2013-09-19 03:27:31 -03:00
|
|
|
/*
|
|
|
|
This program is free software: you can redistribute it and/or modify
|
|
|
|
it under the terms of the GNU General Public License as published by
|
|
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
|
|
(at your option) any later version.
|
|
|
|
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
|
|
GNU General Public License for more details.
|
|
|
|
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
|
|
*/
|
|
|
|
|
2015-08-11 03:28:44 -03:00
|
|
|
#include "AP_Notify.h"
|
2013-09-19 03:27:31 -03:00
|
|
|
|
2016-01-29 00:38:21 -04:00
|
|
|
#include "AP_BoardLED.h"
|
2017-01-26 08:12:36 -04:00
|
|
|
#include "PixRacerLED.h"
|
2016-01-29 00:38:21 -04:00
|
|
|
#include "Buzzer.h"
|
2017-01-19 03:15:24 -04:00
|
|
|
#include "Display.h"
|
2016-01-29 00:38:21 -04:00
|
|
|
#include "ExternalLED.h"
|
|
|
|
#include "NavioLED_I2C.h"
|
|
|
|
#include "OreoLED_PX4.h"
|
|
|
|
#include "RCOutputRGBLed.h"
|
|
|
|
#include "ToneAlarm_Linux.h"
|
|
|
|
#include "ToneAlarm_PX4.h"
|
|
|
|
#include "ToshibaLED.h"
|
|
|
|
#include "ToshibaLED_I2C.h"
|
|
|
|
#include "VRBoard_LED.h"
|
2016-02-25 09:30:36 -04:00
|
|
|
#include "DiscreteRGBLed.h"
|
2016-10-26 05:26:59 -03:00
|
|
|
#include "DiscoLED.h"
|
2017-01-20 01:39:49 -04:00
|
|
|
#include <stdio.h>
|
2016-09-30 04:21:28 -03:00
|
|
|
|
2017-07-08 20:40:45 -03:00
|
|
|
AP_Notify *AP_Notify::_instance;
|
|
|
|
|
2017-09-06 07:12:36 -03:00
|
|
|
#define CONFIG_NOTIFY_DEVICES_MAX 6
|
|
|
|
|
|
|
|
#define TOSHIBA_LED_I2C_BUS_INTERNAL 0
|
|
|
|
#define TOSHIBA_LED_I2C_BUS_EXTERNAL 1
|
2016-01-29 00:38:21 -04:00
|
|
|
|
2015-12-01 16:22:26 -04:00
|
|
|
// table of user settable parameters
|
|
|
|
const AP_Param::GroupInfo AP_Notify::var_info[] = {
|
|
|
|
|
2015-12-30 22:11:00 -04:00
|
|
|
// @Param: LED_BRIGHT
|
|
|
|
// @DisplayName: LED Brightness
|
|
|
|
// @Description: Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.
|
2015-12-01 16:22:26 -04:00
|
|
|
// @Values: 0:Off,1:Low,2:Medium,3:High
|
|
|
|
// @User: Advanced
|
|
|
|
AP_GROUPINFO("LED_BRIGHT", 0, AP_Notify, _rgb_led_brightness, RGB_LED_HIGH),
|
|
|
|
|
2016-03-31 15:18:52 -03:00
|
|
|
// @Param: BUZZ_ENABLE
|
|
|
|
// @DisplayName: Buzzer enable
|
|
|
|
// @Description: Enable or disable the buzzer. Only for Linux and PX4 based boards.
|
|
|
|
// @Values: 0:Disable,1:Enable
|
|
|
|
// @User: Advanced
|
|
|
|
AP_GROUPINFO("BUZZ_ENABLE", 1, AP_Notify, _buzzer_enable, BUZZER_ON),
|
|
|
|
|
2016-07-16 03:02:27 -03:00
|
|
|
// @Param: LED_OVERRIDE
|
|
|
|
// @DisplayName: Setup for MAVLink LED override
|
|
|
|
// @Description: This sets up the board RGB LED for override by MAVLink. Normal notify LED control is disabled
|
|
|
|
// @Values: 0:Disable,1:Enable
|
|
|
|
// @User: Advanced
|
|
|
|
AP_GROUPINFO("LED_OVERRIDE", 2, AP_Notify, _rgb_led_override, 0),
|
2016-09-30 04:21:28 -03:00
|
|
|
|
|
|
|
// @Param: DISPLAY_TYPE
|
|
|
|
// @DisplayName: Type of on-board I2C display
|
|
|
|
// @Description: This sets up the type of on-board I2C display. Disabled by default.
