yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

led drivers and controller move to uORB::Subscription

Browse Source
This commit is contained in:
Daniel Agar
2019-08-20 14:03:23 -04:00
committed by GitHub
parent 41dee3875e
commit 5ae408382b
7 changed files with 101 additions and 216 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
src/lib/led/led.cpp
View File

@@ -38,24 +38,13 @@
#include "led.h"
int LedController::init(int led_control_sub)
{
_led_control_sub = led_control_sub;
_last_update_call = hrt_absolute_time();
return 0;
}
int LedController::update(LedControlData &control_data)
{
bool updated = false;
orb_check(_led_control_sub, &updated);
while (updated || _force_update) {
while (_led_control_sub.updated() || _force_update) {
// handle new state
led_control_s led_control;
if (orb_copy(ORB_ID(led_control), _led_control_sub, &led_control) == 0) {
if (_led_control_sub.copy(&led_control)) {
// don't apply the new state just yet to avoid interrupting an ongoing blinking state
for (int i = 0; i < BOARD_MAX_LEDS; ++i) {
@@ -80,14 +69,18 @@ int LedController::update(LedControlData &control_data)
}
_force_update = false;
orb_check(_led_control_sub, &updated);
}
bool had_changes = false; // did one of the outputs change?
// handle state updates
hrt_abstime now = hrt_absolute_time();
if (_last_update_call == 0) {
_last_update_call = now;
return 0;
}
uint16_t blink_delta_t = (uint16_t)((now - _last_update_call) / 100); // Note: this is in 0.1ms
constexpr uint16_t breathe_duration = BREATHE_INTERVAL * BREATHE_STEPS / 100;