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multiwii / baseflight

32 bit fork of the MultiWii RC flight controller firmware
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LED ring code #194

Closed Fvk1960 closed 10 years ago

Fvk1960 commented 10 years ago

I installed LED ring from DF Robot but it not working. The i2c is ok but LED indication is not . On the LEdring i got the code for multiwii installed (used it on my crius board). I check some coding but the code from LEDRING does not mach the code from baseflight for LED pattern selections. Where can I find the matching ino file for the LEDRing itself working with baseflight?

Fvk1960 commented 10 years ago

include "board.h"

include "mw.h"

// Driver for DFRobot I2C Led Ring

define LED_RING_ADDRESS 0x6D

bool ledringDetect(void) { bool ack = false; uint8_t sig = 'e';

ack = i2cWrite(LED_RING_ADDRESS, 0xFF, sig);
if (!ack)
    return false;
return true;

}

void ledringState(void) { uint8_t b[10]; static uint8_t state;

if (state == 0) {
    b[0] = 'l';
    b[1] = (heading) / 2;   // 1 unit = 2 degrees;
    i2cWriteBuffer(LED_RING_ADDRESS, 0xFF, 2, b);
    state = 1;
} else if (state == 1) {
    b[0] = 'q';
    b[1] = constrain(angle[ROLL] / 10 + 90, 0, 180);debug[0]=angle[ROLL];
    b[2] = constrain(angle[PITCH] / 10 + 90, 0, 180);debug[1]=angle[PITCH];
    i2cWriteBuffer(LED_RING_ADDRESS, 0xFF, 3, b);
    state = 2;
} else if (state == 2) {
    b[0] = 'd';     // all unicolor GREEN
    b[1] = 1;
    if (f.ARMED)
        b[2] = 5;
    else
        b[2] = 0;

    i2cWriteBuffer(LED_RING_ADDRESS, 0xFF, 3, b);
    state = 0;
}

}

void ledringBlink(void) { uint8_t b[3]; b[0] = 'k'; b[1] = 10; b[2] = 10; i2cWriteBuffer(LED_RING_ADDRESS, 0xFF, 3, b); } LEDRING ino file Has v1 and v2 integrated together with manual mode. S2 switches between manual and i2c /* Multiwiicopter LED Ring

/****/ /*** CONFIGURABLE PARAMETERS *_/ /_**/

/* Operation mode *///Choose only 1

define MultiWii_I2C_v2 // - to use Multiwii 2.2rc LEDring functionality. (or 2.1 with alternative LEDring.ino

define Standalone // - runs standalone using stitches to determine flashe sequences

/* The LED board type *///Choose only 1

define LEDBOARDv3

/* LED board inverted - uncomment to reverse MAG direction*/// //#define reverse_mag

/* The LED board I2C address *///

define I2C_address 0x6D

/* PWM sequences */

define PWM_LOW_LED 1

define PWM_MID_LED 2

define PWM_HIGH_LED 3

/* Only ever enable if you fully understand why!! */ //#define INTERNAL_I2C_PULLUPS

/\ Definitions ****/

include

uint8t brightness[3][12]; //* 12 LEDS - 3 COLORS - 64 brightness levels per color max brightness = 63 / int16t param[10]; // Parameters passed from Multiwii */ uint8_t singleLED = 0; int16_t magLED = 0; uint32_t ledlastflashtime = millis(); uint8_t Switch1_state=0; uint8_t Switch2_state=0; uint8_t Switch1 = 3; //Arduino Pin-->switch assignment uint8_t Switch2 = 4; //Arduino Pin-->switch assignment
uint8_t Switch1_val = 1; //Switch toggle value. uint8_t Switch2_val = 0; //Switch toggle value. 0=LED disabled/1=standalone or Normal wii controlled LED uint32_t lastPressTime = millis(); //Last time button pressed

/\ Main program ****/ void setup() { InitIO();