|
|
|
|
// @Values: 0:Disable,1:ssd1306,2:sh1106
|
|
|
|
// @User: Advanced
|
|
|
|
AP_GROUPINFO("DISPLAY_TYPE", 3, AP_Notify, _display_type, 0),
|
|
|
|
|
2017-06-01 19:08:07 -03:00
|
|
|
// @Param: OREO_THEME
|
|
|
|
// @DisplayName: OreoLED Theme
|
|
|
|
// @Description: Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme
|
|
|
|
// @Values: 0:Disabled,1:Aircraft,2:Rover
|
|
|
|
// @User: Advanced
|
|
|
|
AP_GROUPINFO("OREO_THEME", 4, AP_Notify, _oreo_theme, 0),
|
|
|
|
|
2015-12-01 16:22:26 -04:00
|
|
|
AP_GROUPEND
|
|
|
|
};
|
|
|
|
|
|
|
|
// Default constructor
|
|
|
|
AP_Notify::AP_Notify()
|
|
|
|
{
|
|
|
|
AP_Param::setup_object_defaults(this, var_info);
|
2017-07-08 20:40:45 -03:00
|
|
|
if (_instance != nullptr) {
|
|
|
|
AP_HAL::panic("AP_Notify must be singleton");
|
|
|
|
}
|
|
|
|
_instance = this;
|
2015-12-01 16:22:26 -04:00
|
|
|
}
|
|
|
|
|
2013-09-19 03:27:31 -03:00
|
|
|
// static flags, to allow for direct class update from device drivers
|
2016-09-30 04:21:28 -03:00
|
|
|
struct AP_Notify::notify_flags_and_values_type AP_Notify::flags;
|
2014-10-23 09:04:34 -03:00
|
|
|
struct AP_Notify::notify_events_type AP_Notify::events;
|
2013-09-19 03:27:31 -03:00
|
|
|
|
2017-09-06 07:12:36 -03:00
|
|
|
NotifyDevice *AP_Notify::_devices[CONFIG_NOTIFY_DEVICES_MAX];
|
|
|
|
uint8_t AP_Notify::_num_devices;
|
2016-01-22 16:03:07 -04:00
|
|
|
|
2017-09-06 07:12:36 -03:00
|
|
|
#define ADD_BACKEND(backend) do { _devices[_num_devices++] = backend; if (_num_devices >= CONFIG_NOTIFY_DEVICES_MAX) return;} while(0)
|
|
|
|
|
|
|
|
// add notify backends to _devices array
|
|
|
|
void AP_Notify::add_backends(void)
|
2017-06-01 19:08:07 -03:00
|
|
|
{
|
2017-09-06 07:12:36 -03:00
|
|
|
if (_num_devices != 0) {
|
|
|
|
return;
|
|
|
|
}
|
2016-01-22 16:02:08 -04:00
|
|
|
|
2017-06-01 19:08:07 -03:00
|
|
|
// Notify devices for PX4 boards
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
|
2017-09-06 07:12:36 -03:00
|
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V3 // Has enough memory for Oreo LEDs
|
|
|
|
ADD_BACKEND(new AP_BoardLED());
|
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
|
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
|
|
|
|
ADD_BACKEND(new ToneAlarm_PX4());
|
|
|
|
ADD_BACKEND(new Display());
|
|
|
|
|
|
|
|
// Oreo LED enable/disable by NTF_OREO_THEME parameter
|
|
|
|
if (_oreo_theme) {
|
|
|
|
ADD_BACKEND(new OreoLED_PX4(_oreo_theme));
|
|
|
|
}
|
2017-06-01 19:08:07 -03:00
|
|
|
|
2017-09-06 07:12:36 -03:00
|
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V4 // Has its own LED board
|
|
|
|
ADD_BACKEND(new PixRacerLED());
|
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
|
2017-10-06 22:34:47 -03:00
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
|
2017-09-06 07:12:36 -03:00
|
|
|
ADD_BACKEND(new ToneAlarm_PX4());
|
|
|
|
ADD_BACKEND(new Display());
|
2017-06-01 19:08:07 -03:00
|
|
|
|
2017-09-06 07:12:36 -03:00
|
|
|
#else // All other px4 boards use standard devices.
