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BlnkM: Timing changed and amber color for manual mode added #182

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merged 3 commits into from
Jan 24, 2013
Merged

BlnkM: Timing changed and amber color for manual mode added #182

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deb5fe5
timing changed and amber for manual added
NosDE Jan 23, 2013
2a95fa6
timing changed and amber for manual added
NosDE Jan 23, 2013
efd4250
timing changed and amber for manual added
NosDE Jan 23, 2013
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60 changes: 43 additions & 17 deletions apps/drivers/blinkm/blinkm.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@
* System armed:
* One message is made of 4 Blinks and a pause in the same length as the 4 blinks.
*
* X-X-X-X-_-_-_-_-
* X-X-X-X-_-_-_-_-_-_-
* -------------------------
* G G G M
* P P P O
Expand All @@ -67,26 +67,26 @@
* (X = on, _=off)
*
* The first 3 blinks indicates the status of the GPS-Signal (red):
* 0-4 satellites = X-X-X-X-_-_-_-_-
* 5 satellites = X-X-_-X-_-_-_-_-
* 6 satellites = X-_-_-X-_-_-_-_-
* >=7 satellites = _-_-_-X-_-_-_-_-
* 0-4 satellites = X-X-X-X-_-_-_-_-_-_-
* 5 satellites = X-X-_-X-_-_-_-_-_-_-
* 6 satellites = X-_-_-X-_-_-_-_-_-_-
* >=7 satellites = _-_-_-X-_-_-_-_-_-_-
* If no GPS is found the first 3 blinks are white
*
* The fourth Blink indicates the Flightmode:
* MANUAL : off
* MANUAL : amber
* STABILIZED : yellow
* HOLD : blue
* AUTO : green
*
* Battery Warning (low Battery Level):
* Continuously blinking in yellow X-X-X-X-X-X-X-X
* Continuously blinking in yellow X-X-X-X-X-X-X-X-X-X
*
* Battery Alert (critical Battery Level)
* Continuously blinking in red X-X-X-X-X-X-X-X
* Continuously blinking in red X-X-X-X-X-X-X-X-X-X
*
* General Error (no uOrb Data)
* Continuously blinking in white X-X-X-X-X-X-X-X
* Continuously blinking in white X-X-X-X-X-X-X-X-X-X
*
*/

Expand Down Expand Up @@ -118,8 +118,8 @@
#include <uORB/topics/vehicle_gps_position.h>

static const float MAX_CELL_VOLTAGE = 4.3f;
static const int LED_ONTIME = 100;
static const int LED_OFFTIME = 100;
static const int LED_ONTIME = 120;
static const int LED_OFFTIME = 120;
static const int LED_BLINK = 1;
static const int LED_NOBLINK = 0;

Expand Down Expand Up @@ -167,7 +167,8 @@ class BlinkM : public device::I2C
LED_PURPLE,
LED_GREEN,
LED_BLUE,
LED_WHITE
LED_WHITE,
LED_AMBER
};

work_s _work;
Expand All @@ -178,6 +179,8 @@ class BlinkM : public device::I2C
int led_color_4;
int led_color_5;
int led_color_6;
int led_color_7;
int led_color_8;
int led_blink;

bool systemstate_run;
Expand Down Expand Up @@ -250,6 +253,8 @@ BlinkM::BlinkM(int bus) :
led_color_4(LED_OFF),
led_color_5(LED_OFF),
led_color_6(LED_OFF),
led_color_7(LED_OFF),
led_color_8(LED_OFF),
led_blink(LED_NOBLINK),
systemstate_run(false)
{
Expand Down Expand Up @@ -374,7 +379,7 @@ BlinkM::led()
static int num_of_cells = 0;
static int detected_cells_runcount = 0;

