feat: lighting effects, calibration mode, save color in NVM

Author: AlCalzone

.github/workflows/build.yml

@@ -82,3 +82,12 @@ jobs:
         with:
           name: zwa2_controller.hex
           path: artifact/zwa2_controller.hex
+
+      - name: Copy MAP file
+        run: cp build/release/nc_controller_ncp.map artifact/zwa2_controller.map
+
+      - name: Upload MAP
+        uses: actions/upload-artifact@v4
+        with:
+          name: zwa2_controller.map
+          path: artifact/zwa2_controller.map

app.c

@@ -67,6 +67,9 @@ static StaticTask_t BackgroundHwTaskBuffer;
 static uint8_t BackgroundHwStackBuffer[HW_TASK_STACK_SIZE];
 
 bool bRequestGyroMeasurement = false;
+bool bAwaitingConnection = false;
+LedEffect_t ledEffect = {0};
+LedMode_t ledMode = LED_MODE_STATUS;
 
 static void ApplicationInitSW(void);
 static void ApplicationTask(SApplicationHandles *pAppHandles);
@@ -529,6 +532,11 @@ ApplicationTask(SApplicationHandles* pAppHandles)
 
 static void SerialAPICommandHandler(void)
 {
+  if (bAwaitingConnection) {
+    bAwaitingConnection = false;
+    zaf_event_distributor_enqueue_proprietary_app_event(EVENT_APP_CONNECTED, NULL);
+  }
+
   const bool handler_invoked = invoke_cmd_handler(serial_frame);
   if (!handler_invoked)
   {
@@ -794,20 +802,78 @@ zaf_event_distributor_app_proprietary(event_nc_t *event)
   EVENT_APP event_nc = (EVENT_APP) event->event;
   switch (event_nc) {
     case EVENT_APP_USERTASK_READY:
-      // Indicate that the firmware is ready by enabling the LED at low power
-      rgb_t color = {4, 0, 0};
-      set_color_buffer(color);
+      if (ledMode != LED_MODE_MANUAL) {
+        // Fade slowly to white
+        LedEffectFade_t fade = {
+          .color = white,
+          .brightness = 0xff,
+          .increasing = false,
+          .ticksPerStep = 2,
+          .tickCounter = 0
+        };
+        ledEffect = (LedEffect_t) {
+          .type = LED_EFFECT_FADE,
+          .effect.fade = fade
+        };
+        bAwaitingConnection = true;
+      }
+      break;
+
+    case EVENT_APP_CONNECTED:
+      if (ledMode != LED_MODE_MANUAL) {
+        // Indicate that the Serial API is connected by turning the LED white solid
+        if (ledEffect.type == LED_EFFECT_FADE) {
+          ledEffect.effect.fade.stopAtMax = true;
+        } else {
+          LedEffectSolid_t solid = {
+            .color = white,
+            .modified = true
+          };
+          ledEffect = (LedEffect_t) {
+            .type = LED_EFFECT_SOLID,
+            .effect.solid = solid
+          };
+        }
+      }
       break;
 
     case EVENT_APP_USERTASK_GYRO_MEASUREMENT:
+      // A gyro measurement was requested
+      gyro_reading_t gyro_reading = event->payload->gyro_reading;
+
+      if (ledMode == LED_MODE_CALIBRATION) {
+        // Indicate bad orientation (more than 20° from vertical) in calibration mode
+        if (gyro_reading.z < -960 || gyro_reading.z > 960) {
+          LedEffectSolid_t solid = {
+            .color = white,
+            .modified = true
+          };
+          ledEffect = (LedEffect_t) {
+            .type = LED_EFFECT_SOLID,
+            .effect.solid = solid
+          };
+        } else {
+          if (ledEffect.type != LED_EFFECT_FADE || ledEffect.effect.fade.color.R != 0xff) {
+            LedEffectFade_t fade = {
+              .color = red,
+              .brightness = 0xff,
+              .increasing = false,
+              .ticksPerStep = 1,
+              .tickCounter = 0
+            };
+            ledEffect = (LedEffect_t) {
+              .type = LED_EFFECT_FADE,
+              .effect.fade = fade
+            };
+          }
+        }
+      }
+
       if (!bRequestGyroMeasurement) {
         return;
       }
       bRequestGyroMeasurement = false;
 