|
|
|
|
ADD_BACKEND(new AP_BoardLED());
|
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
|
2017-10-06 22:34:47 -03:00
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
|
2017-09-06 07:12:36 -03:00
|
|
|
ADD_BACKEND(new ToneAlarm_PX4());
|
|
|
|
ADD_BACKEND(new Display());
|
|
|
|
#endif
|
2016-01-22 16:02:08 -04:00
|
|
|
|
2017-06-01 19:08:07 -03:00
|
|
|
// Notify devices for VRBRAIN boards
|
|
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
|
2017-09-06 07:12:36 -03:00
|
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_VRBRAIN_V45 // Uses px4 LED board
|
|
|
|
ADD_BACKEND(new AP_BoardLED());
|
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
|
2017-10-06 22:34:47 -03:00
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
|
2017-09-06 07:12:36 -03:00
|
|
|
ADD_BACKEND(new ToneAlarm_PX4());
|
|
|
|
ADD_BACKEND(new ExternalLED());
|
|
|
|
#else
|
|
|
|
ADD_BACKEND(new VRBoard_LED());
|
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
|
2017-10-06 22:34:47 -03:00
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
|
2017-09-06 07:12:36 -03:00
|
|
|
ADD_BACKEND(new ToneAlarm_PX4());
|
|
|
|
ADD_BACKEND(new ExternalLED());
|
|
|
|
#endif
|
2016-07-05 12:25:23 -03:00
|
|
|
|
2017-06-01 19:08:07 -03:00
|
|
|
// Notify devices for linux boards
|
2014-11-14 10:14:40 -04:00
|
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
2017-09-06 07:12:36 -03:00
|
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
|
|
|
|
ADD_BACKEND(new NavioLED_I2C());
|
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
|
2017-10-06 22:34:47 -03:00
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
|
2017-09-06 07:12:36 -03:00
|
|
|
|
|
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
|
|
|
|
ADD_BACKEND(new DiscreteRGBLed(4, 27, 6, false));
|
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
|
2017-10-06 22:34:47 -03:00
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
|
2017-09-06 07:12:36 -03:00
|
|
|
|
2017-10-13 11:54:40 -03:00
|
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
|
|
|
|
ADD_BACKEND(new RCOutputRGBLedInverted(12, 13, 14));
|
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
|
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
|
|
|
|
|
2017-09-06 07:12:36 -03:00
|
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
|
|
|
|
ADD_BACKEND(new AP_BoardLED());
|
|
|
|
ADD_BACKEND(new Buzzer());
|
|
|
|
ADD_BACKEND(new Display());
|
|
|
|
|
|
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
|
|
|
|
ADD_BACKEND(new AP_BoardLED());
|
|
|
|
ADD_BACKEND(new Display());
|
|
|
|
|
|
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
|
|
|
|
ADD_BACKEND(new RCOutputRGBLedOff(15, 13, 14, 255));
|
|
|
|
|
|
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
|
2016-01-05 06:37:13 -04:00
|
|
|
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
|
2017-09-06 07:12:36 -03:00
|
|
|
ADD_BACKEND(new AP_BoardLED());
|
2017-06-01 19:08:07 -03:00
|
|
|
|
2017-09-06 07:12:36 -03:00
|
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
|
|
|
|
ADD_BACKEND(new AP_BoardLED());
|
|
|
|
ADD_BACKEND(new RCOutputRGBLed(HAL_RCOUT_RGBLED_RED, HAL_RCOUT_RGBLED_GREEN, HAL_RCOUT_RGBLED_BLUE));
|
2017-06-01 19:08:07 -03:00
|
|
|
|
2017-09-06 07:12:36 -03:00
|
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
|
|
|
|
ADD_BACKEND(new DiscoLED());
|
|
|
|
ADD_BACKEND(new ToneAlarm_Linux());
|
2017-06-01 19:08:07 -03:00
|
|
|
|
2017-09-06 07:12:36 -03:00
|
|
|
#else // other linux
|
|
|
|
ADD_BACKEND(new AP_BoardLED());
|
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