static int t_led_color[6] = { 0, 0, 0, 0, 0, 0};
static int t_led_color[8] = { 0, 0, 0, 0, 0, 0, 0, 0};
static int t_led_blink = 0;
static int led_thread_runcount=0;
static int led_interval = 1000;
Expand Down Expand Up @@ -416,6 +421,8 @@ BlinkM::led()
t_led_color[4] = LED_PURPLE;
}
t_led_color[5] = LED_OFF;
t_led_color[6] = LED_OFF;
t_led_color[7] = LED_OFF;
t_led_blink = LED_BLINK;
} else {
t_led_color[0] = led_color_1;
Expand All @@ -424,6 +431,8 @@ BlinkM::led()
t_led_color[3] = led_color_4;
t_led_color[4] = led_color_5;
t_led_color[5] = led_color_6;
t_led_color[6] = led_color_7;
t_led_color[7] = led_color_8;
t_led_blink = led_blink;
}
led_thread_ready = false;
Expand All @@ -434,16 +443,19 @@ BlinkM::led()
setLEDColor(LED_OFF);
led_interval = LED_OFFTIME;
} else {
setLEDColor(t_led_color[(led_thread_runcount / 2) % 6]);
setLEDColor(t_led_color[(led_thread_runcount / 2) % 8]);
//led_interval = (led_thread_runcount & 1) : LED_ONTIME;
led_interval = LED_ONTIME;
}

if (led_thread_runcount == 11) {
if (led_thread_runcount == 15) {
/* obtained data for the first file descriptor */
struct vehicle_status_s vehicle_status_raw;
struct vehicle_gps_position_s vehicle_gps_position_raw;

memset(&vehicle_status_raw, 0, sizeof(vehicle_status_raw));
memset(&vehicle_gps_position_raw, 0, sizeof(vehicle_gps_position_raw));

bool new_data_vehicle_status;
bool new_data_vehicle_gps_position;

Expand Down Expand Up @@ -473,7 +485,8 @@ BlinkM::led()

/* get number of used satellites in navigation */
num_of_used_sats = 0;
for(int satloop=0; satloop<20; satloop++) {
//for(int satloop=0; satloop<20; satloop++) {
for(int satloop=0; satloop<sizeof(vehicle_gps_position_raw.satellite_used); satloop++) {
if(vehicle_gps_position_raw.satellite_used[satloop] == 1) {
num_of_used_sats++;
}
Expand All @@ -497,6 +510,8 @@ BlinkM::led()
led_color_4 = LED_YELLOW;
led_color_5 = LED_YELLOW;
led_color_6 = LED_YELLOW;
led_color_7 = LED_YELLOW;
led_color_8 = LED_YELLOW;
led_blink = LED_BLINK;

} else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_ALERT) {
Expand All @@ -507,6 +522,8 @@ BlinkM::led()
led_color_4 = LED_RED;
led_color_5 = LED_RED;
led_color_6 = LED_RED;
led_color_7 = LED_RED;
led_color_8 = LED_RED;
led_blink = LED_BLINK;

} else {
Expand All @@ -520,6 +537,8 @@ BlinkM::led()
led_color_4 = LED_RED;
led_color_5 = LED_RED;
led_color_6 = LED_RED;
led_color_7 = LED_RED;
led_color_8 = LED_RED;
led_blink = LED_NOBLINK;

} else {
Expand All @@ -530,12 +549,14 @@ BlinkM::led()
led_color_4 = LED_OFF;
led_color_5 = LED_OFF;
led_color_6 = LED_OFF;
led_color_7 = LED_OFF;
led_color_8 = LED_OFF;
led_blink = LED_BLINK;

/* handle 4th led - flightmode indicator */
switch((int)vehicle_status_raw.flight_mode) {
case VEHICLE_FLIGHT_MODE_MANUAL:
led_color_4 = LED_OFF;
led_color_4 = LED_AMBER;
break;

case VEHICLE_FLIGHT_MODE_STAB:
Expand Down Expand Up @@ -583,6 +604,8 @@ BlinkM::led()
led_color_4 = LED_WHITE;
led_color_5 = LED_WHITE;
led_color_6 = LED_WHITE;
led_color_7 = LED_WHITE;
led_color_8 = LED_WHITE;
led_blink = LED_BLINK;

}
Expand Down Expand Up @@ -646,6 +669,9 @@ void BlinkM::setLEDColor(int ledcolor) {
case LED_WHITE: // white
set_rgb(255,255,255);
break;
case LED_AMBER: // amber
set_rgb(255,20,0);
break;
}
}

Expand Down