-      // A gyro measurement was requested
-      gyro_reading_t gyro_reading = event->payload->gyro_reading;
-
       uint8_t cmd[8];
       uint8_t i=0;
       cmd[i++] = NABU_CASA_GYRO_MEASURE;
@@ -824,6 +890,69 @@ zaf_event_distributor_app_proprietary(event_nc_t *event)
       );
       break;
 
+    case EVENT_APP_USERTASK_TICK_LED: {
+      switch (ledEffect.type) {
+        case LED_EFFECT_SOLID: {
+          // For solid LED effect, set the color once
+          if (ledEffect.effect.solid.modified) {
+            ledEffect.effect.solid.modified = false;
+            set_color_buffer(ledEffect.effect.solid.color);
+          }
+          break;
+        }
+
+        case LED_EFFECT_FADE: {
+          // For fading, change the brightness every N ticks,
+          // and update the color
+          LedEffectFade_t fade = ledEffect.effect.fade;
+
+          if (fade.brightness > 0xe0 && fade.stopAtMax) {
+            // Switch to solid mode
+            LedEffectSolid_t solid = {
+              .color = fade.color,
+              .modified = true
+            };
+            ledEffect = (LedEffect_t) {
+              .type = LED_EFFECT_SOLID,
+              .effect.solid = solid
+            };
+            break;
+          }
+
+          if (fade.tickCounter == 0) {
+            if (fade.increasing) {
+              fade.brightness++;
+              if (fade.brightness == 0xff) {
+                fade.increasing = false;
+              }
+            } else {
+              fade.brightness--;
+              if (fade.brightness == 0) {
+                fade.increasing = true;
+              }
+            }
+
+            uint16_t r = ((uint16_t) fade.color.R) * ((uint16_t) fade.brightness) / 0xff;
+            uint16_t g = ((uint16_t) fade.color.G) * ((uint16_t) fade.brightness) / 0xff;
+            uint16_t b = ((uint16_t) fade.color.B) * ((uint16_t) fade.brightness) / 0xff;
+
+            rgb_t color = {
+              (uint8_t) g,
+              (uint8_t) r,
+              (uint8_t) b
+            };
+
+            set_color_buffer(color);
+          }
+
+          fade.tickCounter = (fade.tickCounter + 1) % fade.ticksPerStep;
+          ledEffect.effect.fade = fade;
+          break;
+        }
+      }
+      break;
+    }
+
     default:
       // Nothing to do
       break;
@@ -957,6 +1086,23 @@ ApplicationInit(
   initWs2812();
   initqma6100p();
 
+  // Try to restore the user-defined color from NVM
+  NabuCasaLedStorage_t ledStorage = {0};
+  if (
+    SerialApiNvmReadAppData(NC_APPDATA_OFFSET_LED, (uint8_t *)&ledStorage, sizeof(ledStorage))
+    && ledStorage.valid
+  ) {
+    rgb_t color = {
+      .G = ledStorage.g,
+      .R = ledStorage.r,
+      .B = ledStorage.b
+    };
+    ledMode = LED_MODE_MANUAL;
+    set_color_buffer(color);
+  } else {
+    set_color_buffer(white);
+  }
+
   /*************************************************************************************
    * CREATE USER TASKS  -  ZW_ApplicationRegisterTask() and ZW_UserTask_CreateTask()
    *************************************************************************************

app.h

@@ -35,6 +35,8 @@
 #include <ZW_controller_api.h>
 #endif
 
+#include "drivers/ws2812.h"
+
 /* Serial API version */
 #define SERIAL_API_VER 10
 