Wire.begin(I2C_address); // join i2c bus with address #2 Wire.onReceive(receiveEvent); // register event pinMode(Switch1, INPUT);
pinMode(Switch2, INPUT); digitalWrite(Switch1, HIGH); digitalWrite(Switch2, HIGH);

if defined INTERNAL_I2C_PULLUPS

PORTC |= 1<<4; PORTC |= 1<<5; // PIN A4&A5 (SDA&SCL)

else

PORTC &= ~(1<<4); PORTC &= ~(1<<5);

endif

LED_sequence(15); // Default waiting status Switch2_val = 0; Switch1_val = 0; }

void loop() { check_switch_input(); delay(250); if (Switch2_val == 0) { I2C_enhanced_mode(); } else if (Switch2_val == 1) { Standalone_mode(); } }

if defined (Standalone) || defined (MultiWii_I2C_v2)

void check_switch_input(){ // Check if switch input detected uint8_t val1=digitalRead(Switch1); uint8_t val2=digitalRead(Switch2); if ((val1==LOW)||(val2==LOW))
{ if ((millis()-lastPressTime)>100) { if(val1==LOW) { Switch1_val++; Switch2_val=1;
} if(val2==LOW) { if (Switch2_val==0) { Switch2_val=1; } else { Switch2_val=0; } } lastPressTime = millis();
} } }

endif

/** Standalone Control Subroutines *****/

if defined Standalone

void Standalone_mode() { // if (Switch1_val==9) Switch1_val=10; // if (Switch1_val==18) Switch1_val=20; if (Switch1_val>22) Switch1_val=0; LED_sequence(Switch1_val); }

endif

/** I2C Control Subroutines *****/

if defined MultiWii_I2C_v2

void I2C_enhanced_mode(){ uint8_t i; uint8_t bright;
switch (param[0]){ case 'a': set_led_rgb(param[1], param[2], param[3],param[4]);
break; case 'b': set_all_rgb(param[1], param[2], param[3]);
break; case 'c': set_led_unicolor(param[1], param[2], param[3]);
break; case 'd': set_all_unicolor(param[1], param[2]); break; case 'e': //all black set_all_rgb(0,0,0); break; case 'f': //random , param: selected led set_led_rgb(param[1], random(63),random(63),random(63)); break; case 'g': //random all led set_all_rgb(random(63),random(63),random(63)); break; case 'h': //turnover 2 params: color , direction turnover(param[1],param[2]); break; case 'i': // one effect set_all_rgb(0,0,0); for(i=0;i<3;i++) { for (bright = 0;bright<64;bright+=1) { set_all_rgb(bright, 0, 0); delay(5); } for (bright = 0;bright<64;bright+=1) { set_all_rgb(63-bright, 0, 0); delay(5); } } for(i=0;i<3;i++) { for (bright = 0;bright<64;bright+=1) { set_all_rgb(0, bright, 0); delay(5); } for (bright = 0;bright<64;bright+=1) { set_all_rgb(0,63-bright, 0); delay(5); } } for(i=0;i<3;i++) { for (bright = 0;bright<64;bright+=1) { set_all_rgb(0,0,bright); delay(5); } for (bright = 0;bright<64;bright+=1) { set_all_rgb(0,0,63-bright); delay(5); } } set_all_rgb(0,0,0); break; case 'j': // one effect set_led_rgb(2, 20,0, 0); set_led_rgb(3, 63,0, 0); set_led_rgb(1, 0,10, 0); set_led_rgb(0, 0,0,30); for (i = 0; i < 100; i++) { turnover(0,2); turnover(1,1); turnover(2,2); delay(90); } break; case 'k': //strobe 2 params: number, delay set_all_rgb(0,0,0); for(i=0;i<param[1];i++) { set_all_rgb(63,63,63); delay(param[2]); set_all_rgb(0,0,0); delay(param[2]); } set_all_rgb(0,0,0); break;
case 'l': //multiwii heading 1 param: heading [0;11] set_all_unicolor(2, 0); // all BLUE LEDs black set_led_unicolor(param[1]212/360, 2, 63); break;
case 'q': //multiwii angles 2 params: angle ROLL [0;180] ; angle PITCH [0;180] uint8_t l[12]; uint8_t right,left,up,down; float a; a = atan2(param[1]-90,90-param[2])*180/PI; if (abs(param[1]-90) > 2 || abs(param[2]-90) > 2) { uint8_t f = max(abs(param[1]-90),abs(param[2]-90)); for(i=0;i<12;i++) { uint8_t p = 12-(a+180)_12/360; if ( i == p ) set_led_unicolor(i, 0, 1 + (62_f/90));//p=0 i=0 led 0 Bright else if ( i == (p +2)%12 ) set_led_unicolor(i, 0, 1 + (15_f/90)); //led 2 //soft else if ( i == (p +1)%12 ) set_led_unicolor(i, 0, 1 + (31_f/90));//led 1 //medium else if ( i == (p +11)%12 ) set_led_unicolor(i, 0, 1 + (31_f/90));//led 11 //medium else if ( i == (p +10)%12 ) set_led_unicolor(i, 0, 1 + (15_f/90)); //led 10 //soft else set_led_unicolor(i, 0, 0); } } else { set_all_unicolor(0, 0); } break;

