||||
|
}
|
||||||
|
|
||||||
|
void updateLedCount(void)
|
||||||
|
{
|
||||||
|
uint8_t ledIndex;
|
||||||
|
ledCount = 0;
|
||||||
|
for (ledIndex = 0; ledIndex < MAX_LED_STRIP_LENGTH; ledIndex++) {
|
||||||
|
if (ledConfigs[ledIndex].flags == 0 && ledConfigs[ledIndex].xy == 0) {
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
ledCount++;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static void reevalulateLedConfig(void)
|
||||||
|
{
|
||||||
|
updateLedCount();
|
||||||
|
determineLedStripDimensions();
|
||||||
|
determineOrientationLimits();
|
||||||
|
}
|
||||||
|
|
||||||
|
#define CHUNK_BUFFER_SIZE 10
|
||||||
|
|
||||||
|
#define NEXT_PARSE_STATE(parseState) ((parseState + 1) % PARSE_STATE_COUNT)
|
||||||
|
|
||||||
|
|
||||||
|
bool parseLedStripConfig(uint8_t ledIndex, const char *config)
|
||||||
|
{
|
||||||
|
char chunk[CHUNK_BUFFER_SIZE];
|
||||||
|
uint8_t chunkIndex;
|
||||||
|
uint8_t val;
|
||||||
|
|
||||||
|
uint8_t parseState = X_COORDINATE;
|
||||||
|
bool ok = true;
|
||||||
|
|
||||||
|
if (ledIndex >= MAX_LED_STRIP_LENGTH) {
|
||||||
|
return !ok;
|
||||||
|
}
|
||||||
|
|
||||||
|
ledConfig_t *ledConfig = &ledConfigs[ledIndex];
|
||||||
|
memset(ledConfig, 0, sizeof(ledConfig_t));
|
||||||
|
|
||||||
|
while (ok) {
|
||||||
|
|
||||||
|
char chunkSeparator = chunkSeparators[parseState];
|
||||||
|
|
||||||
|
memset(&chunk, 0, sizeof(chunk));
|
||||||
|
chunkIndex = 0;
|
||||||
|
|
||||||
|
while (*config && chunkIndex < CHUNK_BUFFER_SIZE && *config != chunkSeparator) {
|
||||||
|
chunk[chunkIndex++] = *config++;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (*config++ != chunkSeparator) {
|
||||||
|
ok = false;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
switch((parseState_e)parseState) {
|
||||||
|
case X_COORDINATE:
|
||||||
|
val = atoi(chunk);
|
||||||
|
ledConfig->xy |= CALCULATE_LED_X(val);
|
||||||
|
break;
|
||||||
|
case Y_COORDINATE:
|
||||||
|
val = atoi(chunk);
|
||||||
|
ledConfig->xy |= CALCULATE_LED_Y(val);
|
||||||
|
break;
|
||||||
|
case DIRECTIONS:
|
||||||
|
for (chunkIndex = 0; chunk[chunkIndex] && chunkIndex < CHUNK_BUFFER_SIZE; chunkIndex++) {
|
||||||
|
for (uint8_t mappingIndex = 0; mappingIndex < DIRECTION_COUNT; mappingIndex++) {
|
||||||
|
if (directionCodes[mappingIndex] == chunk[chunkIndex]) {
|
||||||
|
ledConfig->flags |= directionMappings[mappingIndex];
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case FUNCTIONS:
|
||||||
|
for (chunkIndex = 0; chunk[chunkIndex] && chunkIndex < CHUNK_BUFFER_SIZE; chunkIndex++) {
|
||||||
|
for (uint8_t mappingIndex = 0; mappingIndex < FUNCTION_COUNT; mappingIndex++) {
|
||||||
|
if (functionCodes[mappingIndex] == chunk[chunkIndex]) {
|
||||||
|
ledConfig->flags |= functionMappings[mappingIndex];
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
parseState++;
|
||||||
|
if (parseState >= PARSE_STATE_COUNT) {
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!ok) {
|
||||||
|
memset(ledConfig, 0, sizeof(ledConfig_t));
|
||||||
|
}
|
||||||
|
|
||||||
|
reevalulateLedConfig();
|
||||||
|
|
||||||
|
return ok;
|
||||||
|
}
|
||||||
|
|
||||||
|
void generateLedConfig(uint8_t ledIndex, char *ledConfigBuffer, size_t bufferSize)
|
||||||
|
{
|
||||||
|
char functions[FUNCTION_COUNT];
|
||||||
|
char directions[DIRECTION_COUNT];
|
||||||
|
uint8_t index;
|
||||||
|
uint8_t mappingIndex;
|
||||||
|
ledConfig_t *ledConfig = &ledConfigs[ledIndex];
|
||||||
|
|
||||||
|
memset(ledConfigBuffer, 0, bufferSize);
|
||||||
|
memset(&functions, 0, sizeof(functions));
|
||||||
|
memset(&directions, 0, sizeof(directions));
|
||||||
|
|
||||||
|
for (mappingIndex = 0, index = 0; mappingIndex < FUNCTION_COUNT; mappingIndex++) {
|
||||||
|
if (ledConfig->flags & functionMappings[mappingIndex]) {
|
||||||
|
functions[index++] = functionCodes[mappingIndex];
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
for (mappingIndex = 0, index = 0; mappingIndex < DIRECTION_COUNT; mappingIndex++) {
|
||||||
|
if (ledConfig->flags & directionMappings[mappingIndex]) {
|
||||||
|
directions[index++] = directionCodes[mappingIndex];
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
sprintf(ledConfigBuffer, "%u,%u:%s:%s", GET_LED_X(ledConfig), GET_LED_Y(ledConfig), directions, functions);
|
||||||
|
}
|
||||||
|
|
||||||
// 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)
|
||||||
|
|
@ -207,69 +340,97 @@ typedef union {
|
||||||
static const modeColors_t orientationModeColors = {
|
static const modeColors_t orientationModeColors = {
|
||||||
.raw = {
|
.raw = {
|
||||||
{LED_WHITE},
|
{LED_WHITE},
|
||||||
{LED_BLUE},
|
{LED_DARK_VIOLET},
|
||||||
{LED_RED},
|
{LED_RED},
|
||||||
{LED_GREEN},
|
{LED_DEEP_PINK},
|
||||||
{LED_PURPLE},
|
{LED_BLUE},
|
||||||
{LED_CYAN}
|
{LED_ORANGE}
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