@@ -270,4 +272,37 @@ extern void ApplicationNodeUpdate(uint8_t bStatus, uint16_t nodeID, uint8_t *pCm
 
 extern uint8_t compl_workbuf[BUF_SIZE_TX];
 
+typedef struct LedEffectSolid {
+  rgb_t color;
+  bool modified;
+} LedEffectSolid_t;
+
+typedef struct LedEffectFade {
+  rgb_t color;
+  uint8_t brightness;
+  uint8_t ticksPerStep;
+  uint8_t tickCounter;
+  bool increasing;
+  bool stopAtMax;
+} LedEffectFade_t;
+
+typedef enum {
+  LED_EFFECT_SOLID,
+  LED_EFFECT_FADE
+} LedEffectType_t;
+
+typedef struct {
+  LedEffectType_t type;
+  union {
+    LedEffectSolid_t solid;
+    LedEffectFade_t fade;
+  } effect;
+} LedEffect_t;
+
+typedef enum {
+  LED_MODE_STATUS = 0,
+  LED_MODE_CALIBRATION = 1,
+  LED_MODE_MANUAL = 2,
+} LedMode_t;
+
 #endif /* _SERIALAPPL_H_ */

app_events.h

@@ -21,6 +21,8 @@ typedef enum EVENT_APP_NC
    */
   EVENT_APP_USERTASK_READY,
   EVENT_APP_USERTASK_GYRO_MEASUREMENT,
+  EVENT_APP_USERTASK_TICK_LED,
+  EVENT_APP_CONNECTED,
 }
 EVENT_APP;
 

app_hw_task.c

@@ -32,7 +32,8 @@
  * MACROS
  ***************************************************************/
 
-#define USER_TASK_WAKEUP_PERIOD 500
+#define USER_TASK_WAKEUP_PERIOD 2 // needed to pulse LEDs smoothly
+#define GYRO_MEASURE_PERIOD 500
 
 /****************************************************************
  * FORWARD DECLARATIONS (none preferred)
@@ -55,19 +56,30 @@ static zpal_pm_handle_t task_power_lock;
  */
 NO_RETURN static void executeThread(void)
 {
+  TickType_t last_gyro_measure = 0;
   for (;;)
   {
     zpal_pm_stay_awake(task_power_lock, 0);
 
-    int16_t acc_data[3];
-    qma6100p_read_raw_xyz(acc_data);
-    gyro_reading_t gyro_reading = {
-        .x = acc_data[0],
-        .y = acc_data[1],
-        .z = acc_data[2]};
-    nc_event_payload_t payload = {
-        .gyro_reading = gyro_reading};
-    zaf_event_distributor_enqueue_proprietary_app_event(EVENT_APP_USERTASK_GYRO_MEASUREMENT, &payload);
+    TickType_t now = xTaskGetTickCount();
+
+    // Measure the gyro when it's time
+    if (now - last_gyro_measure >= pdMS_TO_TICKS(GYRO_MEASURE_PERIOD))
+    {
+      int16_t acc_data[3];
+      qma6100p_read_raw_xyz(acc_data);
+      gyro_reading_t gyro_reading = {
+          .x = acc_data[0],
+          .y = acc_data[1],
+          .z = acc_data[2]};
+      nc_event_payload_t payload = {
+          .gyro_reading = gyro_reading};
+      zaf_event_distributor_enqueue_proprietary_app_event(EVENT_APP_USERTASK_GYRO_MEASUREMENT, &payload);
+      last_gyro_measure = now;
+    }
+
+    // Trigger a new LED tick
+    zaf_event_distributor_enqueue_proprietary_app_event(EVENT_APP_USERTASK_TICK_LED, NULL);
 
     zpal_pm_cancel(task_power_lock);
     vTaskDelay(pdMS_TO_TICKS(USER_TASK_WAKEUP_PERIOD));