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Tools: use new AP_PERIPH_NOTIFY_ENABLED define

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This commit is contained in:
Shiv Tyagi 2025-02-19 23:27:06 +05:30 committed by Peter Barker
parent 44d07c8f79
commit 2b6bbedce6
6 changed files with 35 additions and 32 deletions
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16
Tools/AP_Periph/AP_Periph.cpp
View File

@ -300,7 +300,7 @@ void AP_Periph_FW::init()
rpm_sensor.init();
#endif
#ifdef HAL_PERIPH_ENABLE_NOTIFY
#if AP_PERIPH_NOTIFY_ENABLED
notify.init();
#endif
@ -314,13 +314,13 @@ void AP_Periph_FW::init()
start_ms = AP_HAL::millis();
}
#if (defined(HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY) && HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY == 8) || defined(HAL_PERIPH_ENABLE_NOTIFY)
#if (defined(HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY) && HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY == 8) || AP_PERIPH_NOTIFY_ENABLED
/*
rotating rainbow pattern on startup
*/
void AP_Periph_FW::update_rainbow()
{
#ifdef HAL_PERIPH_ENABLE_NOTIFY
#if AP_PERIPH_NOTIFY_ENABLED
if (notify.get_led_len() != 8) {
return;
}
@ -332,7 +332,7 @@ void AP_Periph_FW::update_rainbow()
uint32_t now = AP_HAL::millis();
if (now - start_ms > 1500) {
rainbow_done = true;
#if defined (HAL_PERIPH_ENABLE_NOTIFY)
#if AP_PERIPH_NOTIFY_ENABLED
periph.notify.handle_rgb(0, 0, 0);
#elif defined(HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY)
hal.rcout->set_serial_led_rgb_data(HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY, -1, 0, 0, 0);
@ -365,7 +365,7 @@ void AP_Periph_FW::update_rainbow()
float brightness = 0.3;
for (uint8_t n=0; n<8; n++) {
uint8_t i = (step + n) % nsteps;
#if defined (HAL_PERIPH_ENABLE_NOTIFY)
#if AP_PERIPH_NOTIFY_ENABLED
periph.notify.handle_rgb(
#elif defined(HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY)
hal.rcout->set_serial_led_rgb_data(HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY, n,
@ -380,7 +380,7 @@ void AP_Periph_FW::update_rainbow()
hal.rcout->serial_led_send(HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY);
#endif
}
#endif // HAL_PERIPH_ENABLE_NOTIFY
#endif // AP_PERIPH_NOTIFY_ENABLED
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && CH_DBG_ENABLE_STACK_CHECK == TRUE
@ -505,7 +505,7 @@ void AP_Periph_FW::update()
if (now - fiftyhz_last_update_ms >= 20) {
// update at 50Hz
fiftyhz_last_update_ms = now;
#ifdef HAL_PERIPH_ENABLE_NOTIFY
#if AP_PERIPH_NOTIFY_ENABLED
notify.update();
#endif
#if HAL_GCS_ENABLED
@ -539,7 +539,7 @@ void AP_Periph_FW::update()
networking_periph.update();
#endif
#if (defined(HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY) && HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY == 8) || defined(HAL_PERIPH_ENABLE_NOTIFY)
#if (defined(HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY) && HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY == 8) || AP_PERIPH_NOTIFY_ENABLED
update_rainbow();
#endif
#if AP_PERIPH_ADSB_ENABLED

14
Tools/AP_Periph/AP_Periph.h
View File

@ -77,18 +77,18 @@
#define AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY
#endif
#ifdef HAL_PERIPH_ENABLE_NOTIFY
#if AP_PERIPH_NOTIFY_ENABLED
#if !defined(HAL_PERIPH_ENABLE_RC_OUT) && !defined(HAL_PERIPH_NOTIFY_WITHOUT_RCOUT)
#error "HAL_PERIPH_ENABLE_NOTIFY requires HAL_PERIPH_ENABLE_RC_OUT"
#error "AP_PERIPH_NOTIFY_ENABLED requires HAL_PERIPH_ENABLE_RC_OUT"
#endif
#ifdef HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY
#error "You cannot enable HAL_PERIPH_ENABLE_NOTIFY and HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY at the same time. Notify already includes it"
#error "You cannot enable AP_PERIPH_NOTIFY_ENABLED and HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY at the same time. Notify already includes it"
#endif
#ifdef AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY
#error "You cannot enable HAL_PERIPH_ENABLE_NOTIFY and any HAL_PERIPH_ENABLE_<device>_LED_WITHOUT_NOTIFY at the same time. Notify already includes them all"
#error "You cannot enable AP_PERIPH_NOTIFY_ENABLED and any HAL_PERIPH_ENABLE_<device>_LED_WITHOUT_NOTIFY at the same time. Notify already includes them all"
#endif
#ifdef HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY
#error "You cannot use HAL_PERIPH_ENABLE_NOTIFY and HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY at the same time. Notify already includes it. Set param OUTx_FUNCTION=120"
#error "You cannot use AP_PERIPH_NOTIFY_ENABLED and HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY at the same time. Notify already includes it. Set param OUTx_FUNCTION=120"
#endif
#endif
@ -397,10 +397,10 @@ public:
#endif
#endif
#if defined(HAL_PERIPH_ENABLE_NOTIFY) || defined(HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY)
#if AP_PERIPH_NOTIFY_ENABLED || defined(HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY)
void update_rainbow();
#endif
#ifdef HAL_PERIPH_ENABLE_NOTIFY
#if AP_PERIPH_NOTIFY_ENABLED
// notification object for LEDs, buzzers etc
AP_Notify notify;
uint64_t vehicle_state = 1; // default to initialisation