|
2017-10-06 22:34:47 -03:00
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
|
2017-09-06 07:12:36 -03:00
|
|
|
ADD_BACKEND(new ToneAlarm_Linux());
|
|
|
|
#endif
|
2017-06-01 19:08:07 -03:00
|
|
|
|
2014-11-14 10:14:40 -04:00
|
|
|
#else
|
2017-09-06 07:12:36 -03:00
|
|
|
ADD_BACKEND(new AP_BoardLED());
|
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
|
2017-10-06 22:34:47 -03:00
|
|
|
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
|
2014-11-14 10:14:40 -04:00
|
|
|
#endif
|
2017-09-06 07:12:36 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
// initialisation
|
|
|
|
void AP_Notify::init(bool enable_external_leds)
|
|
|
|
{
|
|
|
|
// add all the backends
|
|
|
|
add_backends();
|
2014-11-14 10:14:40 -04:00
|
|
|
|
2015-02-02 17:14:44 -04:00
|
|
|
// clear all flags and events
|
|
|
|
memset(&AP_Notify::flags, 0, sizeof(AP_Notify::flags));
|
|
|
|
memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
|
|
|
|
|
2017-01-20 06:13:37 -04:00
|
|
|
// clear flight mode string and text buffer
|
|
|
|
memset(_flight_mode_str, 0, sizeof(_flight_mode_str));
|
2016-09-30 04:21:28 -03:00
|
|
|
memset(_send_text, 0, sizeof(_send_text));
|
2017-02-17 03:19:16 -04:00
|
|
|
_send_text_updated_millis = 0;
|
2016-09-30 04:21:28 -03:00
|
|
|
|
2013-11-30 09:53:40 -04:00
|
|
|
AP_Notify::flags.external_leds = enable_external_leds;
|
|
|
|
|
2017-09-06 07:12:36 -03:00
|
|
|
for (uint8_t i = 0; i < _num_devices; i++) {
|
2017-06-01 19:08:07 -03:00
|
|
|
if (_devices[i] != nullptr) {
|
|
|
|
_devices[i]->pNotify = this;
|
|
|
|
_devices[i]->init();
|
|
|
|
}
|
2014-11-14 10:14:40 -04:00
|
|
|
}
|
2013-09-19 03:27:31 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
// main update function, called at 50Hz
|
|
|
|
void AP_Notify::update(void)
|
|
|
|
{
|
2017-09-06 07:12:36 -03:00
|
|
|
for (uint8_t i = 0; i < _num_devices; i++) {
|
2017-06-01 19:08:07 -03:00
|
|
|
if (_devices[i] != nullptr) {
|
|
|
|
_devices[i]->update();
|
|
|
|
}
|
2014-11-14 10:14:40 -04:00
|
|
|
}
|
2014-10-23 09:04:34 -03:00
|
|
|
|
|
|
|
//reset the events
|
|
|
|
memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
|
2013-09-19 03:27:31 -03:00
|
|
|
}
|
2015-02-26 03:07:33 -04:00
|
|
|
|
|
|
|
// handle a LED_CONTROL message
|
|
|
|
void AP_Notify::handle_led_control(mavlink_message_t *msg)
|
|
|
|
{
|
2017-09-06 07:12:36 -03:00
|
|
|
for (uint8_t i = 0; i < _num_devices; i++) {
|
2017-06-01 19:08:07 -03:00
|
|
|
if (_devices[i] != nullptr) {
|
|
|
|
_devices[i]->handle_led_control(msg);
|
|
|
|
}
|
2015-02-26 03:07:33 -04:00
|
|
|
}
|
|
|
|
}
|
2016-07-22 00:37:25 -03:00
|
|
|
|
|
|
|
// handle a PLAY_TUNE message
|
|
|
|
void AP_Notify::handle_play_tune(mavlink_message_t *msg)
|
|
|
|
{
|
2017-09-06 07:12:36 -03:00
|
|
|
for (uint8_t i = 0; i < _num_devices; i++) {
|
2017-06-01 19:08:07 -03:00
|
|
|
if (_devices[i] != nullptr) {
|
|
|
|
_devices[i]->handle_play_tune(msg);
|
|
|
|
}
|
2016-07-22 00:37:25 -03:00
|
|
|
}
|
|
|
|
}
|
2016-09-30 04:21:28 -03:00
|
|
|
|
2017-01-20 06:13:37 -04:00
|
|
|
// set flight mode string
|
|
|
|
void AP_Notify::set_flight_mode_str(const char *str)
|
|
|
|
{
|
|
|
|
strncpy(_flight_mode_str, str, 4);
|
|
|
|
_flight_mode_str[sizeof(_flight_mode_str)-1] = 0;
|
|
|
|
}
|
|
|
|
|
2016-09-30 04:21:28 -03:00
|
|
|
void AP_Notify::send_text(const char *str)
|
|
|
|
{
|
|
|
|
strncpy(_send_text, str, sizeof(_send_text));
|
|
|
|
_send_text[sizeof(_send_text)-1] = 0;
|
2017-02-17 03:19:16 -04:00
|
|
|
_send_text_updated_millis = AP_HAL::millis();
|
2016-09-30 04:21:28 -03:00
|
|
|
}
|