case 'r': //Battery Voltage low LED_sequence(7);
break; /////////////////////////////////////////////////////////////////////////////// case 's': // Motors off - MultiWii sending status info if (param[1]==0&&param[2]==0&&param[3]==0&&param[4]==0){ //ACRO only LED_sequence(11);
} else if (param[4]>0){ // GPS mode param[6]=constrain (param[6],0,12); if (param[6]==0){ // No sats - circle LED LED_sequence(15); } else if (millis()<(ledlastflashtime+500)){ // Light SAT LED's for(uint8_t i=0;i<param[6];i++){ set_led_rgb(i, 63 ,0, 0); } for(uint8_t i=param[6];i<12;i++){ if (param[2]==1) { // baro on set_led_rgb (i,63, 63, 63); } else { set_led_rgb(i, 0 ,0, 0); } if (param[3]==1) { // mag on show the led

if defined(reverse_mag)

        magLED=90+param[5];

else

        magLED=90-param[5];

endif

        if (magLED<0) magLED=magLED+180;
        set_led_rgb(magLED_2_12/360, 0 ,0, 63);
      }  
    }
  }
  else if ((millis()<(ledlastflashtime+1000)&&param[6]<5)){ // Flash LED's if < FIX sats
    set_all_rgb (0, 0, 0);
  }
  else{
    ledlastflashtime=millis();
  }
}
else{
  if (millis()<(ledlastflashtime+2000)){
    if (param[1]==1) {
      set_all_rgb (0, 63, 0);
    }
    else if (param[1]==2) {
      set_all_rgb (0, 63, 0);
      for(i=1;i<12;i++) {
        set_led_rgb(i, 0 ,0, 0);
        i++;
      }
    }
    else {
      set_all_rgb (63, 0, 0);
    }
    if (param[3]==1) { // mag on

if defined(reverse_mag)

      magLED=90+param[5];

else

      magLED=90-param[5];

endif

      if (magLED<0) magLED=magLED+180;
      set_led_rgb(magLED_2_12/360, 0 ,0, 63);
    }  
  }
  else if (millis()<(ledlastflashtime+2250)){
    if (param[2]==1) { // baro on
      set_all_rgb (0, 0, 63);
    }
  }
  else {
    ledlastflashtime=millis();
  }
}
break;

//////////////////////////////////////////////////////////////////////////////////// case 't': // Motors off - Uncalibrated acc / not level LED_sequence(4);
break;
case 'u': // Motors on - Angle mode LED_sequence(14);
break; case 'v': // Motors on - GPS RTH mode mode LED_sequence(2);
break; case 'w': // Motors on - GPS position hold mode LED_sequence(5);
break;
case 'x': // Motors on - ACRO mode LED_sequence(11);
break; case 'y': // Motors on - HORIZON mode LED_sequence(14);
break;
case 'z': // Motors on - ACRO mode LED_sequence(9);
break;
} param[0]=0; }

endif

if defined MultiWii_I2C_v2

void receiveEvent(int16_t n) { uint8_t p=0;
while(Wire.available()) { param[p++]=Wire.read(); if (p>9) p=9; } }

