326 lines
10 KiB
Markdown
326 lines
10 KiB
Markdown
# Led Strip
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Cleanflight supports the use of addressable LED strips. Addressable LED strips allow each LED in the strip to
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be programmed with a unique and independant color. This is far more advanced than the normal RGB strips which
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require that all the LEDs in the strip show the same color.
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Addressable LED strips can be used to show information from the flight controller system, the current implementation
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supports the following:
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* Up to 32 LEDs.
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* Indicators showing pitch/roll stick positions.
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* Heading/Orientation lights.
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* Flight mode specific color schemes.
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* Low battery warning.
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The function and orientation configuration is fixed for now but later it should be able to be set via the UI or CLI..
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In the future, if someone codes it, they could be used to show GPS navigation status, thrust levels, RSSI, etc.
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Lots of scope for ideas and improvements.
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Likewise, support for more than 32 LEDs is possible, it just requires additional development.
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## Supported hardware
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Only strips of 32 WS2812 LEDs are supported currently. If the strip is longer than 32 leds it does not matter,
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but only the first 32 are used.
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WS2812 LEDs require an 800khz signal and precise timings and thus requires the use of a dedicated hardware timer.
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Note: The initial code may work with WS2801 + External LEDs since the protocol is the same, WS2811/WS2812B should also work but
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may require very simple timing adjustments to be made in the source.
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Not all WS2812 ICs use the same timings, some batches use different timings.
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It could be possible to be able to specify the timings required via CLI if users request it.
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### Tested Hardware
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* [Adafruit NeoPixel Jewel 7](https://www.adafruit.com/products/2226) (preliminary testing)
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* Measured current consumption in all white mode ~ 350 mA.
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* Fits well under motors on mini 250 quads.
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* [Adafruit NeoPixel Stick](https://www.adafruit.com/products/1426) (works well)
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* Measured current consumption in all white mode ~ 350 mA.
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## Connections
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WS2812 LED strips generally require a single data line, 5V and GND.
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WS2812 LEDs on full brightness can consume quite a bit of current. It is recommended to verify the current draw and ensure your
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supply can cope with the load. On a multirotor that uses multiple BEC ESC's you can try use a different BEC to the one the FC
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uses. e.g. ESC1/BEC1 -> FC, ESC2/BEC2 -> LED strip. It's also possible to power one half of the strip from one BEC and the other half
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from another BEC. Just ensure that the GROUND is the same for all BEC outputs and LEDs.
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| Target | Pin | Led Strip | Signal |
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| --------------------- | --- | --------- | -------|
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| Naze/Olimexino | RC5 | Data In | PA6 |
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| CC3D | ??? | Data In | PB4 |
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| ChebuzzF3/F3Discovery | PB8 | Data In | PB8 |
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Since RC5 is also used for SoftSerial on the Naze/Olimexino it means that you cannot use softserial and led strips at the same time.
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Additionally, since RC5 is also used for Parallel PWM RC input on both the Naze, Chebuzz and STM32F3Discovery targets, led strips
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can not be used at the same time at Parallel PWM.
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Ensure that your 5V supply is not too high, if the voltage at the input to the LED strip is to high then the LEDs may not light; The
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problem occurs because of the difference in voltage between the data signal and the power signal.
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If you are using an BEC from an ESC to for the 5v supply check the output is as close to 5v as possible.
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It was observed that a 5.4v supply from a BEC was fine for powering the FC and other devices but the LED strip would not light until
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the voltage was reduced, this was acheived by placing an IN4007 diode between the BEC 5v output and the 5V input pin of the LED strip.
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## Configuration
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Enable the `LED_STRIP` feature via the cli:
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```
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feature LED_STRIP
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```
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If you enable LED_STRIP feature and the feature is turned off again after a reboot then check your config does not conflict with other features, as above.
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Configure the LEDs using the `led` command.
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The `led` command takes either zero or two arguments - an zero-based led number and a pair of coordinates, direction flags and mode flags.
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If used with zero arguments it prints out the led configuration which can be copied for future reference.
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Each led is configured using the following template: `x,y:ddd:mmm`
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`x` and `y` are grid coordinates of a 0 based 16x16 grid, north west is 0,0, south east is 15,15
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`ddd` specifies the directions, since an led can face in any direction it can have multiple directions. Directions are:
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`N` - North
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`E` - East
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`S` - South
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`W` - West
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`U` - Up
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`D` - Down
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For instance, an LED that faces South-east at a 45 degree downwards angle could be configured as `SED`.
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Note: It is perfectly possible to configure an LED to have all directions `NESWUD` but probably doesn't make sense.
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`mmm` specifies the modes that should be applied an LED. Modes are:
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* `W` - `W`warnings.
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* `F` - `F`light mode & Orientation
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* `I` - `I`ndicator.
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* `A` - `A`rmed state.
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* `T` - `T`hrust state.
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Example:
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```
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led 0 0,15:SD:IAW
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led 1 15,0:ND:IAW
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led 2 0,0:ND:IAW
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led 3 0,15:SD:IAW
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```
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to erase an led, and to mark the end of the chain, use `0,0::` as the second argument, like this:
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```
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led 4 0,0::
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```
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### Modes
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#### Warning
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This mode simply uses the leds to flash when warnings occur.
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| Warning | Led Pattern | Notes |
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|---------|-------------|-------|
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| Arm-lock enabled | flash between green and off | occurs calibration or when unarmed and the aircraft is tilted too much |
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| Low Battery | flash red and off | battery monitoring must be enabled. May trigger temporarily under high-throttle due to voltage drop |
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| Failsafe | flash between light blue and yellow | Failsafe must be enabled |
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Flash patterns appear in order, so that it's clear which warnings are enabled.
