OP-1379 add base types for colour, Initial ext rgb led api definition

flight/libraries/inc/optypes.h

@@ -0,0 +1,61 @@
+/**
+ ******************************************************************************
+ *
+ * @file       optypes.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @brief      OP Generic data type library
+ *             --
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program 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.
+ *
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef UTIL_H
+#define UTIL_H
+#include <stdint.h>
+typedef struct {
+    uint8_t R;
+    uint8_t G;
+    uint8_t B;
+} Color_t;
+
+extern const Color_t Color_Off;
+extern const Color_t Color_Red;
+extern const Color_t Color_Lime;
+extern const Color_t Color_Blue;
+extern const Color_t Color_Yellow;
+extern const Color_t Color_Cian;
+extern const Color_t Color_Magenta;
+extern const Color_t Color_Navy;
+extern const Color_t Color_Green;
+extern const Color_t Color_Purple;
+extern const Color_t Color_Teal;
+extern const Color_t Color_Orange;
+
+#define COLOR_OFF     { .R = 0x00, .G = 0x00, .B = 0x00 }
+#define COLOR_RED     { .R = 0xFF, .G = 0x00, .B = 0x00 }
+#define COLOR_LIME    { .R = 0x00, .G = 0xFF, .B = 0x00 }
+#define COLOR_BLUE    { .R = 0x00, .G = 0x00, .B = 0xFF }
+#define COLOR_YELLOW  { .R = 0xFF, .G = 0xFF, .B = 0x00 }
+#define COLOR_CIAN    { .R = 0x00, .G = 0xFF, .B = 0xFF }
+#define COLOR_MAGENTA { .R = 0xFF, .G = 0x00, .B = 0xFF }
+#define COLOR_NAVY    { .R = 0x00, .G = 0x00, .B = 0x80 }
+#define COLOR_GREEN   { .R = 0x00, .G = 0x80, .B = 0x00 }
+#define COLOR_PURPLE  { .R = 0x80, .G = 0x00, .B = 0x80 }
+#define COLOR_TEAL    { .R = 0x00, .G = 0x80, .B = 0x80 }
+#define COLOR_ORANGE  { .R = 0xFF, .G = 0xA5, .B = 0x00 }
+
+#endif /* UTIL_H */

flight/libraries/optypes.c

@@ -0,0 +1,40 @@
+/**
+ ******************************************************************************
+ *
+ * @file       optypes.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @brief      OP Generic data type library
+ *             --
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program 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.
+ *
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include <optypes.h>
+
+const Color_t Color_Off     = COLOR_OFF;
+const Color_t Color_Red     = COLOR_RED;
+const Color_t Color_Lime    = COLOR_LIME;
+const Color_t Color_Blue    = COLOR_BLUE;
+const Color_t Color_Yellow  = COLOR_YELLOW;
+const Color_t Color_Cian    = COLOR_CIAN;
+const Color_t Color_Magenta = COLOR_MAGENTA;
+const Color_t Color_Navy    = COLOR_NAVY;
+const Color_t Color_Green   = COLOR_GREEN;
+const Color_t Color_Purple  = COLOR_PURPLE;
+const Color_t Color_Teal    = COLOR_TEAL;
+const Color_t Color_Orange  = COLOR_ORANGE;

flight/pios/common/pios_notify.c

@@ -28,7 +28,8 @@
 
 static volatile pios_notify_notification currentNotification = NOTIFY_NONE;
 static volatile pios_notify_priority currentPriority;
-
+static volatile ExtLedNotification_t extLedNotification;
+static volatile bool newNotification;
 
 void PIOS_NOTIFY_StartNotification(pios_notify_notification notification, pios_notify_priority priority)
 {
@@ -47,3 +48,29 @@ pios_notify_notification PIOS_NOTIFY_GetActiveNotification(bool clear)
     }
     return ret;
 }
+
+
+/*
+ * Play a sequence on the default external led. Sequences with priority higher than NOTIFY_PRIORITY_LOW
+ * are repeated only once if repeat = -1
+ * @param sequence Sequence to be played
+ * @param priority Priority of the sequence being played
+ */
+void PIOS_NOTIFICATION_Default_Ext_Led_Play(const LedSequence_t *sequence, pios_notify_priority priority)
+{
+    extLedNotification.priority = priority;
+    extLedNotification.sequence = *sequence;
+    newNotification = true;
+}
+
+
+ExtLedNotification_t *PIOS_NOTIFY_GetNewExtLedSequence(bool clear)
+{
+    if (!newNotification) {
+        return 0;
+    }
+    if (clear) {
+        newNotification = false;
+    }
+    return (ExtLedNotification_t *)&extLedNotification;
+}

flight/pios/inc/pios_notify.h

@@ -26,7 +26,7 @@
 #ifndef PIOS_NOTIFY_H_
 #define PIOS_NOTIFY_H_
 #include <stdbool.h>
-
+#include <optypes.h>
 typedef enum {
     NOTIFY_NONE = 0,
     NOTIFY_OK,
@@ -35,11 +35,35 @@ typedef enum {
 } pios_notify_notification;
 
 typedef enum {
-    NOTIFY_PRIORITY_CRITICAL = 2,
-    NOTIFY_PRIORITY_REGULAR  = 1,
+    NOTIFY_PRIORITY_CRITICAL   = 2,
+    NOTIFY_PRIORITY_REGULAR    = 1,
     NOTIFY_PRIORITY_LOW = 0,
+    NOTIFY_PRIORITY_BACKGROUND = -1,
 } pios_notify_priority;
 