static const modeColors_t headfreeModeColors = {
|
static const modeColors_t headfreeModeColors = {
|
||||||
.raw = {
|
.raw = {
|
||||||
{LED_PINK},
|
{LED_LIME_GREEN},
|
||||||
{LED_BLACK},
|
{LED_DARK_VIOLET},
|
||||||
{LED_ORANGE},
|
{LED_ORANGE},
|
||||||
{LED_BLACK},
|
{LED_DEEP_PINK},
|
||||||
{LED_BLACK},
|
{LED_BLUE},
|
||||||
{LED_BLACK}
|
{LED_ORANGE}
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
static const modeColors_t horizonModeColors = {
|
static const modeColors_t horizonModeColors = {
|
||||||
.raw = {
|
.raw = {
|
||||||
{LED_BLUE},
|
{LED_BLUE},
|
||||||
{LED_BLACK},
|
{LED_DARK_VIOLET},
|
||||||
{LED_YELLOW},
|
{LED_YELLOW},
|
||||||
{LED_BLACK},
|
{LED_DEEP_PINK},
|
||||||
{LED_BLACK},
|
{LED_BLUE},
|
||||||
{LED_BLACK}
|
{LED_ORANGE}
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
static const modeColors_t angleModeColors = {
|
static const modeColors_t angleModeColors = {
|
||||||
.raw = {
|
.raw = {
|
||||||
{LED_CYAN},
|
{LED_CYAN},
|
||||||
{LED_BLACK},
|
{LED_DARK_VIOLET},
|
||||||
{LED_YELLOW},
|
{LED_YELLOW},
|
||||||
{LED_BLACK},
|
{LED_DEEP_PINK},
|
||||||
{LED_BLACK},
|
{LED_BLUE},
|
||||||
{LED_BLACK}
|
{LED_ORANGE}
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
static const modeColors_t magModeColors = {
|
static const modeColors_t magModeColors = {
|
||||||
.raw = {
|
.raw = {
|
||||||
{LED_PURPLE},
|
{LED_PINK},
|
||||||
{LED_BLACK},
|
{LED_DARK_VIOLET},
|
||||||
{LED_ORANGE},
|
{LED_ORANGE},
|
||||||
{LED_BLACK},
|
{LED_DEEP_PINK},
|
||||||
{LED_BLACK},
|
{LED_BLUE},
|
||||||
{LED_BLACK}
|
{LED_ORANGE}
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
static const modeColors_t baroModeColors = {
|
||||||
|
.raw = {
|
||||||
|
{LED_LIGHT_BLUE},
|
||||||
|
{LED_DARK_VIOLET},
|
||||||
|
{LED_RED},
|
||||||
|
{LED_DEEP_PINK},
|
||||||
|
{LED_BLUE},
|
||||||
|
{LED_ORANGE}
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
void applyDirectionalModeColor(const uint8_t ledIndex, const ledConfig_t *ledConfig, const modeColors_t *modeColors)
|
void applyDirectionalModeColor(const uint8_t ledIndex, const ledConfig_t *ledConfig, const modeColors_t *modeColors)
|
||||||
{
|
{
|
||||||
if (ledConfig->flags & LED_DIRECTION_NORTH && LED_Y(ledConfig) < highestYValueForNorth) {
|
// apply up/down colors regardless of quadrant.
|
||||||
setLedColor(ledIndex, &modeColors->colors.north);
|
if ((ledConfig->flags & LED_DIRECTION_UP)) {
|
||||||
return;
|
setLedColor(ledIndex, &modeColors->colors.up);
|
||||||
}
|
}
|
||||||
|
|
||||||
if (ledConfig->flags & LED_DIRECTION_SOUTH && LED_Y(ledConfig) >= lowestYValueForSouth) {
|
if ((ledConfig->flags & LED_DIRECTION_DOWN)) {
|
||||||
setLedColor(ledIndex, &modeColors->colors.south);
|
setLedColor(ledIndex, &modeColors->colors.down);
|
||||||
return;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// override with n/e/s/w colors to each n/s e/w half - bail at first match.
|
||||||
|
if ((ledConfig->flags & LED_DIRECTION_WEST) && GET_LED_X(ledConfig) <= highestXValueForWest) {
|
||||||
|
setLedColor(ledIndex, &modeColors->colors.west);
|
||||||
|
}
|
||||||
|
|
||||||
|
if ((ledConfig->flags & LED_DIRECTION_EAST) && GET_LED_X(ledConfig) >= lowestXValueForEast) {
|
||||||
|
setLedColor(ledIndex, &modeColors->colors.east);
|
||||||
|
}
|
||||||
|
|
||||||
|
if ((ledConfig->flags & LED_DIRECTION_NORTH) && GET_LED_Y(ledConfig) <= highestYValueForNorth) {
|
||||||
|
setLedColor(ledIndex, &modeColors->colors.north);
|
||||||
|
}
|
||||||
|
|
||||||
|
if ((ledConfig->flags & LED_DIRECTION_SOUTH) && GET_LED_Y(ledConfig) >= lowestYValueForSouth) {
|
||||||
|
setLedColor(ledIndex, &modeColors->colors.south);
|
||||||
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
typedef enum {
|
typedef enum {
|
||||||
|
|
@ -283,25 +444,25 @@ void applyQuadrantColor(const uint8_t ledIndex, const ledConfig_t *ledConfig, co
|
||||||
{
|
{
|
||||||
switch (quadrant) {
|
switch (quadrant) {
|
||||||
case QUADRANT_NORTH_EAST:
|
case QUADRANT_NORTH_EAST:
|
||||||
if (LED_Y(ledConfig) <= highestYValueForNorth && LED_X(ledConfig) >= lowestXValueForEast) {
|
if (GET_LED_Y(ledConfig) <= highestYValueForNorth && GET_LED_X(ledConfig) >= lowestXValueForEast) {
|
||||||
setLedColor(ledIndex, color);
|
setLedColor(ledIndex, color);
|
||||||
}
|
}
|
||||||
return;
|
return;
|
||||||
|
|
||||||
case QUADRANT_SOUTH_EAST:
|
case QUADRANT_SOUTH_EAST:
|
||||||
if (LED_Y(ledConfig) >= lowestYValueForSouth && LED_X(ledConfig) >= lowestXValueForEast) {
|
if (GET_LED_Y(ledConfig) >= lowestYValueForSouth && GET_LED_X(ledConfig) >= lowestXValueForEast) {
|
||||||
setLedColor(ledIndex, color);
|
setLedColor(ledIndex, color);
|
||||||
}
|
}
|
||||||
return;
|
return;
|
||||||
|
|
||||||
case QUADRANT_SOUTH_WEST:
|
case QUADRANT_SOUTH_WEST:
|
||||||
if (LED_Y(ledConfig) >= lowestYValueForSouth && LED_X(ledConfig) <= highestXValueForWest) {
