add RGB LEDs init sequence, update submodule to handle new RGB LED fo…

…r lights v2.2

Src/cyphal_application/application.cpp

@@ -10,6 +10,7 @@
 #include "params.hpp"
 #include "lights/lights.hpp"
 #include "periphery/led/led.hpp"
+#include "periphery/adc/adc.hpp"
 
 
 void init_persistent_storage() {
@@ -21,6 +22,7 @@ void init_persistent_storage() {
 }
 
 void application_entry_point() {
+    AdcPeriphery::init();
     LedPeriphery::reset();
     init_persistent_storage();
     cyphal::NodeGetInfoSubscriber::setHardwareVersion(2, 1);

Src/cyphal_application/lights/lights.cpp

@@ -26,17 +26,24 @@ int8_t RgbLights::init() {
         return res;
     }
 
-    res = AdcPeriphery::init();
-    if (res < 0) {
-        return res;
-    }
-
     return 0;
 };
 
 void RgbLights::update() {
     _process_crct_remperature();
-    _process_lights();
+
+    if (HAL_GetTick() >= _next_light_process_time_ms) {
+        _next_light_process_time_ms = HAL_GetTick() + 40;
+
+        if (_init_counter < WS2812_LEDS_AMOUNT) {
+            _init_lights();
+        } else {
+            _process_last_received_command();
+        }
+
+        ws2812bSetColors(&_leds);
+        ws2812bStartOnce();
+    }
 }
 
 /**
@@ -63,20 +70,17 @@ void RgbLights::_process_crct_remperature() {
     }
 }
 
-/**
- * @note
- * 25 Hz blinking is considered to be enough.
- * Start decreasing the brighness when temperature is higher than 60 °C.
- * Do not allow to reach 80 °C.
- */
-void RgbLights::_process_lights() {
-    if (HAL_GetTick() < _next_light_process_time_ms) {
-        return;
+void RgbLights::_init_lights() {
+    if (_init_counter < WS2812_LEDS_AMOUNT) {
+        _leds.colors[_init_counter].shades.red = 5;
+        _leds.colors[_init_counter].shades.green = 5;
+        _leds.colors[_init_counter].shades.blue = 5;
     }
-    _next_light_process_time_ms = HAL_GetTick() + 20;
 
-    auto color = _rgbled_sub.get();
+    _init_counter++;
+}
 
+void RgbLights::_process_last_received_command() {
     float max_brightness;
     if (current_temperature <= CONTROL_MIN) {
         max_brightness = 1.0;
@@ -86,6 +90,15 @@ void RgbLights::_process_lights() {
         max_brightness = 1.0f - (current_temperature - CONTROL_MIN) / (CONTROL_MAX - CONTROL_MIN);
     }
 
+    reg_udral_physics_optics_HighColor_0_1 color;
+    if (_rgbled_sub.get_last_recv_ts_ms() == 0) {
+        color.red = 1;
+        color.green = 2;
+        color.blue = 1;
+    } else {
+        color = _rgbled_sub.get();
+    }
+
     uint8_t red = (float)color.red / reg_udral_physics_optics_HighColor_0_1_MAX_RED * 255.0f * max_brightness;
     uint8_t green = (float)color.green / reg_udral_physics_optics_HighColor_0_1_MAX_GREEN * 255.0f * max_brightness;
     uint8_t blue = (float)color.blue / reg_udral_physics_optics_HighColor_0_1_MAX_BLUE * 255.0f * max_brightness;
@@ -94,6 +107,4 @@ void RgbLights::_process_lights() {
         _leds.colors[led_idx].shades.green = green;
         _leds.colors[led_idx].shades.blue = blue;
     }
-    ws2812bSetColors(&_leds);
-    ws2812bStartOnce();
 }

Src/cyphal_application/lights/lights.hpp

@@ -10,29 +10,50 @@
 #include "Udral/circuit_status.hpp"
 #include "periphery/ws2812/ws2812.h"
 
