LEDs: Status bar confirmation animation

Feature: LED status bar confirmation animation for config writes and
 konami triggers.

src/konami.c

@@ -29,7 +29,7 @@ static void konami_reset(Konami *konami) {
     konami->state = 0;
 }
 
-bool konami_check(Konami *konami, const FootpadSensor *fs, float current_time) {
+bool konami_check(Konami *konami, Leds *leds, const FootpadSensor *fs, float current_time) {
     if (konami->time > 0 && current_time - konami->time > 0.5) {
         konami_reset(konami);
         return false;
@@ -39,6 +39,7 @@ bool konami_check(Konami *konami, const FootpadSensor *fs, float current_time) {
         ++konami->state;
         if (konami->state == konami->sequence_size) {
             konami_reset(konami);
+            leds_status_confirm(leds);
             return true;
         }
 

src/konami.h

@@ -18,6 +18,7 @@
 #pragma once
 
 #include "footpad_sensor.h"
+#include "leds.h"
 
 typedef struct {
     float time;
@@ -28,4 +29,4 @@ typedef struct {
 
 void konami_init(Konami *konami, const FootpadSensorState *sequence, uint8_t sequence_size);
 
-bool konami_check(Konami *konami, const FootpadSensor *fs, float current_time);
+bool konami_check(Konami *konami, Leds *leds, const FootpadSensor *fs, float current_time);

src/leds.c

@@ -81,6 +81,9 @@ static const uint32_t colors[] = {
 #define FOOTPAD_SENSOR_COLOR 0x0000C0FF
 #define RED_BAR_COLOR 0x00FF3828
 #define BATTERY10_BAR_COLOR 0x00FF5038
+#define CONFIRM_COLOR 0x00A040FF
+
+#define CONFIRM_ANIMATION_DURATION 0.8f
 
 static uint32_t color_blend(uint32_t color1, uint32_t color2, float blend) {
     if (blend <= 0.0f) {
@@ -422,6 +425,55 @@ static void anim_disabled(Leds *leds, const LedStrip *strip, float time) {
     anim_pulse(leds, strip, &disabled_bar, time / 2.0f, strip->length / 3.0f);
 }
 
+static void anim_confirm(Leds *leds, const LedStrip *strip, float time) {
+    time = fminf(time, 1.0f);
+
+    const float blend_time = 0.06f;
+    float blend = 1.0f;
+    if (time <= blend_time) {
+        blend = time / blend_time;
+    } else if (time >= 1.0f - blend_time) {
+        blend = (1.0f - time) / blend_time;
+    }
+
+    const float period = 1.0f - blend_time;
+    const float half_period = period * 0.5f;
+    time = fminf(time - blend_time, period);
+
+    const float pulse_ratio = 1.5f;
+    float p;
+    if (time <= half_period) {
+        p = time / half_period * pulse_ratio;
+    } else {
+        p = (period - time) / half_period * pulse_ratio;
+    }
+
+    if (p > 1.0f) {
+        p = 2.0f - p;
+    }
+
+    p = p * p;
+
+    float sides = strip->length * 0.1f;
+    float center = strip->length * 0.125f;
+    float length = strip->length * 0.5f - sides - center;
+    float offset = sides + length * (1.0f - p);
+    float feather = strip->length * 0.25f;
+
+    for (uint8_t i = 0; i < strip->length; ++i) {
+        float d;
+        if (i < strip->length * 0.5f) {
+            d = i - offset + 1.0f;
+        } else {
+            d = strip->length - offset - i;
+        }
+
+        float k = clampf(d / feather, 0.0f, 1.0f);
+        uint32_t color = color_blend(COLOR_BLACK, CONFIRM_COLOR, k);
+        led_set_color(leds, strip, i, color, strip->brightness, blend);
+    }
+}
+
 static void status_animate(
     Leds *leds, const LedStrip *strip, float current_time, float blend, float idle_blend
 ) {
@@ -472,6 +524,12 @@ static void status_animate(
             anim_fs_state(leds, strip, reverse, blend);
         }
     }
+
+    float conf_prog =
+        (current_time - leds->confirm_animation_start) * (1.0f / CONFIRM_ANIMATION_DURATION);
+    if (conf_prog <= 1.0f) {
+        anim_confirm(leds, strip, conf_prog);
+    }
 }
 
 static void transition_reset(const Leds *leds, TransitionState *trans, LedStrip *strip) {
@@ -682,6 +740,8 @@ bool leds_init(Leds *leds, CfgHwLeds *hw_cfg, const CfgLeds *cfg, FootpadSensorS
     leds->headlights_time = 0.0f;
     leds->animation_start = 0;
 
+    leds->confirm_animation_start = -10.0f;  // Just so it doesn't trigger right after init
+
     leds->headlights_trans.transition = LED_TRANS_FADE;
     leds->headlights_trans.split = 1.0f;
     leds->dir_trans.transition = LED_TRANS_FADE;
@@ -1052,6 +1112,17 @@ void leds_update(Leds *leds, const State *state, FootpadSensorState fs_state) {
     led_driver_paint(&leds->led_driver, leds->led_data, leds->led_count);
 }
 
+void leds_status_confirm(Leds *leds) {
+    if (!leds->led_data) {
+        return;
+    }
+
+    float current_time = VESC_IF->system_time();
+    if (current_time - leds->confirm_animation_start > CONFIRM_ANIMATION_DURATION) {
+        leds->confirm_animation_start = current_time;
+    }
+}
+
 void leds_destroy(Leds *leds) {
     led_driver_destroy(&leds->led_driver);
 

src/leds.h

@@ -80,6 +80,8 @@ typedef struct {
     float headlights_time;
     float animation_start;
 
+    float confirm_animation_start;
+
     TransitionState headlights_trans;
     TransitionState dir_trans;
 
@@ -102,4 +104,6 @@ void leds_configure(Leds *leds, const CfgLeds *cfg);
 
 void leds_update(Leds *leds, const State *state, FootpadSensorState fs_state);
 
+void leds_status_confirm(Leds *leds);
+
 void leds_destroy(Leds *leds);

src/main.c

@@ -1369,7 +1369,9 @@ static void refloat_thd(void *arg) {
             }
 
             if (d->state.mode != MODE_FLYWHEEL && d->pitch > 75 && d->pitch < 105) {
-                if (konami_check(&d->flywheel_konami, &d->footpad_sensor, d->current_time)) {
+                if (konami_check(
+                        &d->flywheel_konami, &d->leds, &d->footpad_sensor, d->current_time
+                    )) {
                     unsigned char enabled[6] = {0x82, 0, 0, 0, 0, 1};
                     cmd_flywheel_toggle(d, enabled, 6);
                 }
@@ -1484,6 +1486,7 @@ static void write_cfg_to_eeprom(data *d) {
     }
 
     beep_alert(d, 1, 0);
+    leds_status_confirm(&d->leds);
 }
 
 static void led_thd(void *arg) {