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Rover: integrate AP_Notify

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Randy Mackay 2013-08-24 18:05:18 +09:00 committed by Andrew Tridgell
parent 4aef49a006
commit 814ddcd787
3 changed files with 24 additions and 32 deletions
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23
APMrover2/APMrover2.pde
View File

@ -96,6 +96,11 @@
#include <AP_HAL_Empty.h>
#include "compat.h"
#include <AP_Notify.h> // Notify library
#include <AP_BoardLED.h> // BoardLEDs library
#include <ToshibaLED.h> // ToshibaLED library
#include <ToshibaLED_PX4.h> // ToshibaLED library for PX4
// Configuration
#include "config.h"
@ -341,8 +346,12 @@ static struct {
////////////////////////////////////////////////////////////////////////////////
// LED output
////////////////////////////////////////////////////////////////////////////////
// state of the GPS light (on/off)
static bool GPS_light;
static AP_BoardLED board_led;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
static ToshibaLED_PX4 toshiba_led;
#else
static ToshibaLED toshiba_led;
#endif
////////////////////////////////////////////////////////////////////////////////
// GPS variables
@ -579,6 +588,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ mount_update, 1, 500 },
{ failsafe_check, 5, 500 },
{ compass_accumulate, 1, 900 },
{ update_toshiba_led, 1, 100 },
{ one_second_loop, 50, 3000 }
};
@ -593,6 +603,14 @@ void setup() {
// load the default values of variables listed in var_info[]
AP_Param::setup_sketch_defaults();
// arduplane does not use arming nor pre-arm checks
AP_Notify::flags.armed = true;
AP_Notify::flags.pre_arm_check = true;
// initialise board and toshiba led
board_led.init();
toshiba_led.init();
rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
vcc_pin = hal.analogin->channel(ANALOG_INPUT_BOARD_VCC);
batt_volt_pin = hal.analogin->channel(g.battery_volt_pin);
@ -810,7 +828,6 @@ static void update_GPS(void)
{
static uint32_t last_gps_reading;
g_gps->update();
update_GPS_light();
if (g_gps->last_message_time_ms() != last_gps_reading) {
last_gps_reading = g_gps->last_message_time_ms();

29
APMrover2/system.pde
View File

@ -408,34 +408,13 @@ static void startup_INS_ground(bool force_accel_level)
digitalWrite(C_LED_PIN, LED_OFF);
}
static void update_GPS_light(void)
// update_toshiba_led - updates the status of the toshiba led
// should be called at 50hz
static void update_toshiba_led()
{
// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
// ---------------------------------------------------------------------
switch (g_gps->status()) {
case(2):
digitalWrite(C_LED_PIN, LED_ON); //Turn LED C on when gps has valid fix.
break;
case(1):
if (g_gps->valid_read == true){
GPS_light = !GPS_light; // Toggle light on and off to indicate gps messages being received, but no GPS fix lock
if (GPS_light){
digitalWrite(C_LED_PIN, LED_OFF);
} else {
digitalWrite(C_LED_PIN, LED_ON);
}
g_gps->valid_read = false;
}
break;
default:
digitalWrite(C_LED_PIN, LED_OFF);
break;
}
AP_Notify::update();
}
static void resetPerfData(void) {
mainLoop_count = 0;
G_Dt_max = 0;

4
APMrover2/test.pde
View File

@ -347,10 +347,6 @@ test_gps(uint8_t argc, const Menu::arg *argv)
while(1){
delay(100);
// Blink GPS LED if we don't have a fix
// ------------------------------------
update_GPS_light();
g_gps->update();
if (g_gps->new_data){