+
 class RgbLights {
 public:
-    RgbLights(cyphal::Cyphal* driver) : _rgbled_sub(driver), _temp_pub(driver, 0) {};
+    RgbLights(cyphal::Cyphal* driver) :  _temp_pub(driver, 0), _rgbled_sub(driver) {};
     int8_t init();
+
+    /**
+    * @note 25 Hz blinking is considered to be enough.
+    */
     void update();
 private:
-    void _process_lights();
-    cyphal::HighColorSubscriber _rgbled_sub;
-    Leds_Color_t _leds;
-    uint32_t _next_light_process_time_ms{0};
+    /**
+     * @brief When the node is enabled, the LEDs blink one after one with white color.
+     * This initialization sequence allows a user to verify that all LEDs are working properly.
+     */
+    void _init_lights();
+    uint8_t _init_counter{0};
 
+    /**
+     * @brief Measure onboard temperature and publish to Cyphal/CAN network
+     * The temperature is used in the brightness controller
+     */
     void _process_crct_remperature();
     RaccoonLab::CircuitStatusTemperaturePublisher _temp_pub;
     float current_temperature;
     uint32_t _next_crct_process_time_ms{0};
 
     /**
-     * @brief Controller logic
+     * @brief Brightness Controller
      * If the temperature goes above 60 °C, the controller will decrease the maximum brightness.
      * If the temperature goes above 80 °C, the controller will turn off the lights.
      */
     static constexpr const float CONTROL_MIN = 273.15 + 60;
     static constexpr const float CONTROL_MAX = 273.15 + 80;
+
+    /**
+     * @brief Just repeat the latest received command with respect to the brightness.
+     * By default, all LEDs should be slightly enabled with white color
+     * to be sure they are working properly.
+     */
+    void _process_last_received_command();
+    cyphal::HighColorSubscriber _rgbled_sub;
+    Leds_Color_t _leds{};
+    uint32_t _next_light_process_time_ms{0};
 };
 
 #endif  // SRC_CYPHAL_APPLICATION_LIGHTS_LIGHTS_HPP_

Src/periphery/adc/adc.hpp

@@ -12,10 +12,11 @@ extern "C" {
 #endif
 
 enum class AdcChannel : uint8_t {
-    ADC_VIN,
-    ADC_5V,
-    ADC_TEMPERATURE,
-    ADC_NUMBER_OF_CNANNELS,
+    ADC_VIN                 = 0,
+    ADC_5V                  = 1,
+    ADC_VERSION             = 2,
+    ADC_TEMPERATURE         = 3,
+    ADC_NUMBER_OF_CNANNELS  = 4,
 };
 
 class AdcPeriphery {

Src/periphery/led/led.cpp

@@ -5,13 +5,15 @@
 #include "led.hpp"
 #include "main.h"
 
-
 void LedPeriphery::reset() {
-    HAL_GPIO_WritePin(INTERNAL_LED_GPIO_Port, INTERNAL_LED_Pin, GPIO_PIN_SET);
+    HAL_GPIO_WritePin(INT_RGB_LED_GREEN_GPIO_Port, INT_RGB_LED_GREEN_Pin, GPIO_PIN_SET);
 }
 
 void LedPeriphery::toggle() {
     auto crnt_time_ms = HAL_GetTick();
     GPIO_PinState state = (crnt_time_ms % 1000 > 500) ? GPIO_PIN_SET : GPIO_PIN_RESET;
-    HAL_GPIO_WritePin(INTERNAL_LED_GPIO_Port, INTERNAL_LED_Pin, state);
+    HAL_GPIO_WritePin(INT_RGB_LED_GREEN_GPIO_Port, INT_RGB_LED_GREEN_Pin, state);
+
+    HAL_GPIO_WritePin(INT_RGB_LED_RED_GPIO_Port, INT_RGB_LED_RED_Pin, GPIO_PIN_SET);
+    HAL_GPIO_WritePin(INT_RGB_LED_BLUE_GPIO_Port, INT_RGB_LED_BLUE_Pin, GPIO_PIN_SET);
 }