1 files changed, 110 insertions, 0 deletions
diff --git a/usr/space_light/src/space_light.c b/usr/space_light/src/space_light.c
new file mode 100644
index 0000000..f1a0373
--- /dev/null
+++ b/usr/space_light/src/space_light.c
@@ -0,0 +1,110 @@
+#include "comm.h"
+#include "comm_task.h"
+#include <math.h>
+#include <space_light.h>
+#include <stdint.h>
+
+#include "BkDriverPwm.h"
+
+#define WARM BK_PWM_0
+#define COLD BK_PWM_2
+#define RED BK_PWM_3
+#define GREEN BK_PWM_4
+#define BLUE BK_PWM_5
+
+static const float max_freq = 1000.0f;
+
+// FIXME: consider creating a lookup table
+static inline uint16_t get_led_frequency(const uint8_t value,
+                                         const float gamma) {
+  return (uint16_t)pow((float)value / 255.0f, gamma) * max_freq + 0.5;
+}
+
+void setRGBCW(struct RGBCW *rgbcw) {
+  if (rgbcw->r) {
+    bk_pwm_initialize(RED, get_led_frequency(rgbcw->r, 2.8), 10);
+    bk_pwm_start(RED);
+  } else {
+    // FIXME: same as in the init ^^ should be stop
+    bk_pwm_initialize(RED, 100, 10);
+    bk_pwm_start(RED);
+  }
+
+  if (rgbcw->g) {
+    bk_pwm_initialize(GREEN, get_led_frequency(rgbcw->g, 2.8), 10);
+    bk_pwm_start(GREEN);
+  } else {
+    // FIXME: same as in the init ^^ should be stop
+    bk_pwm_initialize(GREEN, 100, 10);
+    bk_pwm_start(GREEN);
+  }
+
+  if (rgbcw->b) {
+    bk_pwm_initialize(BLUE, get_led_frequency(rgbcw->b, 2.8), 10);
+    bk_pwm_start(BLUE);
+  } else {
+    // FIXME: same as in the init ^^ should be stop
+    bk_pwm_initialize(BLUE, 100, 10);
+    bk_pwm_start(BLUE);
+  }
+
+  if (rgbcw->c) {
+    uint16_t value = rgbcw->c;
+    if (value > 100) {
+      value = 100;
+    }
+    value = value * 10;
+    bk_pwm_initialize(COLD, value, 50);
+    bk_pwm_start(COLD);
+  } else {
+    bk_pwm_initialize(COLD, 0, 50);
+    bk_pwm_stop(COLD);
+  }
+
+  if (rgbcw->w) {
+    uint16_t value = rgbcw->w;
+    if (value > 100) {
+      value = 100;
+    }
+    value = value * 10;
+    value = 1000 - value; // the motor is inverted 1000 is the slowest value
+    bk_pwm_initialize(WARM, value, 10);
+    bk_pwm_start(WARM);
+  } else {
+    bk_pwm_initialize(WARM, 0, 10);
+    bk_pwm_stop(WARM);
+  }
+}
+
+void init_led_thread(void *arg) {
+  // FIXME: this is as it is stupid and bad but it works this way..
+  // TODO: figure out how to just disable pwm without setting defaults first ^^
+  // TODO: update pwm also is not working like it should
+  bk_pwm_stop(RED);
+  bk_pwm_stop(GREEN);
+  bk_pwm_stop(BLUE);
+  bk_pwm_stop(COLD);
+  bk_pwm_stop(WARM);
+
+  bk_pwm_initialize(RED, 100, 50);
+  bk_pwm_start(RED);
+  bk_pwm_initialize(GREEN, 100, 50);
+  bk_pwm_start(GREEN);
+  bk_pwm_initialize(BLUE, 100, 50);
+  bk_pwm_start(BLUE);
+  // FIXME: laser is still a puzzle to me
+  bk_pwm_initialize(COLD, 100, 50);
+  bk_pwm_start(COLD);
+  bk_pwm_initialize(WARM, 1000, 50);
+  bk_pwm_start(WARM);
+
+  // FIXME: doing this will start all leds to full color ^^
+  // TODO: figgure out how to reverse the level in the configuration of each PWM
+  // bk_pwm_stop(RED);
+  // bk_pwm_stop(GREEN);
+  // bk_pwm_stop(BLUE);
+  // bk_pwm_stop(COLD);
+  // bk_pwm_stop(WARM);
+
+  rtos_delete_thread(NULL);
+}