|
if (GET_LED_Y(ledConfig) >= lowestYValueForSouth && GET_LED_X(ledConfig) <= highestXValueForWest) {
|
||||||
setLedColor(ledIndex, color);
|
setLedColor(ledIndex, color);
|
||||||
}
|
}
|
||||||
return;
|
return;
|
||||||
|
|
||||||
case QUADRANT_NORTH_WEST:
|
case QUADRANT_NORTH_WEST:
|
||||||
if (LED_Y(ledConfig) <= highestYValueForNorth && LED_X(ledConfig) <= highestXValueForWest) {
|
if (GET_LED_Y(ledConfig) <= highestYValueForNorth && GET_LED_X(ledConfig) <= highestXValueForWest) {
|
||||||
setLedColor(ledIndex, color);
|
setLedColor(ledIndex, color);
|
||||||
}
|
}
|
||||||
return;
|
return;
|
||||||
|
|
@ -313,13 +474,13 @@ void applyLedModeLayer(void)
|
||||||
const ledConfig_t *ledConfig;
|
const ledConfig_t *ledConfig;
|
||||||
|
|
||||||
uint8_t ledIndex;
|
uint8_t ledIndex;
|
||||||
for (ledIndex = 0; ledIndex < WS2811_LED_STRIP_LENGTH; ledIndex++) {
|
for (ledIndex = 0; ledIndex < ledCount; ledIndex++) {
|
||||||
|
|
||||||
ledConfig = &ledConfigs[ledIndex];
|
ledConfig = &ledConfigs[ledIndex];
|
||||||
|
|
||||||
setLedColor(ledIndex, &black);
|
setLedColor(ledIndex, &black);
|
||||||
|
|
||||||
if (!(ledConfig->flags & LED_FUNCTION_MODE)) {
|
if (!(ledConfig->flags & LED_FUNCTION_FLIGHT_MODE)) {
|
||||||
if (ledConfig->flags & LED_FUNCTION_ARM_STATE) {
|
if (ledConfig->flags & LED_FUNCTION_ARM_STATE) {
|
||||||
if (!ARMING_FLAG(ARMED)) {
|
if (!ARMING_FLAG(ARMED)) {
|
||||||
setLedColor(ledIndex, &green);
|
setLedColor(ledIndex, &green);
|
||||||
|
|
@ -337,6 +498,10 @@ void applyLedModeLayer(void)
|
||||||
#ifdef MAG
|
#ifdef MAG
|
||||||
} else if (FLIGHT_MODE(MAG_MODE)) {
|
} else if (FLIGHT_MODE(MAG_MODE)) {
|
||||||
applyDirectionalModeColor(ledIndex, ledConfig, &magModeColors);
|
applyDirectionalModeColor(ledIndex, ledConfig, &magModeColors);
|
||||||
|
#endif
|
||||||
|
#ifdef BARO
|
||||||
|
} else if (FLIGHT_MODE(BARO_MODE)) {
|
||||||
|
applyDirectionalModeColor(ledIndex, ledConfig, &baroModeColors);
|
||||||
#endif
|
#endif
|
||||||
} else if (FLIGHT_MODE(HORIZON_MODE)) {
|
} else if (FLIGHT_MODE(HORIZON_MODE)) {
|
||||||
applyDirectionalModeColor(ledIndex, ledConfig, &horizonModeColors);
|
applyDirectionalModeColor(ledIndex, ledConfig, &horizonModeColors);
|
||||||
|
|
@ -346,23 +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 < WS2811_LED_STRIP_LENGTH; 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);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
@ -381,7 +568,7 @@ void applyLedIndicatorLayer(uint8_t indicatorFlashState)
|
||||||
|
|
||||||
|
|
||||||
uint8_t ledIndex;
|
uint8_t ledIndex;
|
||||||
for (ledIndex = 0; ledIndex < WS2811_LED_STRIP_LENGTH; ledIndex++) {
|
for (ledIndex = 0; ledIndex < ledCount; ledIndex++) {
|
||||||
|
|
||||||
ledConfig = &ledConfigs[ledIndex];
|
ledConfig = &ledConfigs[ledIndex];
|
||||||
|
|
||||||
|
|
@ -428,6 +615,7 @@ static void updateLedAnimationState(void)
|
||||||
frameCounter = (frameCounter + 1) % animationFrames;
|
frameCounter = (frameCounter + 1) % animationFrames;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#ifdef USE_LED_ANIMATION
|
||||||
static void applyLedAnimationLayer(void)
|
static void applyLedAnimationLayer(void)
|
||||||
{
|
{
|
||||||
const ledConfig_t *ledConfig;
|
const ledConfig_t *ledConfig;
|
||||||
|
|
@ -437,21 +625,22 @@ static void applyLedAnimationLayer(void)
|
||||||
}
|
}
|
||||||
|
|
||||||
uint8_t ledIndex;
|
uint8_t ledIndex;
|
||||||
for (ledIndex = 0; ledIndex < WS2811_LED_STRIP_LENGTH; ledIndex++) {
|
for (ledIndex = 0; ledIndex < ledCount; ledIndex++) {
|
||||||
|
|
||||||
ledConfig = &ledConfigs[ledIndex];
|
ledConfig = &ledConfigs[ledIndex];
|
||||||
|
|
||||||
if (LED_Y(ledConfig) == previousRow) {
|
if (GET_LED_Y(ledConfig) == previousRow) {
|
||||||
setLedColor(ledIndex, &white);
|
setLedColor(ledIndex, &white);
|
||||||
setLedBrightness(ledIndex, 50);
|
setLedBrightness(ledIndex, 50);
|
||||||
|
|
||||||
} else if (LED_Y(ledConfig) == currentRow) {
|
} else if (GET_LED_Y(ledConfig) == currentRow) {
|
||||||
setLedColor(ledIndex, &white);
|
setLedColor(ledIndex, &white);
|
||||||
} else if (LED_Y(ledConfig) == nextRow) {
|
} else if (GET_LED_Y(ledConfig) == nextRow) {
|
||||||
setLedBrightness(ledIndex, 50);
|
setLedBrightness(ledIndex, 50);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
void updateLedStrip(void)
|
void updateLedStrip(void)
|
||||||
{
|
{
|
||||||
|
|
@ -463,15 +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
|
||||||
|
|
||||||
|
|
@ -479,21 +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
|
||||||
|
|
@ -519,57 +714,23 @@ void updateLedStrip(void)
|
||||||
updateLedAnimationState();
|
updateLedAnimationState();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#ifdef USE_LED_ANIMATION
|
||||||
applyLedAnimationLayer();
|
applyLedAnimationLayer();