endif

/** Hardware Subroutines *****/

if defined LEDBOARDv3

ISR (TIMER2_OVF_vect){ uint8_t b,t,l,tmp; static uint8_t transistor[6]={ 0x01,0x02,0x04,0x08,0x10,0x20 }; //transistor selection sei(); //it's important to release the CPU as soon as possible to not freeze I2C communications for (t = 0; t < 6; t++) { PORTB = transistor[t]; l= 2*t; for (b = 0; b < 64; b++) { tmp = 0; if (b < brightness[0][l]) tmp |= (1 << PORTD5);
else tmp &=~(1 << PORTD5); //red port C0 if (b < brightness[0][l+1]) tmp |= (1 << PORTC1);
else tmp &=~(1 << PORTC1); //red port D5

  if (b < brightness[1][l])   tmp |= (1 << PORTD6);  
  else tmp &=~(1 << PORTD6); //green port C2
  if (b < brightness[1][l+1]) tmp |= (1 << PORTC0);  
  else tmp &=~(1 << PORTC0); //green port D7

  if (b < brightness[2][l])   tmp |= (1 << PORTD7);  
  else tmp &=~(1 << PORTD7); //blue port C1
  if (b < brightness[2][l+1]) tmp |= (1 << PORTC2);  
  else tmp &=~(1 << PORTC2); //blue port D6

  PORTC = tmp; 
  PORTD = tmp|0x18;
}

} TCNT2 = 254; }

endif

/** LED Subroutines *****/

void turnover(uint8_t rgb,uint8_t dir){ uint8_t led, temp, i; if(rgb>2) return; if(dir==1){ temp=brightness[rgb][0]; for (led = 0; led < 11; led++) { brightness[rgb][led]=brightness[rgb][led+1]; } brightness[rgb][led]=temp; } if(dir==2){ temp=brightness[rgb][11]; for (led = 11; led >0; led--) { brightness[rgb][led]=brightness[rgb][led-1]; } brightness[rgb][0]=temp; } }

void set_led_rgb (uint8_t led, uint8_t red, uint8_t green, uint8_t blue){ if (led>11) return; if (red>63) red = 63; brightness[0][led] = red; if (green>63) green = 63; brightness[1][led] = green; if (blue>63) blue = 63; brightness[2][led] = blue; }

void set_all_rgb (uint8_t red, uint8_t green, uint8_t blue) { uint8_t led; for (led = 0; led < 12; led++) { set_led_rgb (led, red, green, blue); } }

void set_led_unicolor(uint8_t led, uint8_t rgb, uint8_t var){ if(rgb>2 || led>11) return; if (var>63) var = 63; brightness[rgb][led] = var; }

void set_all_unicolor(uint8_t rgb, uint8_t var){ uint8_t led; if (var>63) var = 63; for (led = 0; led < 12; led++) { set_led_unicolor (led, rgb, var); } }

void InitIO(void){

if defined LEDBOARDv3

DDRB |= ((1<<0)|(1<<1)|(1<<2)|(1<<3)|(1<<4)|(1<<5)); //transistors located on PIN B0->B5 : set PORTB as output

else if

DDRB |= ((1<<2)|(1<<3)|(1<<4)|(1<<5)|(1<<6)|(1<<7)); //transistors located on PIN B2->B7 : set PORTB as output

endif

PORTB &=~ ((1<<2)|(1<<3)|(1<<4)|(1<<5)|(1<<6)|(1<<7)); // all pins HIGH --> cathodes HIGH --> LEDs off DDRC |= ((1 << PORTC0) | (1 << PORTC2) | (1 << PORTC1)); // R G B LEDs on port C : set COLORPORT #5-7 as output DDRD |= ((1 << PORTD5) | (1 << PORTD7) | (1 << PORTD6)); // R G B LEDs on port D : set COLORPORT #5-7 as output set_all_rgb (0, 0, 0); // Timer2 Settings // prescaler (frequency divider) TCCR2B |= ((1 << CS22) | (1 << CS20) | ((1 << CS21))); //1024 //normal mode TCCR2B &=~(1 << WGM22); TCCR2A =0; // enable_timer2_ovf TIMSK2 |= (1 << TOIE2); }