+
+// A single led step, Color, time On/Off, repeat count
+#define NOTIFY_SEQUENCE_MAX_STEPS 5
+
+typedef struct {
+    uint16_t time_off;
+    uint16_t time_on;
+    Color_t  color;
+    uint8_t  repeats;
+} LedStep_t;
+
+typedef struct {
+    int8_t    repeats; // -1 for infinite repetitions
+    LedStep_t steps[NOTIFY_SEQUENCE_MAX_STEPS];
+} LedSequence_t;
+
+typedef struct {
+    LedSequence_t sequence;
+    pios_notify_priority priority;
+} ExtLedNotification_t;
+
+#define NOTIFY_IS_NULL_STEP(x) (!x || (!x->time_off && !x->time_on && !x->repeats))
+
 /**
  * start a new notification. If a notification is active it will be overwritten if its priority is lower than the new one.
  * The new will be discarded otherwise
@@ -55,4 +79,24 @@ void PIOS_NOTIFY_StartNotification(pios_notify_notification notification, pios_n
  */
 pios_notify_notification PIOS_NOTIFY_GetActiveNotification(bool clear);
 
+/*
+ * Play a sequence on the default external led. Sequences with priority higher than NOTIFY_PRIORITY_LOW
+ * are repeated only once if repeat = -1
+ * @param sequence Sequence to be played
+ * @param priority Priority of the sequence being played
+ */
+void PIOS_NOTIFICATION_Default_Ext_Led_Play(const LedSequence_t *sequence, pios_notify_priority priority);
+
+/*
+ * Play a sequence on an external rgb led. Sequences with priority higher than NOTIFY_PRIORITY_LOW
+ * are repeated only once if repeat = -1
+ * @param sequence Sequence to be played
+ * @param ledNumber Led number
+ * @param priority Priority of the sequence being played
+ *
+ */
+// void PIOS_NOTIFICATION_Ext_Led_Play(const LedSequence_t sequence, uint8_t ledNumber, pios_notify_priority priority);
+
+ExtLedNotification_t *PIOS_NOTIFY_GetNewExtLedSequence(bool clear);
+
 #endif /* PIOS_NOTIFY_H_ */

flight/pios/inc/pios_ws2811.h

@@ -35,7 +35,7 @@
 #include <stm32f4xx.h>
 #include <stm32f4xx_tim.h>
 #include <stm32f4xx_dma.h>
-
+#include <optypes.h>
 
 #define sign(x) ((x > 0) - (x < 0))
 #define PIOS_WS2811_NUMLEDS            2
@@ -106,12 +106,6 @@
 
 typedef uint16_t ledbuf_t;
 
-typedef struct Color Color;
-struct Color {
-    uint8_t R;
-    uint8_t G;
-    uint8_t B;
-};
 struct pios_ws2811_pin_cfg {
     GPIO_TypeDef     *gpio;
     GPIO_InitTypeDef gpioInit;
@@ -139,9 +133,8 @@ struct pios_ws2811_cfg {
 
 void PIOS_WS2811_Init(const struct pios_ws2811_cfg *ws2811_cfg, const struct pios_ws2811_pin_cfg *ws2811_pin_cfg);
 
-void PIOS_WS2811_setColorRGB(Color c, uint8_t led, bool update);
+void PIOS_WS2811_setColorRGB(Color_t c, uint8_t led, bool update);
 void PIOS_WS2811_Update();
 
 void PIOS_WS2811_DMA_irq_handler();
-
 #endif /* PIOS_WS2811_H_ */

flight/pios/stm32f4xx/pios_ws2811.c

@@ -177,7 +177,7 @@ void PIOS_WS2811_Init(const struct pios_ws2811_cfg *ws2811_cfg, const struct pio
 
     fb = (ledbuf_t *)pios_malloc(PIOS_WS2811_BUFFER_SIZE * sizeof(ledbuf_t));
     memset(fb, 0, PIOS_WS2811_BUFFER_SIZE * sizeof(ledbuf_t));
-    Color ledoff = { 0, 0, 0 };
+    const Color_t ledoff = Color_Off;
     for (uint8_t i = 0; i < PIOS_WS2811_NUMLEDS; i++) {
         PIOS_WS2811_setColorRGB(ledoff, i, false);
     }
@@ -302,7 +302,7 @@ void setColor(uint8_t color, ledbuf_t *buf)
  * @param led led number
  * @param update Perform an update after changing led color
  */
-void PIOS_WS2811_setColorRGB(Color c, uint8_t led, bool update)
+void PIOS_WS2811_setColorRGB(Color_t c, uint8_t led, bool update)
 {
     if (led >= PIOS_WS2811_NUMLEDS) {
         return;

make/apps-defs.mk

@@ -110,6 +110,7 @@ SRC += $(MATHLIB)/sin_lookup.c
 SRC += $(MATHLIB)/pid.c
 SRC += $(MATHLIB)/mathmisc.c
 SRC += $(FLIGHTLIB)/printf-stdarg.c
+SRC += $(FLIGHTLIB)/optypes.c
 
 ## Modules
 SRC += $(foreach mod, $(MODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c)))