sl-firmware
70e94dc100
Implements STM32F722 driver for WS2812 NeoPixel 8-LED ring with finite state machine. Features: - 8 operational states with animations: * BOOT: Blue pulse (0.5 Hz) * IDLE: Green breathe (0.5 Hz) * ARMED: Solid green * NAV: Cyan spin (1 Hz) * ERROR: Red flash (2 Hz) * LOW_BATT: Orange blink (1 Hz) * CHARGING: Green fill (1 Hz) * ESTOP: Red solid - Non-blocking tick-based animation system - State transitions via API - PWM control on PB4 (TIM3_CH1) at 800 kHz - Color interpolation for smooth effects All 25 unit tests passing covering state transitions, animations, timing, and edge cases. Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
125 lines
3.0 KiB
C
125 lines
3.0 KiB
C
#ifndef RGB_FSM_H
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#define RGB_FSM_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* rgb_fsm.h — RGB Status LED State Machine (Issue #290)
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*
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* Manages an 8-LED WS2812 NeoPixel ring with 8 operational states.
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* Each state has a specific color pattern and animation.
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*
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* States:
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* BOOT — Blue pulse (startup sequence, 0.5 Hz)
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* IDLE — Green breathe (standby, smooth 0.5 Hz pulse)
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* ARMED — Solid green (ready to move)
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* NAV — Cyan spin (autonomous navigation active, rotating pattern)
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* ERROR — Red flash (fault detected, 2 Hz blink)
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* LOW_BATT — Orange blink (battery low, 1 Hz blink)
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* CHARGING — Green fill (charging, progressive LEDs filling)
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* ESTOP — Red solid (emergency stop, full red, no animation)
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*
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* Transitions via UART command from Jetson.
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* Non-blocking operation with tick-based timing.
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*/
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/* LED State Machine States */
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typedef enum {
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LED_STATE_BOOT = 0,
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LED_STATE_IDLE,
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LED_STATE_ARMED,
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LED_STATE_NAV,
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LED_STATE_ERROR,
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LED_STATE_LOW_BATT,
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LED_STATE_CHARGING,
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LED_STATE_ESTOP,
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LED_STATE_COUNT
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} LedState;
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/* RGB Color (8-bit per channel) */
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typedef struct {
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uint8_t r; /* Red (0-255) */
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uint8_t g; /* Green (0-255) */
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uint8_t b; /* Blue (0-255) */
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} RgbColor;
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/*
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* rgb_fsm_init()
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*
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* Initialize LED state machine:
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* - PB4 as TIM3_CH1 PWM output for WS2812 driver
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* - Configure TIM3 for 800 kHz PWM frequency
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* - Set initial state to BOOT
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* - Initialize all LEDs to off
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*/
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void rgb_fsm_init(void);
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/*
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* rgb_fsm_set_state(state)
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*
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* Transition to a new LED state immediately.
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* Resets animation timing for the new state.
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*
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* Arguments:
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* - state: Target LED state (LedState enum)
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*
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* Returns: true if state changed, false if already in that state
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*/
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bool rgb_fsm_set_state(LedState state);
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/*
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* rgb_fsm_get_state()
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*
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* Get current LED state.
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*
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* Returns: Current LED state (LedState enum)
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*/
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LedState rgb_fsm_get_state(void);
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/*
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* rgb_fsm_tick(now_ms)
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*
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* Update function called periodically (recommended: every 10-50ms).
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* Processes animations and timing for current state.
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* Updates LED strip via PWM.
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*
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* Arguments:
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* - now_ms: Current time in milliseconds (from HAL_GetTick() or similar)
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*/
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void rgb_fsm_tick(uint32_t now_ms);
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/*
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* rgb_fsm_set_color(led_index, color)
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*
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* Set color of a specific LED (for testing and manual control).
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* Bypasses current animation.
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*
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* Arguments:
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* - led_index: 0-7 (LED ring has 8 LEDs)
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* - color: RgbColor with R, G, B values (0-255)
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*
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* Returns: true if set, false if index out of range
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*/
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bool rgb_fsm_set_color(uint8_t led_index, RgbColor color);
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/*
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* rgb_fsm_all_off()
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*
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* Turn off all LEDs immediately.
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* Useful for shutdown or error conditions.
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*/
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void rgb_fsm_all_off(void);
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/*
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* rgb_fsm_get_animation_frame()
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*
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* Get current animation progress (0-255).
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* Useful for testing and debugging animation timing.
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*
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* Returns: Current frame value for animation (0-255 represents full cycle)
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*/
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uint8_t rgb_fsm_get_animation_frame(void);
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#endif /* RGB_FSM_H */
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