/\ LED sequences ****/

void LED_sequence(uint8_t LED_seq){ uint8_t i; uint8_t bright; if (LED_seq == 9) { // * Static WHITE set_all_rgb (63, 63, 63); } if (LED_seq == 18) { // * Static WHITE LED_layout(1); } if (LED_seq == 19) { // * Static WHITE LED_layout(2); } if (LED_seq == 0) { // * Static RED set_all_rgb (63, 0, 0); } if (LED_seq == 1) { // * Static GREEN set_all_rgb (0, 63, 0); }
if (LED_seq == 2) { // * Static BLUE set_all_rgb (0, 0, 63); } if (LED_seq == 3) { // * Flashing Red if (millis()<(ledlastflashtime+500)){ set_all_rgb (63, 0, 0); } else if (millis()<(ledlastflashtime+1000)){ set_all_rgb (0, 0, 0); } else { ledlastflashtime=millis(); } } if (LED_seq == 4) { // * Flashing Green if (millis()<(ledlastflashtime+500)){ set_all_rgb (0, 63, 0); } else if (millis()<(ledlastflashtime+1000)){ set_all_rgb (0, 0, 0); } else { ledlastflashtime=millis(); } } if (LED_seq == 5) { // * Flashing Blue if (millis()<(ledlastflashtime+500)){ set_all_rgb (0, 0, 63); } else if (millis()<(ledlastflashtime+1000)){ set_all_rgb (0, 0, 0); } else { ledlastflashtime=millis(); } } if (LED_seq == 6) { // * Fast RED Flash if (millis()<(ledlastflashtime+250)){ set_all_rgb (63, 0, 0); } else if (millis()<(ledlastflashtime+500)){ set_all_rgb (0, 0, 0); } else { ledlastflashtime=millis(); } } if (LED_seq == 7) { // * Fast GREEN Flash if (millis()<(ledlastflashtime+250)){ set_all_rgb (0, 63, 0); } else if (millis()<(ledlastflashtime+500)){ set_all_rgb (0, 0, 0); } else { ledlastflashtime=millis(); } } if (LED_seq == 8) { // * Fast Blue Flash if (millis()<(ledlastflashtime+250)){ set_all_rgb (0, 0, 63); } else if (millis()<(ledlastflashtime+500)){ set_all_rgb (0, 0, 0); } else { ledlastflashtime=millis(); } } if (LED_seq == 10) { // * - navi lights if (millis()<(ledlastflashtime+200)){ set_all_rgb (63, 63, 63); } else if (millis()<(ledlastflashtime+700)){ LED_layout(0); } else if (millis()<(ledlastflashtime+900)){ set_all_rgb (63, 63, 63); } else if (millis()<(ledlastflashtime+1400)){ LED_layout(0); } else if (millis()<(ledlastflashtime+1600)){ set_all_rgb (63, 0, 0); } else if (millis()<(ledlastflashtime+3300)){ LED_layout(0); } else { ledlastflashtime=millis(); } } if (LED_seq == 11) { // * - navi lights #2 MWC if (millis()<(ledlastflashtime+200)){ set_all_rgb (63, 63, 63); } else if (millis()<(ledlastflashtime+700)){ LED_layout(1); } else if (millis()<(ledlastflashtime+900)){ set_all_rgb (63, 63, 63); } else if (millis()<(ledlastflashtime+1400)){ LED_layout(1); } else if (millis()<(ledlastflashtime+1600)){ set_all_rgb (63, 0, 0); } else if (millis()<(ledlastflashtime+3300)){ LED_layout(1); } else { ledlastflashtime=millis(); } } if (LED_seq == 12) { // * Flashing RED+GREEN. Red facing forward if (millis()<(ledlastflashtime+500)){ for(i=10;i<12;i++) { set_led_rgb(i, 63 ,0, 0); } for(i=0;i<3;i++) { set_led_rgb(i, 63, 0, 0); } } else if (millis()<(ledlastflashtime+1000)){ set_all_rgb (0, 0, 0); } else { set_all_rgb (0, 63, 0); ledlastflashtime=millis(); } } if (LED_seq == 13) { // **** Static RED+GREEN. Red facing forward for(i=0;i<3;i++) { set_led_rgb(i, 63, 0, 0); } for(i=3;i<10;i++) { set_led_rgb(i, 0, 63, 0); } for(i=10;i<12;i++) { set_led_rgb(i, 63 ,0, 0); } } if (LED_seq == 14) { // Andromeda layout for(i=0;i<2;i++) { set_led_rgb(i, 0, 0, 63); } for(i=2;i<5;i++) { set_led_rgb(i, 63, 63, 63); } for(i=5;i<8;i++) { set_led_rgb(i, 63, 0, 0); } for(i=8;i<11;i++) { set_led_rgb(i, 63 ,63, 63); } set_led_rgb(11, 0, 0, 63); } if (LED_seq == 15) { // * Circling Red on White if (millis()<(ledlastflashtime+125)){ } else{ singleLED++; if (singleLED>11) singleLED=0; set_all_rgb(63,63,63); ledlastflashtime=millis(); set_led_rgb(singleLED, 63, 0, 0); } } if (LED_seq == 16) { // ***\ Circling Green on White if (millis()<(ledlastflashtime+125)){ } else{ singleLED++; if (singleLED>11) singleLED=0; set_all_rgb(63,63,63); ledlastflashtime=millis(); set_led_rgb(singleLED, 0, 63, 0); } } if (LED_seq == 17) { // * Circling Blue on White if (millis()<(ledlastflashtime+125)){ } else{ singleLED++; if (singleLED>11) singleLED=0; set_all_rgb(63,63,63); ledlastflashtime=millis(); set_led_rgb(singleLED, 0, 0, 63); } } if (LED_seq == 20) { // * Alexander the great effect 1 set_all_rgb(0,0,0); for(i=0;i<3;i++) { for (bright = 0;bright<64;bright+=1) { set_all_rgb(bright, 0, 0); delay(5); } for (bright = 0;bright<64;bright+=1) { set_all_rgb(63-bright, 0, 0); delay(5); } } for(i=0;i<3;i++) { for (bright = 0;bright<64;bright+=1) { set_all_rgb(0, bright, 0); delay(5); } for (bright = 0;bright<64;bright+=1) { set_all_rgb(0,63-bright, 0); delay(5); } } for(i=0;i<3;i++) { for (bright = 0;bright<64;bright+=1) { set_all_rgb(0,0,bright); delay(5); } for (bright = 0;bright<64;bright+=1) { set_all_rgb(0,0,63-bright); delay(5); } } set_all_rgb(0,0,0); } if (LED_seq == 21) { // * Alexander the great effect 2 set_led_rgb(2, 20,0, 0); set_led_rgb(3, 63,0, 0); set_led_rgb(1, 0,10, 0); set_led_rgb(0, 0,0,30); for (i = 0; i < 100; i++) { turnover(0,2); turnover(1,1); turnover(2,2); delay(90); } } if (LED_seq == 22) { // * Randomised colours set_all_rgb(random(63),random(63),random(63)); } if (LED_seq == 99) { // * All off set_all_rgb (0, 0, 0); } }

/\ LED layouts ****/

void LED_layout(uint8_t LED_seq){ if (LED_seq == 0) { // * std navi light layout set_led_rgb (0,0,0,0); set_led_rgb (1,0,0,0); set_led_rgb (2,63,0,0); set_led_rgb (3,63,0,0); set_led_rgb (4,0,0,0); set_led_rgb (5,0,0,0); set_led_rgb (6, 63,63,63); set_led_rgb (7,0,0,0); set_led_rgb (8,0,0,0); set_led_rgb (9,0,63,0); set_led_rgb (10,0,63,0); set_led_rgb (11,0,0,0); } if (LED_seq == 1) { // * MWC navi light layout set_led_rgb (0,0,0,63); set_led_rgb (1,0,0,63); set_led_rgb (2,63,63,63); set_led_rgb (3,63,63,63); set_led_rgb (4,0,0,0); set_led_rgb (5,63,0,0); set_led_rgb (6, 63,0,0); set_led_rgb (7,63,0,0); set_led_rgb (8,0,0,0); set_led_rgb (9,63,63,63); set_led_rgb (10,63,63,63); set_led_rgb (11,0,0,63); } }

Fvk1960 commented 10 years ago

Works fine for me