|
||||||
|
#endif
|
||||||
ws2811UpdateStrip();
|
ws2811UpdateStrip();
|
||||||
}
|
}
|
||||||
|
|
||||||
void determineLedStripDimensions()
|
void applyDefaultLedStripConfig(ledConfig_t *ledConfigs)
|
||||||
{
|
{
|
||||||
ledGridWidth = 0;
|
memset(ledConfigs, 0, MAX_LED_STRIP_LENGTH * sizeof(ledConfig_t));
|
||||||
ledGridHeight = 0;
|
memcpy(ledConfigs, &defaultLedStripConfig, sizeof(defaultLedStripConfig));
|
||||||
|
reevalulateLedConfig();
|
||||||
uint8_t ledIndex;
|
|
||||||
const ledConfig_t *ledConfig;
|
|
||||||
|
|
||||||
for (ledIndex = 0; ledIndex < WS2811_LED_STRIP_LENGTH; ledIndex++) {
|
|
||||||
ledConfig = &ledConfigs[ledIndex];
|
|
||||||
|
|
||||||
if (LED_X(ledConfig) >= ledGridWidth) {
|
|
||||||
ledGridWidth = LED_X(ledConfig) + 1;
|
|
||||||
}
|
|
||||||
if (LED_Y(ledConfig) >= ledGridHeight) {
|
|
||||||
ledGridHeight = LED_Y(ledConfig) + 1;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
void determineOrientationLimits(void)
|
void ledStripInit(ledConfig_t *ledConfigsToUse, failsafe_t* failsafeToUse)
|
||||||
{
|
{
|
||||||
highestYValueForNorth = (ledGridHeight / 2) - 1;
|
ledConfigs = ledConfigsToUse;
|
||||||
if (highestYValueForNorth > 1) { // support small grid (e.g. gridwidth 5)
|
failsafe = failsafeToUse;
|
||||||
highestYValueForNorth &= ~(1 << 0); // make even
|
reevalulateLedConfig();
|
||||||
}
|
|
||||||
|
|
||||||
lowestYValueForSouth = (ledGridHeight / 2) - 1;
|
|
||||||
if (lowestYValueForSouth & 1) {
|
|
||||||
lowestYValueForSouth = min(lowestYValueForSouth + 1, ledGridHeight - 1);
|
|
||||||
}
|
|
||||||
|
|
||||||
highestXValueForWest = (ledGridWidth / 2) - 1;
|
|
||||||
if (highestXValueForWest > 1) { // support small grid (e.g. gridwidth 5)
|
|
||||||
highestXValueForWest &= ~(1 << 0); // make even
|
|
||||||
}
|
|
||||||
|
|
||||||
lowestXValueForEast = (ledGridWidth / 2) - 1;
|
|
||||||
if (lowestXValueForEast & 1) {
|
|
||||||
lowestXValueForEast = min(lowestXValueForEast + 1, ledGridWidth - 1);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void ledStripInit(void)
|
|
||||||
{
|
|
||||||
determineLedStripDimensions();
|
|
||||||
determineOrientationLimits();
|
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
|
||||||
|
|
@ -17,4 +17,43 @@
|
||||||
|
|
||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
|
#define MAX_LED_STRIP_LENGTH 32
|
||||||
|
|
||||||
|
#define LED_X_BIT_OFFSET 4
|
||||||
|
#define LED_Y_BIT_OFFSET 0
|
||||||
|
|
||||||
|
#define LED_XY_MASK (0x0F)
|
||||||
|
|
||||||
|
#define GET_LED_X(ledConfig) ((ledConfig->xy >> LED_X_BIT_OFFSET) & LED_XY_MASK)
|
||||||
|
#define GET_LED_Y(ledConfig) ((ledConfig->xy >> LED_Y_BIT_OFFSET) & LED_XY_MASK)
|
||||||
|
|
||||||
|
#define CALCULATE_LED_X(x) ((x & LED_XY_MASK) << LED_X_BIT_OFFSET)
|
||||||
|
#define CALCULATE_LED_Y(y) ((y & LED_XY_MASK) << LED_Y_BIT_OFFSET)
|
||||||
|
|
||||||
|
#define CALCULATE_LED_XY(x,y) (CALCULATE_LED_X(x) | CALCULATE_LED_Y(y))
|
||||||
|
|
||||||
|
typedef enum {
|
||||||
|
LED_DISABLED = 0,
|
||||||
|
LED_DIRECTION_NORTH = (1 << 0),
|
||||||
|
LED_DIRECTION_EAST = (1 << 1),
|
||||||
|
LED_DIRECTION_SOUTH = (1 << 2),
|
||||||
|
LED_DIRECTION_WEST = (1 << 3),
|
||||||
|
LED_DIRECTION_UP = (1 << 4),
|
||||||
|
LED_DIRECTION_DOWN = (1 << 5),
|
||||||
|
LED_FUNCTION_INDICATOR = (1 << 6),
|
||||||
|
LED_FUNCTION_WARNING = (1 << 7),
|
||||||
|
LED_FUNCTION_FLIGHT_MODE = (1 << 8),
|
||||||
|
LED_FUNCTION_ARM_STATE = (1 << 9)
|
||||||
|
} ledFlag_e;
|
||||||
|
|
||||||
|
typedef struct ledConfig_s {
|
||||||
|
uint8_t xy; // see LED_X/Y_MASK defines
|
||||||
|
uint16_t flags; // see ledFlag_e
|
||||||
|
} ledConfig_t;
|
||||||
|
|
||||||
|
extern uint8_t ledCount;
|
||||||
|
|
||||||
|
bool parseLedStripConfig(uint8_t ledIndex, const char *config);
|
||||||
void updateLedStrip(void);
|
void updateLedStrip(void);
|
||||||
|
void applyDefaultLedStripConfig(ledConfig_t *ledConfig);
|
||||||
|
void generateLedConfig(uint8_t ledIndex, char *ledConfigBuffer, size_t bufferSize);
|
||||||
|
|
|
||||||
|
|
@ -17,7 +17,7 @@
|
||||||
|
|
||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
enum {
|
typedef enum {
|
||||||
BOXARM = 0,
|
BOXARM = 0,
|
||||||
BOXANGLE,
|
BOXANGLE,
|
||||||
BOXHORIZON,
|
BOXHORIZON,
|
||||||
|
|
|
||||||
|
|
@ -251,6 +251,13 @@ serialPortSearchResult_t *findNextSerialPort(serialPortFunction_e function, cons
|
||||||
)) {
|
)) {
|
||||||
continue;
|
continue;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#if (defined(NAZE) || defined(OLIMEXINO)) && defined(SONAR)
|
||||||
|
if (!feature(FEATURE_RX_PARALLEL_PWM) && (serialPortConstraint->identifier == SERIAL_PORT_SOFTSERIAL2)) {
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
if (functionConstraint->requiredSerialPortFeatures != SPF_NONE) {
|
if (functionConstraint->requiredSerialPortFeatures != SPF_NONE) {
