int main() {
board_init();
uart_init();
esc_init();
rgbled_init();
rgbled_set(0xFF8000, 100);
spektrum_init();
rgbled_set(0xFF8000, 100);
xbee_init();
i2c_init();
alt_init();
mag_init();
mpu_init();
sonar_init();
ins_init();
inscomp_init();
altitude_init();
controller_init();
basestation_init();
flight_init();
controlpanel_run();
}
static int handle_post_rgb(coap_rw_buffer_t *scratch,
const coap_packet_t *inpkt, coap_packet_t *outpkt,
uint8_t id_hi, uint8_t id_lo)
{
coap_responsecode_t resp = COAP_RSPCODE_CHANGED;
const char *str = (const char *) inpkt->payload.p;
if (str[0] == '#') {
color_str2rgb(&str[1], &rgb);
rgbled_set(&led, &rgb);
}
return coap_make_response(scratch, outpkt, NULL, 0,
id_hi, id_lo, &inpkt->token, resp,
COAP_CONTENTTYPE_TEXT_PLAIN, false);
}
static int cmd_col(int argc, char **argv)
{
color_rgb_t col;
if (argc < 4) {
printf("usage: %s <r> <g> <b>\n", argv[0]);
return 1;
}
col.r = (uint8_t)atoi(argv[1]);
col.g = (uint8_t)atoi(argv[2]);
col.b = (uint8_t)atoi(argv[3]);
rgbled_set(&led, &col);
return 0;
}
int main(int argc, char* argv[])
{
// Check if values for all colors where supplied
if(argc != 4 and argc != 5) {
std::cerr << "Usage: " << argv[0] << " RED GREEN BLUE [PORT]" << std::endl
<< std::endl
<< " RED, GREEN and BLUE must in the range of 0 to 255" << std::endl
<< " PORT is optional and defaults to /dev/ttyS0" << std::endl;
return 1;
}
// Parse input
int red_value = atoi(argv[1]);
int green_value = atoi(argv[2]);
int blue_value = atoi(argv[3]);
// Check if port was specified
const char* port = (argc == 5 ? argv[4] : "/dev/ttyS0");
// Check if input is valid
if(red_value < 0 or red_value > 255 or green_value < 0 or green_value > 255 or blue_value < 0 or blue_value > 255) {
std::cerr << "Error: Color values must be in the range of 0 to 255!";
return 1;
}
// Connect to led and change color.
rgb_led_t led;
if(rgbled_connect(&led, port) != 0) {
std::cerr << "Error #" << errno << " while connecting to " << port << " : " << strerror(errno) << std::endl;
return 1;
}
rgbled_set(&led, red_value, green_value, blue_value);
if(rgbled_disconnect(&led) != 0) {
std::cerr << "Error #" << errno << " while disconnecting from " << port << " : " << strerror(errno) << std::endl;
return 1;
}
return 0;
}
void led_thread(void)
{
msg_t msg;
int ret;
color_hsv_t hsv_0;
color_hsv_t hsv_1;
color_rgb_t rgb;
float step_h = 1.0f;
float step_s = 0.02f;
float step_v = 0.02f;
int step = 0;
int state = 1;
int limit = 1;
color_rgb_t *sequ = cd_sequ;
rgbled_t led;
/* initialize RGB-LED */
rgbled_init(&led, PWM_0, 0, 1, 2);
while (1) {
/* see if something has come up */
if (state == limit) {
notify_done();
++state;
}
if (state >= limit) {
ret = msg_receive(&msg);
} else {
ret = msg_try_receive(&msg);
}
/* if message was receive, act on it */
if (ret == 1) {
printf("led: got message %i\n", msg.type);
if (msg.type != last_cmd) {
switch (msg.type) {
case MSG_GAME_START:
puts("led: starting game");
sequ = cd_sequ;
state = 1;
limit = GAME_LED_COUNTDOWN_LEN;
last_cmd = msg.type;
break;
case MSG_GAME_SCORE:
printf("led: displaying score: %i\n", (unsigned int)msg.content.value);
if (PLAYER == msg.content.value) {
puts("led: WIN sequence");
sequ = win_sequ;
limit = GAME_LED_WIN_LEN;
}
else if (msg.content.value == GAME_STATE_DRAW) {
puts("led: DRAW sequence");
sequ = draw_sequ;
limit = GAME_LED_DRAW_LEN;
}
else {
puts("led: LOSE sequence");
sequ = lose_sequ;
limit = GAME_LED_LOSE_LEN;
}
state = 1;
last_cmd = msg.type;
break;
}
}
}
if (state < limit) {
/* update color */
if (step == 0) {
printf("led: setting color fr 0x%02x 0x%02x 0x%02x\n",
sequ[state - 1].r, sequ[state - 1].g, sequ[state - 1].b);
printf("led: setting color to 0x%02x 0x%02x 0x%02x\n",
sequ[state].r, sequ[state].g, sequ[state].b);
color_rgb2hsv(&sequ[state - 1], &hsv_0);
color_rgb2hsv(&sequ[state ], &hsv_1);
step_h = (hsv_0.h - hsv_1.h) / STEPS;
step_s = (hsv_0.s - hsv_1.s) / STEPS;
step_v = (hsv_0.v - hsv_1.v) / STEPS;
printf("led: steps are h+= %i s+= %i v+= %i\n", (int)(step_h * 100),(int)(step_s * 100),
(int)(step_v * 100));
}
/* set color */
color_hsv2rgb(&hsv_0, &rgb);
rgbled_set(&led, &rgb);
++step;
hsv_0.h += step_h;
hsv_0.s += step_s;
hsv_0.v += step_v;
/* check if transition is finished */
if (step == STEPS) {
step = 0;
++state;
}
}
/* wait for next step */
vtimer_usleep(PAUSE);
}
}