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#### Flight Mode & Orientation
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This mode shows the flight mode and orientation.
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When flight modes are active then the leds are updated to show different colors depending on the mode, placement on the grid and direction.
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Leds are set in a specific order:
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* Leds that marked as facing up or down.
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* Leds that marked as facing west or east AND are on the west or east side of the grid.
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* Leds that marked as facing north or south AND are on the north or south side of the grid.
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That is, south facing leds have priority.
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#### Indicator
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This mode flashes LEDs that correspond to roll and pitch stick positions. i.e. they indicate the direction the craft is going to turn.
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#### Armed state
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This mode toggles LEDs between green and blue when disarmed and armed, respectively.
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Note: Armed State cannot be used with Flight Mode.
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#### Thrust state
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This mode fades the LED current LED color to the previous/next color in the HSB color space depending on throttle stick position. When the
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throttle is in the middle position the color is unaffected, thus it can be mixed with orientation colors to indicate orientation and throttle at
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the same time.
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## Positioning
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Cut the strip into sections as per diagrams below. When the strips are cut ensure you reconnect each output to each input with cable where the break is made.
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e.g. connect 5V out to 5V in, GND to GND and Data Out to Data In.
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Orientation is when viewed with the front of the aircraft facing away from you and viewed from above.
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### Example 12 LED config
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The default configuration is as follows
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```
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led 0 2,2:ES:IA
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led 1 2,1:E:WF
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led 2 2,0:NE:IA
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led 3 1,0:N:F
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led 4 0,0:NW:IA
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led 5 0,1:W:WF
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led 6 0,2:SW:IA
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led 7 1,2:S:WF
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led 8 1,1:U:WF
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led 9 1,1:U:WF
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led 10 1,1:D:WF
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led 11 1,1:D:WF
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```
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Which translates into the following positions:
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```
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5 3
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\ /
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\ 4 /
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\ FRONT /
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6 | 9-12 | 2
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/ BACK \
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/ 8 \
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/ \
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7 1
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```
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LEDs 1,3,5 and 7 should be placed underneath the quad, facing downwards.
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LEDs 2, 4, 6 and 8 should be positioned so the face east/north/west/south, respectively.
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LEDs 9-10 should be placed facing down, in the middle
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LEDs 11-12 should be placed facing up, in the middle
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This is the default so that if you don't want to place LEDs top and bottom in the middle just connect the first 8 leds.
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### Example 16 LED config
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```
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15,15:SD:IA
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8,8:E:FW
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8,7:E:FW
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15,0:ND:IA
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7,7:N:FW
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8,7:N:FW
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0,0:ND:IA
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7,7:W:FW
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7,8:W:FW
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0,15:SD:IA
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7,8:S:FW
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8,8:S:FW
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7,7:D:FW
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8,7:D:FW
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7,7:U:FW
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8,7:U:FW
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```
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Which translates into the following positions:
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```
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7 4
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\ /
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\ 6-5 /
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8 \ FRONT / 3
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| 13-16 |
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9 / BACK \ 2
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/ 11-12 \
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/ \
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10 1
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```
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LEDs 1,4,7 and 10 should be placed underneath the quad, facing downwards.
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LEDs 2-3, 6-5, 8-9 and 11-12 should be positioned so the face east/north/west/south, respectively.
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LEDs 13-14 should be placed facing down, in the middle
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LEDs 15-16 should be placed facing up, in the middle
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### Exmple 28 LED config
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```
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#right rear cluster
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led 0 9,9:S:FWT
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led 1 10,10:S:FWT
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led 2 11,11:S:IA
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led 3 11,11:E:IA
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led 4 10,10:E:AT
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led 5 9,9:E:AT
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# right front cluster
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led 6 10,5:S:F
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led 7 11,4:S:F
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led 8 12,3:S:IA
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led 9 12,2:N:IA
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led 10 11,1:N:F
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led 11 10,0:N:F
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# center front cluster
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led 12 7,0:N:FW
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led 13 6,0:N:FW
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led 14 5,0:N:FW
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led 15 4,0:N:FW
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# left front cluster
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led 16 2,0:N:F
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led 17 1,1:N:F
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led 18 0,2:N:IA
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led 19 0,3:W:IA
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led 20 1,4:S:F
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led 21 2,5:S:F
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# left rear cluster
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led 22 2,9:W:AT
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led 23 1,10:W:AT
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led 24 0,11:W:IA
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led 25 0,11:S:IA
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led 26 1,10:S:FWT
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led 27 2,9:S:FWT
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```
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```
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17-19 10-12
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20-22 \ / 7-9
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\ 13-16 /
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\ FRONT /
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/ BACK \
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/ \
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23-25 / \ 4-6
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26-28 1-3
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```
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All LEDs should face outwards from the chassis in this configuration.
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Note:
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This configuration is specifically designed for the [Alien Spider AQ50D PRO 250mm frame](http://www.goodluckbuy.com/alien-spider-aq50d-pro-250mm-mini-quadcopter-carbon-fiber-micro-multicopter-frame.html).
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## Troubleshooting
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On initial power up the LEDs on the strip will be set to WHITE. This means you can attach a current meter to verify
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the current draw if your measurement equipment is fast enough. This also means that you can make sure that each R,G and B LED
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in each LED module on the strip is also functioning.
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After a short delay the LEDs will show the unarmed color sequence and or low-battery warning sequence.
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If the LEDs flash intermittently or do not show the correct colors verify all connections and check the specifications of the
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LEDs you have against the supported timings (for now, you'll have to look in the source).
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Also check that the feature `LED_STRIP` was correctly enabled and that it does not conflict with other features, as above.
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