2
Tools/AP_Periph/Parameters.cpp
View File

@ -472,7 +472,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
GSCALAR(msp_port, "MSP_PORT", AP_PERIPH_MSP_PORT_DEFAULT),
#endif
#ifdef HAL_PERIPH_ENABLE_NOTIFY
#if AP_PERIPH_NOTIFY_ENABLED
// @Group: NTF_
// @Path: ../libraries/AP_Notify/AP_Notify.cpp
GOBJECT(notify, "NTF_", AP_Notify),

6
Tools/AP_Periph/buzzer.cpp
View File

@ -1,6 +1,6 @@
#include "AP_Periph.h"
#if defined(HAL_PERIPH_ENABLE_NOTIFY) || defined(HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY)
#if AP_PERIPH_NOTIFY_ENABLED || defined(HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY)
/*
buzzer support
@ -33,7 +33,7 @@ void AP_Periph_FW::handle_beep_command(CanardInstance* canard_instance, CanardRx
buzzer_len_ms = req.duration*1000;
#ifdef HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY
float volume = constrain_float(periph.g.buzz_volume*0.01f, 0, 1);
#elif defined(HAL_PERIPH_ENABLE_NOTIFY)
#elif AP_PERIPH_NOTIFY_ENABLED
float volume = constrain_float(periph.notify.get_buzz_volume()*0.01f, 0, 1);
#endif
hal.util->toneAlarm_set_buzzer_tone(req.frequency, volume, uint32_t(req.duration*1000));
@ -53,4 +53,4 @@ void AP_Periph_FW::can_buzzer_update(void)
}
}
#endif // (HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY) || (HAL_PERIPH_ENABLE_NOTIFY)
#endif // (HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY) || AP_PERIPH_NOTIFY_ENABLED