|
||||||
|
|
|
||||||
|
|
@ -47,6 +47,7 @@
|
||||||
#include "io/gimbal.h"
|
#include "io/gimbal.h"
|
||||||
#include "io/rc_controls.h"
|
#include "io/rc_controls.h"
|
||||||
#include "io/serial.h"
|
#include "io/serial.h"
|
||||||
|
#include "io/ledstrip.h"
|
||||||
#include "sensors/battery.h"
|
#include "sensors/battery.h"
|
||||||
#include "sensors/boardalignment.h"
|
#include "sensors/boardalignment.h"
|
||||||
#include "sensors/sensors.h"
|
#include "sensors/sensors.h"
|
||||||
|
|
@ -77,6 +78,7 @@ static void cliGpsPassthrough(char *cmdline);
|
||||||
#endif
|
#endif
|
||||||
static void cliHelp(char *cmdline);
|
static void cliHelp(char *cmdline);
|
||||||
static void cliMap(char *cmdline);
|
static void cliMap(char *cmdline);
|
||||||
|
static void cliLed(char *cmdline);
|
||||||
static void cliMixer(char *cmdline);
|
static void cliMixer(char *cmdline);
|
||||||
static void cliMotor(char *cmdline);
|
static void cliMotor(char *cmdline);
|
||||||
static void cliProfile(char *cmdline);
|
static void cliProfile(char *cmdline);
|
||||||
|
|
@ -143,6 +145,7 @@ const clicmd_t cmdTable[] = {
|
||||||
{ "gpspassthrough", "passthrough gps to serial", cliGpsPassthrough },
|
{ "gpspassthrough", "passthrough gps to serial", cliGpsPassthrough },
|
||||||
#endif
|
#endif
|
||||||
{ "help", "", cliHelp },
|
{ "help", "", cliHelp },
|
||||||
|
{ "led", "configure leds", cliLed },
|
||||||
{ "map", "mapping of rc channel order", cliMap },
|
{ "map", "mapping of rc channel order", cliMap },
|
||||||
{ "mixer", "mixer name or list", cliMixer },
|
{ "mixer", "mixer name or list", cliMixer },
|
||||||
{ "motor", "get/set motor output value", cliMotor },
|
{ "motor", "get/set motor output value", cliMotor },
|
||||||
|
|
@ -495,6 +498,37 @@ static void cliCMix(char *cmdline)
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
static void cliLed(char *cmdline)
|
||||||
|
{
|
||||||
|
#ifndef LED_STRIP
|
||||||
|
UNUSED(cmdline);
|
||||||
|
#else
|
||||||
|
int i;
|
||||||
|
uint8_t len;
|
||||||
|
char *ptr;
|
||||||
|
char ledConfigBuffer[20];
|
||||||
|
|
||||||
|
len = strlen(cmdline);
|
||||||
|
if (len == 0) {
|
||||||
|
for (i = 0; i < MAX_LED_STRIP_LENGTH; i++) {
|
||||||
|
generateLedConfig(i, ledConfigBuffer, sizeof(ledConfigBuffer));
|
||||||
|
printf("led %u %s\r\n", i, ledConfigBuffer);
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
ptr = cmdline;
|
||||||
|
i = atoi(ptr);
|
||||||
|
if (i < MAX_LED_STRIP_LENGTH) {
|
||||||
|
ptr = strchr(cmdline, ' ');
|
||||||
|
if (!parseLedStripConfig(i, ++ptr)) {
|
||||||
|
printf("Parse error\r\n", MAX_LED_STRIP_LENGTH);
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
printf("Invalid led index: must be < %u\r\n", MAX_LED_STRIP_LENGTH);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
static void dumpValues(uint8_t mask)
|
static void dumpValues(uint8_t mask)
|
||||||
{
|
{
|
||||||
uint32_t i;
|
uint32_t i;
|
||||||
|
|
@ -592,6 +626,10 @@ static void cliDump(char *cmdline)
|
||||||
buf[i] = '\0';
|
buf[i] = '\0';
|
||||||
printf("map %s\r\n", buf);
|
printf("map %s\r\n", buf);
|
||||||
|
|
||||||
|
#ifdef LED_STRIP
|
||||||
|
printf("\r\n\r\n# led\r\n");
|
||||||
|
cliLed("");
|
||||||
|
#endif
|
||||||
printSectionBreak();
|
printSectionBreak();
|
||||||
dumpValues(MASTER_VALUE);
|
dumpValues(MASTER_VALUE);
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -47,6 +47,7 @@
|
||||||
#include "io/gps.h"
|
#include "io/gps.h"
|
||||||
#include "io/gimbal.h"
|
#include "io/gimbal.h"
|
||||||
#include "io/serial.h"
|
#include "io/serial.h"
|
||||||
|
#include "io/ledstrip.h"
|
||||||
#include "telemetry/telemetry.h"
|
#include "telemetry/telemetry.h"
|
||||||
#include "sensors/boardalignment.h"
|
#include "sensors/boardalignment.h"
|
||||||
#include "sensors/sensors.h"
|
#include "sensors/sensors.h"
|
||||||
|
|
|
||||||
|
|
@ -50,6 +50,7 @@
|
||||||
#include "io/escservo.h"
|
#include "io/escservo.h"
|
||||||
#include "io/rc_controls.h"
|
#include "io/rc_controls.h"
|
||||||
#include "io/gimbal.h"
|
#include "io/gimbal.h"
|
||||||
|
#include "io/ledstrip.h"
|
||||||
#include "sensors/sensors.h"
|
#include "sensors/sensors.h"
|
||||||
#include "sensors/sonar.h"
|
#include "sensors/sonar.h"
|
||||||
#include "sensors/barometer.h"
|
#include "sensors/barometer.h"
|
||||||
|
|
@ -66,8 +67,6 @@
|
||||||
|
|
||||||
#include "build_config.h"
|
#include "build_config.h"
|
||||||
|
|
||||||
extern rcReadRawDataPtr rcReadRawFunc;
|
|
||||||
|
|
||||||
extern uint32_t previousTime;
|
extern uint32_t previousTime;
|
||||||
|
|
||||||
#ifdef SOFTSERIAL_LOOPBACK
|
#ifdef SOFTSERIAL_LOOPBACK
|
||||||
|
|
@ -90,8 +89,8 @@ 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(void);
|
|
||||||
void displayInit(void);
|
void displayInit(void);
|
||||||
|
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.
|
||||||
|
|
@ -243,7 +242,7 @@ void init(void)
|
||||||
#ifdef LED_STRIP
|
#ifdef LED_STRIP
|
||||||
if (feature(FEATURE_LED_STRIP)) {
|
if (feature(FEATURE_LED_STRIP)) {
|
||||||
ws2811LedStripInit();
|
ws2811LedStripInit();
|
||||||
ledStripInit();
|
ledStripInit(masterConfig.ledConfigs, failsafe);
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -159,8 +159,6 @@
|
||||||
#undef USE_ACC_MMA8452
|
#undef USE_ACC_MMA8452
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
extern uint16_t batteryWarningVoltage;
|
|
||||||
extern uint8_t batteryCellCount;
|
|
||||||
extern float magneticDeclination;
|
extern float magneticDeclination;
|
||||||
|
|
||||||
extern gyro_t gyro;
|
extern gyro_t gyro;
|
||||||
|
|
|
||||||
|
|
@ -17,6 +17,8 @@
|
||||||
|
|
||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
|
#define FLASH_PAGE_COUNT 64
|
||||||
|
#define FLASH_PAGE_SIZE ((uint16_t)0x400)
|
||||||
|
|
||||||
#define LED0_GPIO GPIOC
|
#define LED0_GPIO GPIOC
|
||||||
#define LED0_PIN Pin_13 // PC13 (LED)
|
#define LED0_PIN Pin_13 // PC13 (LED)
|
||||||
|
|
|
||||||
|
|
@ -66,8 +66,6 @@
|
||||||
#define GPS
|
#define GPS
|
||||||
|
|
||||||
#define LED_STRIP
|
#define LED_STRIP
|
||||||
//#define USE_ALTERNATE_LED_LAYOUT
|
|
||||||
|
|
||||||
#define TELEMETRY
|
#define TELEMETRY
|
||||||
#define SOFT_SERIAL
|
#define SOFT_SERIAL
|
||||||
#define SERIAL_RX
|
#define SERIAL_RX
|
||||||
|
|
|
||||||
|
|
@ -33,7 +33,13 @@ CXXFLAGS += -g -Wall -Wextra -pthread -ggdb -O0
|
||||||
|
|
||||||
# All tests produced by this Makefile. Remember to add new tests you
|
# All tests produced by this Makefile. Remember to add new tests you
|
||||||
# created to the list.
|
# created to the list.
|
||||||
TESTS = battery_unittest flight_imu_unittest gps_conversion_unittest telemetry_hott_unittest rc_controls_unittest
|
TESTS = \
|
||||||
|
battery_unittest \
|
||||||
|
flight_imu_unittest \
|
||||||
|
gps_conversion_unittest \
|
||||||
|
telemetry_hott_unittest \
|
||||||
|
rc_controls_unittest \
|
||||||
|
ledstrip_unittest
|
||||||
|
|
||||||
# All Google Test headers. Usually you shouldn't change this
|
# All Google Test headers. Usually you shouldn't change this
|
||||||
# definition.
|
# definition.
|
||||||
|
|
@ -153,3 +159,16 @@ rc_controls_unittest :$(OBJECT_DIR)/io/rc_controls.o $(OBJECT_DIR)/rc_controls_u
|
||||||
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
|
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
|
||||||
|
|
||||||
|
|
||||||
|
$(OBJECT_DIR)/io/ledstrip.o : $(USER_DIR)/io/ledstrip.c $(USER_DIR)/io/ledstrip.h $(GTEST_HEADERS)
|
||||||
|
@mkdir -p $(dir $@)
|
||||||
|
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/ledstrip.c -o $@
|
||||||
|
|
||||||
|
$(OBJECT_DIR)/ledstrip_unittest.o : $(TEST_DIR)/ledstrip_unittest.cc \
|
||||||
|
$(USER_DIR)/io/ledstrip.h $(GTEST_HEADERS)
|
||||||
|
@mkdir -p $(dir $@)
|
||||||
|
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ledstrip_unittest.cc -o $@
|
||||||
|
|
||||||
|
ledstrip_unittest :$(OBJECT_DIR)/io/ledstrip.o $(OBJECT_DIR)/ledstrip_unittest.o $(OBJECT_DIR)/gtest_main.a
|
||||||
|
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
|
||||||
|
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,323 @@
|
||||||
|
/*
|
||||||
|
* 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/>.