26
Tools/AP_Periph/can.cpp
View File

@ -525,15 +525,15 @@ void AP_Periph_FW::handle_arming_status(CanardInstance* canard_instance, CanardR
#if defined(AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY) || defined(HAL_PERIPH_ENABLE_NOTIFY)
#if defined(AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY) || AP_PERIPH_NOTIFY_ENABLED
void AP_Periph_FW::set_rgb_led(uint8_t red, uint8_t green, uint8_t blue)
{
#ifdef HAL_PERIPH_ENABLE_NOTIFY
#if AP_PERIPH_NOTIFY_ENABLED
notify.handle_rgb(red, green, blue);
#ifdef HAL_PERIPH_ENABLE_RC_OUT
rcout_has_new_data_to_update = true;
#endif // HAL_PERIPH_ENABLE_RC_OUT
#endif // HAL_PERIPH_ENABLE_NOTIFY
#endif // AP_PERIPH_NOTIFY_ENABLED
#ifdef HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY
hal.rcout->set_serial_led_rgb_data(HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY, -1, red, green, blue);
@ -623,7 +623,7 @@ void AP_Periph_FW::handle_lightscommand(CanardInstance* canard_instance, CanardR
uint8_t red = cmd.color.red<<3U;
uint8_t green = (cmd.color.green>>1U)<<3U;
uint8_t blue = cmd.color.blue<<3U;
#ifdef HAL_PERIPH_ENABLE_NOTIFY
#if AP_PERIPH_NOTIFY_ENABLED
const int8_t brightness = notify.get_rgb_led_brightness_percent();
#elif defined(AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY)
const int8_t brightness = g.led_brightness;
@ -674,7 +674,7 @@ void AP_Periph_FW::handle_act_command(CanardInstance* canard_instance, CanardRxT
}
#endif // HAL_PERIPH_ENABLE_RC_OUT
#if defined(HAL_PERIPH_ENABLE_NOTIFY)
#if AP_PERIPH_NOTIFY_ENABLED
void AP_Periph_FW::handle_notify_state(CanardInstance* canard_instance, CanardRxTransfer* transfer)
{
ardupilot_indication_NotifyState msg;
@ -689,7 +689,7 @@ void AP_Periph_FW::handle_notify_state(CanardInstance* canard_instance, CanardRx
vehicle_state = msg.vehicle_state;
last_vehicle_state = AP_HAL::millis();
}
#endif // HAL_PERIPH_ENABLE_NOTIFY
#endif // AP_PERIPH_NOTIFY_ENABLED
#ifdef HAL_GPIO_PIN_SAFE_LED
/*
@ -824,7 +824,7 @@ void AP_Periph_FW::onTransferReceived(CanardInstance* canard_instance,
handle_param_executeopcode(canard_instance, transfer);
break;
#if defined(HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY) || defined (HAL_PERIPH_ENABLE_NOTIFY)
#if defined(HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY) || AP_PERIPH_NOTIFY_ENABLED
case UAVCAN_EQUIPMENT_INDICATION_BEEPCOMMAND_ID:
handle_beep_command(canard_instance, transfer);
break;
@ -858,7 +858,7 @@ void AP_Periph_FW::onTransferReceived(CanardInstance* canard_instance,
break;
#endif
#if defined(AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY) || defined(HAL_PERIPH_ENABLE_NOTIFY)
#if defined(AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY) || AP_PERIPH_NOTIFY_ENABLED
case UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_ID:
handle_lightscommand(canard_instance, transfer);
break;
@ -874,7 +874,7 @@ void AP_Periph_FW::onTransferReceived(CanardInstance* canard_instance,
break;
#endif
#ifdef HAL_PERIPH_ENABLE_NOTIFY
#if AP_PERIPH_NOTIFY_ENABLED
case ARDUPILOT_INDICATION_NOTIFYSTATE_ID:
handle_notify_state(canard_instance, transfer);
break;
@ -945,7 +945,7 @@ bool AP_Periph_FW::shouldAcceptTransfer(const CanardInstance* canard_instance,
case UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_ID:
*out_data_type_signature = UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_SIGNATURE;
return true;
#if defined(HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY) || defined (HAL_PERIPH_ENABLE_NOTIFY)
#if defined(HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY) || AP_PERIPH_NOTIFY_ENABLED
case UAVCAN_EQUIPMENT_INDICATION_BEEPCOMMAND_ID:
*out_data_type_signature = UAVCAN_EQUIPMENT_INDICATION_BEEPCOMMAND_SIGNATURE;
return true;
@ -958,7 +958,7 @@ bool AP_Periph_FW::shouldAcceptTransfer(const CanardInstance* canard_instance,
case UAVCAN_EQUIPMENT_SAFETY_ARMINGSTATUS_ID:
*out_data_type_signature = UAVCAN_EQUIPMENT_SAFETY_ARMINGSTATUS_SIGNATURE;
return true;
#if defined(AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY) || defined(HAL_PERIPH_ENABLE_NOTIFY)
#if defined(AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY) || AP_PERIPH_NOTIFY_ENABLED
case UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_ID:
*out_data_type_signature = UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_SIGNATURE;
return true;
@ -990,7 +990,7 @@ bool AP_Periph_FW::shouldAcceptTransfer(const CanardInstance* canard_instance,
*out_data_type_signature = UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_SIGNATURE;
return true;
#endif
#if defined(HAL_PERIPH_ENABLE_NOTIFY)
#if AP_PERIPH_NOTIFY_ENABLED
case ARDUPILOT_INDICATION_NOTIFYSTATE_ID:
*out_data_type_signature = ARDUPILOT_INDICATION_NOTIFYSTATE_SIGNATURE;
return true;
@ -1936,7 +1936,7 @@ void AP_Periph_FW::can_update()
#ifdef HAL_PERIPH_ENABLE_PROXIMITY
can_proximity_update();
#endif
#if defined(HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY) || defined (HAL_PERIPH_ENABLE_NOTIFY)
#if defined(HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY) || AP_PERIPH_NOTIFY_ENABLED
can_buzzer_update();
#endif
#ifdef HAL_GPIO_PIN_SAFE_LED

3
Tools/ardupilotwaf/boards.py
View File

@ -977,6 +977,7 @@ class sitl_periph_universal(sitl_periph):
AP_PERIPH_RTC_ENABLED = 0,
AP_PERIPH_RCIN_ENABLED = 0,
AP_PERIPH_NETWORKING_ENABLED = 0,
AP_PERIPH_NOTIFY_ENABLED = 0,
)
class sitl_periph_gps(sitl_periph):
@ -1004,6 +1005,7 @@ class sitl_periph_gps(sitl_periph):
AP_PERIPH_RPM_STREAM_ENABLED = 0,
AP_PERIPH_AIRSPEED_ENABLED = 0,
AP_PERIPH_NETWORKING_ENABLED = 0,
AP_PERIPH_NOTIFY_ENABLED = 0,
)
class sitl_periph_battmon(sitl_periph):
@ -1031,6 +1033,7 @@ class sitl_periph_battmon(sitl_periph):
AP_PERIPH_RPM_STREAM_ENABLED = 0,
AP_PERIPH_AIRSPEED_ENABLED = 0,
AP_PERIPH_NETWORKING_ENABLED = 0,
AP_PERIPH_NOTIFY_ENABLED = 0,
)
class esp32(Board):