|
||||||
|
*/
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <stdlib.h>
|
||||||
|
|
||||||
|
#include <limits.h>
|
||||||
|
|
||||||
|
#include "common/axis.h"
|
||||||
|
#include "flight/flight.h"
|
||||||
|
|
||||||
|
#include "sensors/battery.h"
|
||||||
|
#include "config/runtime_config.h"
|
||||||
|
#include "config/config.h"
|
||||||
|
|
||||||
|
#include "drivers/light_ws2811strip.h"
|
||||||
|
#include "io/ledstrip.h"
|
||||||
|
|
||||||
|
#include "unittest_macros.h"
|
||||||
|
#include "gtest/gtest.h"
|
||||||
|
|
||||||
|
extern ledConfig_t *ledConfigs;
|
||||||
|
extern uint8_t highestYValueForNorth;
|
||||||
|
extern uint8_t lowestYValueForSouth;
|
||||||
|
extern uint8_t highestXValueForWest;
|
||||||
|
extern uint8_t lowestXValueForEast;
|
||||||
|
extern uint8_t ledGridWidth;
|
||||||
|
extern uint8_t ledGridHeight;
|
||||||
|
|
||||||
|
void determineLedStripDimensions(void);
|
||||||
|
void determineOrientationLimits(void);
|
||||||
|
|
||||||
|
ledConfig_t systemLedConfigs[MAX_LED_STRIP_LENGTH];
|
||||||
|
|
||||||
|
TEST(LedStripTest, parseLedStripConfig)
|
||||||
|
{
|
||||||
|
/*
|
||||||
|
* 0..5 - rear right cluster, 0..2 rear 3..5 right
|
||||||
|
* 6..11 - front right cluster, 6..8 rear, 9..11 front
|
||||||
|
* 12..15 - front center cluster
|
||||||
|
* 16..21 - front left cluster, 16..18 front, 19..21 rear
|
||||||
|
* 22..27 - rear left cluster, 22..24 left, 25..27 rear
|
||||||
|
*/
|
||||||
|
|
||||||
|
// given
|
||||||
|
static const ledConfig_t expectedLedStripConfig[WS2811_LED_STRIP_LENGTH] = {
|
||||||
|
{ 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 },
|
||||||
|
{ CALCULATE_LED_XY( 9, 9), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },
|
||||||
|
|
||||||
|
{ CALCULATE_LED_XY(10, 5), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE },
|
||||||
|
{ CALCULATE_LED_XY(11, 4), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE },
|
||||||
|
{ CALCULATE_LED_XY(12, 3), LED_DIRECTION_SOUTH | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||||
|
{ CALCULATE_LED_XY(12, 2), LED_DIRECTION_NORTH | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||||
|
{ 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_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 },
|
||||||
|
{ CALCULATE_LED_XY( 0, 2), LED_DIRECTION_NORTH | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||||
|
{ CALCULATE_LED_XY( 0, 3), LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||||
|
{ CALCULATE_LED_XY( 1, 4), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
|
||||||
|
{ CALCULATE_LED_XY( 2, 5), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
|
||||||
|
|
||||||
|
{ CALCULATE_LED_XY( 2, 9), 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_SOUTH | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||||
|
{ 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 },
|
||||||
|
{ 0, 0 },
|
||||||
|
{ 0, 0 },
|
||||||
|
};
|
||||||
|
|
||||||
|
// and
|
||||||
|
const char *ledStripConfigCommands[] = {
|
||||||
|
// Spider quad
|
||||||
|
|
||||||
|
// right rear cluster
|
||||||
|
"9,9:S:FW",
|
||||||
|
"10,10:S:FW",
|
||||||
|
"11,11:S:IA",
|
||||||
|
"11,11:E:IA",
|
||||||
|
"10,10:E:F",
|
||||||
|
"9,9:E:F",
|
||||||
|
|
||||||
|
// right front cluster
|
||||||
|
"10,5:S:F",
|
||||||
|
"11,4:S:F",
|
||||||
|
"12,3:S:IA",
|
||||||
|
"12,2:N:IA",
|
||||||
|
"11,1:N:F",
|
||||||
|
"10,0:N:F",
|
||||||
|
|
||||||
|
// center front cluster
|
||||||
|
"7,0:N:FW",
|
||||||
|
"6,0:N:FW",
|
||||||
|
"5,0:N:FW",
|
||||||
|
"4,0:N:FW",
|
||||||
|
|
||||||
|
// left front cluster
|
||||||
|
"2,0:N:F",
|
||||||
|
"1,1:N:F",
|
||||||
|
"0,2:N:IA",
|
||||||
|
"0,3:W:IA",
|
||||||
|
"1,4:W:F",
|
||||||
|
"2,5:W:F",
|
||||||
|
|
||||||
|
// left rear cluster
|
||||||
|
"2,9:W:F",
|
||||||
|
"1,10:W:F",
|
||||||
|
"0,11:W:IA",
|
||||||
|
"0,11:S:IA",
|
||||||
|
"1,10:S:FW",
|
||||||
|
"2,9:S:FW"
|
||||||
|
};
|
||||||
|
// and
|
||||||
|
memset(&systemLedConfigs, 0, sizeof(systemLedConfigs));
|
||||||
|
ledConfigs = systemLedConfigs;
|
||||||
|
|
||||||
|
// and
|
||||||
|
bool ok = false;
|
||||||
|
|
||||||
|
// when
|
||||||
|
for (uint8_t index = 0; index < (sizeof(ledStripConfigCommands) / sizeof(ledStripConfigCommands[0])); index++) {
|
||||||
|
ok |= parseLedStripConfig(index, ledStripConfigCommands[index]);
|
||||||
|
}
|
||||||
|
|
||||||
|
// then
|
||||||
|
EXPECT_EQ(true, ok);
|
||||||
|
EXPECT_EQ(28, ledCount);
|
||||||
|
|
||||||
|
|
||||||
|
// and
|
||||||
|
for (uint8_t index = 0; index < WS2811_LED_STRIP_LENGTH; index++) {
|
||||||
|
printf("iteration: %d\n", index);
|
||||||
|
|
||||||
|
EXPECT_EQ(expectedLedStripConfig[index].xy, ledConfigs[index].xy);
|
||||||
|
EXPECT_EQ(expectedLedStripConfig[index].flags, ledConfigs[index].flags);
|
||||||
|
}
|
||||||
|
|
||||||
|
// then
|
||||||
|
EXPECT_EQ(13, ledGridWidth);
|
||||||
|
EXPECT_EQ(12, ledGridHeight);
|
||||||
|
|
||||||
|
// then
|
||||||
|
EXPECT_EQ(5, highestXValueForWest);
|
||||||
|
EXPECT_EQ(7, lowestXValueForEast);
|
||||||
|
EXPECT_EQ(5, highestYValueForNorth);
|
||||||
|
EXPECT_EQ(6, lowestYValueForSouth);
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(LedStripTest, smallestGridWithCenter)
|
||||||
|
{
|
||||||
|
// given
|
||||||
|
memset(&systemLedConfigs, 0, sizeof(systemLedConfigs));
|
||||||
|
ledConfigs = systemLedConfigs;
|
||||||
|
|
||||||
|
// 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_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_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_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_WARNING }
|
||||||
|
};
|
||||||
|
memcpy(&systemLedConfigs, &testLedConfigs, sizeof(testLedConfigs));
|
||||||
|
|
||||||
|
// when
|
||||||
|
determineLedStripDimensions();
|
||||||
|
|
||||||
|
// then
|
||||||
|
EXPECT_EQ(3, ledGridWidth);
|
||||||
|
EXPECT_EQ(3, ledGridHeight);
|
||||||
|
|
||||||
|
// when
|
||||||
|
determineOrientationLimits();
|
||||||
|
|
||||||
|
// then
|
||||||
|
EXPECT_EQ(0, highestXValueForWest);
|
||||||
|
EXPECT_EQ(2, lowestXValueForEast);
|
||||||
|
EXPECT_EQ(0, highestYValueForNorth);
|
||||||
|
EXPECT_EQ(2, lowestYValueForSouth);
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST(LedStripTest, smallestGrid)
|
||||||
|
{
|
||||||
|
// given
|
||||||
|
memset(&systemLedConfigs, 0, sizeof(systemLedConfigs));
|
||||||
|
ledConfigs = systemLedConfigs;
|
||||||
|
|
||||||
|
// and
|
||||||
|
static const ledConfig_t testLedConfigs[] = {
|
||||||
|
{ CALCULATE_LED_XY( 1, 1), LED_DIRECTION_SOUTH | LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_FLIGHT_MODE },
|
||||||
|
{ CALCULATE_LED_XY( 1, 0), LED_DIRECTION_NORTH | LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_FLIGHT_MODE },
|
||||||
|
{ CALCULATE_LED_XY( 0, 0), LED_DIRECTION_NORTH | LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_FLIGHT_MODE },
|
||||||
|
{ CALCULATE_LED_XY( 0, 1), LED_DIRECTION_SOUTH | LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_FLIGHT_MODE },
|
||||||
|
};
|
||||||
|
memcpy(&systemLedConfigs, &testLedConfigs, sizeof(testLedConfigs));
|
||||||
|
|
||||||
|
// when
|
||||||
|
determineLedStripDimensions();
|
||||||
|
|
||||||
|
// then
|
||||||
|
EXPECT_EQ(2, ledGridWidth);
|
||||||
|
EXPECT_EQ(2, ledGridHeight);
|
||||||
|
|
||||||
|
// when
|
||||||
|
determineOrientationLimits();
|
||||||
|
|
||||||
|
// then
|
||||||
|
EXPECT_EQ(0, highestXValueForWest);
|
||||||
|
EXPECT_EQ(1, lowestXValueForEast);
|
||||||
|
EXPECT_EQ(0, highestYValueForNorth);
|
||||||
|
EXPECT_EQ(1, lowestYValueForSouth);
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
{ CALCULATE_LED_XY( 1, 14), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_INDICATOR | LED_FUNCTION_FLIGHT_MODE },
|
||||||
|
|
||||||
|
{ CALCULATE_LED_XY( 0, 13), LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||||
|
{ CALCULATE_LED_XY( 0, 12), LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||||
|
|
||||||
|
{ 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_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 },
|
||||||
|
|
||||||
|
{ CALCULATE_LED_XY( 0, 2), LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||||
|
{ CALCULATE_LED_XY( 0, 1), LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||||
|
|
||||||
|
{ CALCULATE_LED_XY( 1, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||||
|
{ CALCULATE_LED_XY( 2, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_ARM_STATE },
|
||||||
|
{ CALCULATE_LED_XY( 3, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||||
|
|
||||||
|
{ CALCULATE_LED_XY( 4, 1), LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||||
|
{ CALCULATE_LED_XY( 4, 2), LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||||
|
|
||||||
|
{ 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_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 },
|
||||||
|
|
||||||
|
{ CALCULATE_LED_XY( 4, 12), LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||||
|
{ CALCULATE_LED_XY( 4, 13), LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||||
|
|
||||||
|
{ CALCULATE_LED_XY( 3, 14), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
|
||||||
|
|
||||||
|
*/
|
||||||
|
|
||||||
|
uint8_t armingFlags = 0;
|
||||||
|
uint16_t flightModeFlags = 0;
|
||||||
|
int16_t rcCommand[4];
|
||||||
|
|
||||||
|
void ws2811UpdateStrip(void) {}
|
||||||
|
void setLedColor(uint16_t index, const rgbColor24bpp_t *color) {
|
||||||
|
UNUSED(index);
|
||||||
|
UNUSED(color);
|
||||||
|
}
|
||||||
|
void setLedBrightness(uint16_t index, const uint8_t scalePercent) {
|
||||||
|
UNUSED(index);
|
||||||
|
UNUSED(scalePercent);
|
||||||
|
}
|
||||||
|
void setStripColor(const rgbColor24bpp_t *color) {
|
||||||
|
UNUSED(color);
|
||||||
|
}
|
||||||
|
void setStripColors(const rgbColor24bpp_t *colors) {
|
||||||
|
UNUSED(colors);
|
||||||
|
}
|
||||||
|
|
||||||
|
bool isWS2811LedStripReady(void) { return false; }
|
||||||
|
|
||||||
|
void delay(uint32_t ms)
|
||||||
|
{
|
||||||
|
UNUSED(ms);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint32_t micros(void) { return 0; }
|
||||||
|
bool shouldSoundBatteryAlarm(void) { return false; }
|
||||||
|
bool feature(uint32_t mask) {
|
||||||
|
UNUSED(mask);
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
void tfp_sprintf(char *, char*, ...) { };
|
||||||
|
|
@ -20,6 +20,7 @@
|
||||||
#define BARO
|
#define BARO
|
||||||
#define GPS
|
#define GPS
|
||||||
#define TELEMETRY
|
#define TELEMETRY
|
||||||
|
#define LED_STRIP
|
||||||
|
|
||||||
#define SERIAL_PORT_COUNT 4
|
#define SERIAL_PORT_COUNT 4
|
||||||
|
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue