diff --git a/libraries/AP_Notify/AP_Notify.cpp b/libraries/AP_Notify/AP_Notify.cpp
index 5fe1108a58..f0c3d058d2 100644
--- a/libraries/AP_Notify/AP_Notify.cpp
+++ b/libraries/AP_Notify/AP_Notify.cpp
@@ -22,7 +22,6 @@
#include "ExternalLED.h"
#include "PCA9685LED_I2C.h"
#include "NCP5623.h"
-#include "OreoLED_PX4.h"
#include "OreoLED_I2C.h"
#include "RCOutputRGBLed.h"
#include "ToneAlarm.h"
@@ -260,12 +259,7 @@ void AP_Notify::add_backends(void)
ADD_BACKEND(new PCA9685LED_I2C());
break;
case Notify_LED_OreoLED:
- // OreoLED's are PX4-v3 build only
-#if (CONFIG_HAL_BOARD == HAL_BOARD_PX4) && (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V3)
- if (_oreo_theme) {
- ADD_BACKEND(new OreoLED_PX4(_oreo_theme));
- }
-#elif !HAL_MINIMIZE_FEATURES
+#if !HAL_MINIMIZE_FEATURES
if (_oreo_theme) {
ADD_BACKEND(new OreoLED_I2C(0, _oreo_theme));
}
diff --git a/libraries/AP_Notify/OreoLED_PX4.cpp b/libraries/AP_Notify/OreoLED_PX4.cpp
deleted file mode 100644
index 517a6c8fcc..0000000000
--- a/libraries/AP_Notify/OreoLED_PX4.cpp
+++ /dev/null
@@ -1,697 +0,0 @@
-/*
- OreoLED PX4 driver
-*/
-/*
- 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 .
- */
-
-#include
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-#include
-#include "OreoLED_PX4.h"
-#include
-#include
-#include
-#include
-#include
-#include
-#include
-#include
-#include "AP_Notify.h"
-
-#define OREOLED_BACKLEFT 0 // back left led instance number
-#define OREOLED_BACKRIGHT 1 // back right led instance number
-#define OREOLED_FRONTRIGHT 2 // front right led instance number
-#define OREOLED_FRONTLEFT 3 // front left led instance number
-#define PERIOD_SLOW 800 // slow flash rate
-#define PERIOD_FAST 500 // fast flash rate
-#define PERIOD_SUPER 150 // super fast rate
-#define PO_ALTERNATE 180 // 180 degree phase offset
-
-extern const AP_HAL::HAL& hal;
-
-// constructor
-OreoLED_PX4::OreoLED_PX4(uint8_t theme): NotifyDevice(),
- _oreoled_fd(-1),
- _oreo_theme(theme)
-{
- // initialise desired and sent state
- memset(_state_desired,0,sizeof(_state_desired));
- memset(_state_sent,0,sizeof(_state_sent));
-}
-
-extern "C" int oreoled_main(int, char **);
-
-
-//
-// Initialize the LEDs
-//
-bool OreoLED_PX4::init()
-{
-
-#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
- if (!AP_BoardConfig::px4_start_driver(oreoled_main, "oreoled", "start autoupdate")) {
- hal.console->printf("Unable to start oreoled driver\n");
- } else {
- // give it time to initialise
- hal.scheduler->delay(500);
- }
-#endif
-
- // open the device
- _oreoled_fd = open(OREOLED0_DEVICE_PATH, O_RDWR);
- if (_oreoled_fd == -1) {
- hal.console->printf("Unable to open " OREOLED0_DEVICE_PATH);
- _overall_health = false;
- } else {
- // set overall health
- _overall_health = true;
- // register timer
- hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&OreoLED_PX4::update_timer, void));
- }
-
- // return health
- return _overall_health;
-}
-
-
-// UPDATE device according to timed_updated. Called at 50Hz
-void OreoLED_PX4::update()
-{
-
- if (!_overall_health) { return; } // don't go any further if LED driver reports unhealthy
-
- if (slow_counter()) { return; } // slow rate from 50hz to 10hz
-
- sync_counter(); // syncronizes LEDs every 10 seconds
-
- if (mode_firmware_update()) { return; } // don't go any further if the Pixhawk is in firmware update
-
- if (mode_init()) { return; } // don't go any further if the Pixhawk is initializing
-
- if (mode_failsafe_radio()) { return; } // don't go any further if the Pixhawk is is in radio failsafe
-
- set_standard_colors(); // set the rear LED standard colors as described above
-
- if (mode_failsafe_batt()) { return; } // stop here if the battery is low.
-
- if (_pattern_override) { return; } // stop here if in mavlink LED control override.
-
- if (mode_auto_flight()) { return; } // stop here if in an autopilot mode.
-
- mode_pilot_flight(); // stop here if in an pilot controlled mode.
-}
-
-// Slow the update rate from 50hz to 10hz
-// Returns true if counting up
-// Returns false and resets one counter hits 5
-bool OreoLED_PX4::slow_counter()
-{
- static uint8_t update_counter;
-
- update_counter++;
- if (update_counter < 5) {
- return true;
- } else {
- update_counter = 0;
- return false;
- }
-}
-
-
-// Calls resyncing the LEDs every 10 seconds
-// Always returns false, no action needed.
-void OreoLED_PX4::sync_counter()
-{
- static uint8_t counter = 80;
-
- counter++;
- if (counter > 100) {
- counter = 0;
- send_sync();
- }
-}
-
-
-// Procedure for when Pixhawk is in FW update / bootloader
-// Makes all LEDs go into color cycle mode
-// Returns true if firmware update in progress. False if not
-bool OreoLED_PX4::mode_firmware_update()
-{
- if (AP_Notify::flags.firmware_update) {
- set_macro(OREOLED_INSTANCE_ALL, OREOLED_PARAM_MACRO_COLOUR_CYCLE);
- return true;
- } else {
- return false;
- }
-}
-
-
-// Makes all LEDs rapidly strobe blue while gyros initialize.
-bool OreoLED_PX4::mode_init()
-{
- if (AP_Notify::flags.initialising) {
- set_rgb(OREOLED_INSTANCE_ALL, OREOLED_PATTERN_STROBE, 0, 0, 255,0,0,0,PERIOD_SUPER,0);
- return true;
- } else {
- return false;
- }
-}
-
-
-// Procedure for when Pixhawk is in radio failsafe
-// LEDs perform alternating Red X pattern
-bool OreoLED_PX4::mode_failsafe_radio()
-{
- if (AP_Notify::flags.failsafe_radio) {
- set_rgb(OREOLED_FRONTLEFT, OREOLED_PATTERN_STROBE, 255, 0, 0,0,0,0,PERIOD_SLOW,0);
- set_rgb(OREOLED_FRONTRIGHT, OREOLED_PATTERN_STROBE, 255, 0, 0,0,0,0,PERIOD_SLOW,PO_ALTERNATE);
- set_rgb(OREOLED_BACKLEFT, OREOLED_PATTERN_STROBE, 255, 0, 0,0,0,0,PERIOD_SLOW,PO_ALTERNATE);
- set_rgb(OREOLED_BACKRIGHT, OREOLED_PATTERN_STROBE, 255, 0, 0,0,0,0,PERIOD_SLOW,0);
- }
- return AP_Notify::flags.failsafe_radio;
-}
-
-
-// Procedure to set standard rear LED colors in aviation theme
-// Back LEDS White for normal, yellow for GPS not usable, purple for EKF bad]
-// Returns true GPS or EKF problem, returns false if all ok
-bool OreoLED_PX4::set_standard_colors()
-{
- if (!(AP_Notify::flags.gps_fusion)) {
- _rear_color_r = 255;
- _rear_color_g = 50;
- _rear_color_b = 0;
- return true;
-
- } else if (AP_Notify::flags.ekf_bad){
- _rear_color_r = 255;
- _rear_color_g = 0;
- _rear_color_b = 255;
- return true;
-
- } else {
- _rear_color_r = 255;
- _rear_color_g = 255;
- _rear_color_b = 255;
- return false;
- }
-}
-
-
-// Procedure to set low battery LED output
-// Colors standard
-// Fast strobe alternating front/back
-bool OreoLED_PX4::mode_failsafe_batt()
-{
- if (AP_Notify::flags.failsafe_battery){
-
- switch (_oreo_theme) {
- case OreoLED_Aircraft:
- set_rgb(OREOLED_FRONTLEFT, OREOLED_PATTERN_STROBE, 255, 0, 0,0,0,0,PERIOD_FAST,0);
- set_rgb(OREOLED_FRONTRIGHT, OREOLED_PATTERN_STROBE, 0, 255, 0,0,0,0,PERIOD_FAST,0);
- set_rgb(OREOLED_BACKLEFT, OREOLED_PATTERN_STROBE, _rear_color_r, _rear_color_g, _rear_color_b,0,0,0,PERIOD_FAST,PO_ALTERNATE);
- set_rgb(OREOLED_BACKRIGHT, OREOLED_PATTERN_STROBE, _rear_color_r, _rear_color_g, _rear_color_b,0,0,0,PERIOD_FAST,PO_ALTERNATE);
- break;
-
- case OreoLED_Automobile:
- set_rgb(OREOLED_FRONTLEFT, OREOLED_PATTERN_STROBE, 255, 255, 255,0,0,0,PERIOD_FAST,0);
- set_rgb(OREOLED_FRONTRIGHT, OREOLED_PATTERN_STROBE, 255, 255, 255,0,0,0,PERIOD_FAST,0);
- set_rgb(OREOLED_BACKLEFT, OREOLED_PATTERN_STROBE, 255, 0, 0,0,0,0,PERIOD_FAST,PO_ALTERNATE);
- set_rgb(OREOLED_BACKRIGHT, OREOLED_PATTERN_STROBE, 255, 0, 0,0,0,0,PERIOD_FAST,PO_ALTERNATE);
- break;
-
- default:
- set_rgb(OREOLED_FRONTLEFT, OREOLED_PATTERN_STROBE, 255, 255, 255,0,0,0,PERIOD_FAST,0);
- set_rgb(OREOLED_FRONTRIGHT, OREOLED_PATTERN_STROBE, 255, 255, 255,0,0,0,PERIOD_FAST,0);
- set_rgb(OREOLED_BACKLEFT, OREOLED_PATTERN_STROBE, 255, 0, 0,0,0,0,PERIOD_FAST,PO_ALTERNATE);
- set_rgb(OREOLED_BACKRIGHT, OREOLED_PATTERN_STROBE, 255, 0, 0,0,0,0,PERIOD_FAST,PO_ALTERNATE);
- break;
- }
- }
- return AP_Notify::flags.failsafe_battery;
-}
-
-
-// Procedure for when Pixhawk is in an autopilot mode
-// Makes all LEDs strobe super fast using standard colors
-bool OreoLED_PX4::mode_auto_flight()
-{
- switch (_oreo_theme) {
-
- case OreoLED_Aircraft:
- set_rgb(OREOLED_FRONTLEFT, OREOLED_PATTERN_STROBE, 255, 0, 0,0,0,0,PERIOD_SUPER,0);
- set_rgb(OREOLED_FRONTRIGHT, OREOLED_PATTERN_STROBE, 0, 255, 0,0,0,0,PERIOD_SUPER,0);
- if ((AP_Notify::flags.pre_arm_check && AP_Notify::flags.pre_arm_gps_check) || AP_Notify::flags.armed) {
- set_rgb(OREOLED_BACKLEFT, OREOLED_PATTERN_STROBE, _rear_color_r, _rear_color_g, _rear_color_b,0,0,0,PERIOD_SUPER,PO_ALTERNATE);
- set_rgb(OREOLED_BACKRIGHT, OREOLED_PATTERN_STROBE, _rear_color_r, _rear_color_g, _rear_color_b,0,0,0,PERIOD_SUPER,PO_ALTERNATE);
- } else {
- set_rgb(OREOLED_BACKLEFT, OREOLED_PATTERN_SOLID, _rear_color_r, _rear_color_g, _rear_color_b);
- set_rgb(OREOLED_BACKRIGHT, OREOLED_PATTERN_SOLID, _rear_color_r, _rear_color_g, _rear_color_b);
- }
- break;
-
- case OreoLED_Automobile:
- set_rgb(OREOLED_FRONTLEFT, OREOLED_PATTERN_STROBE, 255, 255, 255,0,0,0,PERIOD_SUPER,0);
- set_rgb(OREOLED_FRONTRIGHT, OREOLED_PATTERN_STROBE, 255, 255, 255,0,0,0,PERIOD_SUPER,0);
- set_rgb(OREOLED_BACKLEFT, OREOLED_PATTERN_STROBE, 255, 0, 0,0,0,0,PERIOD_SUPER,PO_ALTERNATE);
- set_rgb(OREOLED_BACKRIGHT, OREOLED_PATTERN_STROBE, 255, 0, 0,0,0,0,PERIOD_SUPER,PO_ALTERNATE);
- break;
-
- default:
- set_rgb(OREOLED_FRONTLEFT, OREOLED_PATTERN_STROBE, 255, 255, 255,0,0,0,PERIOD_SUPER,0);
- set_rgb(OREOLED_FRONTRIGHT, OREOLED_PATTERN_STROBE, 255, 255, 255,0,0,0,PERIOD_SUPER,0);
- set_rgb(OREOLED_BACKLEFT, OREOLED_PATTERN_STROBE, 255, 0, 0,0,0,0,PERIOD_SUPER,PO_ALTERNATE);
- set_rgb(OREOLED_BACKRIGHT, OREOLED_PATTERN_STROBE, 255, 0, 0,0,0,0,PERIOD_SUPER,PO_ALTERNATE);
- break;
- }
-
- return AP_Notify::flags.autopilot_mode;
-}
-
-
-// Procedure for when Pixhawk is in a pilot controlled mode
-// All LEDs use standard pattern and colors
-bool OreoLED_PX4::mode_pilot_flight()
-{
- switch (_oreo_theme) {
-
- case OreoLED_Aircraft:
- set_rgb(OREOLED_FRONTLEFT, OREOLED_PATTERN_SOLID, 255, 0, 0);
- set_rgb(OREOLED_FRONTRIGHT, OREOLED_PATTERN_SOLID, 0, 255, 0);
- if ((AP_Notify::flags.pre_arm_check && AP_Notify::flags.pre_arm_gps_check) || AP_Notify::flags.armed) {
- set_rgb(OREOLED_BACKLEFT, OREOLED_PATTERN_STROBE, _rear_color_r, _rear_color_g, _rear_color_b,0,0,0,PERIOD_FAST,0);
- set_rgb(OREOLED_BACKRIGHT, OREOLED_PATTERN_STROBE, _rear_color_r, _rear_color_g, _rear_color_b,0,0,0,PERIOD_FAST,PO_ALTERNATE);
- } else {
- set_rgb(OREOLED_BACKLEFT, OREOLED_PATTERN_SOLID, _rear_color_r, _rear_color_g, _rear_color_b);
- set_rgb(OREOLED_BACKRIGHT, OREOLED_PATTERN_SOLID, _rear_color_r, _rear_color_g, _rear_color_b);
- }
- break;
-
- case OreoLED_Automobile:
- set_rgb(OREOLED_FRONTLEFT, OREOLED_PATTERN_SOLID, 255, 255, 255);
- set_rgb(OREOLED_FRONTRIGHT, OREOLED_PATTERN_SOLID, 255, 255, 255);
- set_rgb(OREOLED_BACKLEFT, OREOLED_PATTERN_SOLID, 255, 0, 0);
- set_rgb(OREOLED_BACKRIGHT, OREOLED_PATTERN_SOLID, 255, 0, 0);
- break;
-
- default:
- set_rgb(OREOLED_FRONTLEFT, OREOLED_PATTERN_SOLID, 255, 255, 255);
- set_rgb(OREOLED_FRONTRIGHT, OREOLED_PATTERN_SOLID, 255, 255, 255);
- set_rgb(OREOLED_BACKLEFT, OREOLED_PATTERN_SOLID, 255, 0, 0);
- set_rgb(OREOLED_BACKRIGHT, OREOLED_PATTERN_SOLID, 255, 0, 0);
- break;
- }
-
- return true;
-}
-
-
-// set_rgb - Solid color settings only
-void OreoLED_PX4::set_rgb(uint8_t instance, uint8_t red, uint8_t green, uint8_t blue)
-{
- set_rgb(instance, OREOLED_PATTERN_SOLID, red, green, blue);
-}
-
-
-// set_rgb - Set a color and selected pattern.
-void OreoLED_PX4::set_rgb(uint8_t instance, oreoled_pattern pattern, uint8_t red, uint8_t green, uint8_t blue)
-{
- // get semaphore
- _state_desired_semaphore = true;
-
- // check for all instances
- if (instance == OREOLED_INSTANCE_ALL) {
- // store desired rgb for all LEDs
- for (uint8_t i=0; i> 8;
- cmd.buff[15] = (_state_desired[i].period & 0x00FF);
- cmd.buff[16] = OREOLED_PARAM_PHASEOFFSET;
- cmd.buff[17] = (_state_desired[i].phase_offset & 0xFF00) >> 8;
- cmd.buff[18] = (_state_desired[i].phase_offset & 0x00FF);
- cmd.num_bytes = 19;
- ioctl(_oreoled_fd, OREOLED_SEND_BYTES, (unsigned long)&cmd);
- }
- break;
- case OREOLED_MODE_SYNC:
- {
- ioctl(_oreoled_fd, OREOLED_FORCE_SYNC, 0);
- }
- break;
- default:
- break;
- };
- // save state change
- _state_sent[i] = _state_desired[i];
- }
- }
-
- // flag updates sent
- _send_required = false;
-}
-
-
-// Handle an LED_CONTROL mavlink message
-void OreoLED_PX4::handle_led_control(mavlink_message_t *msg)
-{
- // exit immediately if unhealthy
- if (!_overall_health) {
- return;
- }
-
- // decode mavlink message
- mavlink_led_control_t packet;
- mavlink_msg_led_control_decode(msg, &packet);
-
- // exit immediately if instance is invalid
- if (packet.instance >= OREOLED_NUM_LEDS && packet.instance != OREOLED_INSTANCE_ALL) {
- return;
- }
-
- // if pattern is OFF, we clear pattern override so normal lighting should resume
- if (packet.pattern == LED_CONTROL_PATTERN_OFF) {
- _pattern_override = 0;
- clear_state();
- return;
- }
-
- if (packet.pattern == LED_CONTROL_PATTERN_CUSTOM) {
- // Here we handle two different "sub commands",
- // depending on the bytes in the first CUSTOM_HEADER_LENGTH
- // of the custom pattern byte buffer
-
- // Return if we don't have at least CUSTOM_HEADER_LENGTH bytes
- if (packet.custom_len < CUSTOM_HEADER_LENGTH) {
- return;
- }
-
- // check for the RGB0 sub-command
- if (memcmp(packet.custom_bytes, "RGB0", CUSTOM_HEADER_LENGTH) == 0) {
- // check to make sure the total length matches the length of the RGB0 command + data values
- if (packet.custom_len != CUSTOM_HEADER_LENGTH + 4) {
- return;
- }
-
- // check for valid pattern id
- if (packet.custom_bytes[CUSTOM_HEADER_LENGTH] >= OREOLED_PATTERN_ENUM_COUNT) {
- return;
- }
-
- // convert the first byte after the command to a oreoled_pattern
- oreoled_pattern pattern = (oreoled_pattern)packet.custom_bytes[CUSTOM_HEADER_LENGTH];
-
- // call the set_rgb function, using the rest of the bytes as the RGB values
- set_rgb(packet.instance, pattern, packet.custom_bytes[CUSTOM_HEADER_LENGTH + 1], packet.custom_bytes[CUSTOM_HEADER_LENGTH + 2], packet.custom_bytes[CUSTOM_HEADER_LENGTH + 3]);
-
- } else if (memcmp(packet.custom_bytes, "RGB1", CUSTOM_HEADER_LENGTH) == 0) { // check for the RGB1 sub-command
-
- // check to make sure the total length matches the length of the RGB1 command + data values
- if (packet.custom_len != CUSTOM_HEADER_LENGTH + 11) {
- return;
- }
-
- // check for valid pattern id
- if (packet.custom_bytes[CUSTOM_HEADER_LENGTH] >= OREOLED_PATTERN_ENUM_COUNT) {
- return;
- }
-
- // convert the first byte after the command to a oreoled_pattern
- oreoled_pattern pattern = (oreoled_pattern)packet.custom_bytes[CUSTOM_HEADER_LENGTH];
-
- // uint16_t values are stored in custom_bytes in little endian order
- // assume the flight controller is little endian when decoding values
- uint16_t period =
- ((0x00FF & (uint16_t)packet.custom_bytes[CUSTOM_HEADER_LENGTH + 7]) << 8) |
- (0x00FF & (uint16_t)packet.custom_bytes[CUSTOM_HEADER_LENGTH + 8]);
- uint16_t phase_offset =
- ((0x00FF & (uint16_t)packet.custom_bytes[CUSTOM_HEADER_LENGTH + 9]) << 8) |
- (0x00FF & (uint16_t)packet.custom_bytes[CUSTOM_HEADER_LENGTH + 10]);
-
- // call the set_rgb function, using the rest of the bytes as the RGB values
- set_rgb(packet.instance, pattern, packet.custom_bytes[CUSTOM_HEADER_LENGTH + 1], packet.custom_bytes[CUSTOM_HEADER_LENGTH + 2],
- packet.custom_bytes[CUSTOM_HEADER_LENGTH + 3], packet.custom_bytes[CUSTOM_HEADER_LENGTH + 4], packet.custom_bytes[CUSTOM_HEADER_LENGTH + 5],
- packet.custom_bytes[CUSTOM_HEADER_LENGTH + 6], period, phase_offset);
- } else if (memcmp(packet.custom_bytes, "SYNC", CUSTOM_HEADER_LENGTH) == 0) { // check for the SYNC sub-command
- // check to make sure the total length matches the length of the SYN0 command + data values
- if (packet.custom_len != CUSTOM_HEADER_LENGTH + 0) {
- return;
- }
- send_sync();
- } else { // unrecognized command
- return;
- }
- } else {
- // other patterns sent as macro
- set_macro(packet.instance, (oreoled_macro)packet.pattern);
- }
- _pattern_override = packet.pattern;
-}
-
-OreoLED_PX4::oreo_state::oreo_state() {
- clear_state();
-}
-
-void OreoLED_PX4::oreo_state::clear_state() {
- mode = OREOLED_MODE_NONE;
- pattern = OREOLED_PATTERN_OFF;
- macro = OREOLED_PARAM_MACRO_RESET;
- red = 0;
- green = 0;
- blue = 0;
- amplitude_red = 0;
- amplitude_green = 0;
- amplitude_blue = 0;
- period = 0;
- repeat = 0;
- phase_offset = 0;
-}
-
-void OreoLED_PX4::oreo_state::send_sync() {
- clear_state();
- mode = OREOLED_MODE_SYNC;
-}
-
-void OreoLED_PX4::oreo_state::set_macro(oreoled_macro new_macro) {
- clear_state();
- mode = OREOLED_MODE_MACRO;
- macro = new_macro;
-}
-
-void OreoLED_PX4::oreo_state::set_rgb(enum oreoled_pattern new_pattern, uint8_t new_red, uint8_t new_green, uint8_t new_blue) {
- clear_state();
- mode = OREOLED_MODE_RGB;
- pattern = new_pattern;
- red = new_red;
- green = new_green;
- blue = new_blue;
-}
-
-void OreoLED_PX4::oreo_state::set_rgb(enum oreoled_pattern new_pattern, uint8_t new_red, uint8_t new_green,
- uint8_t new_blue, uint8_t new_amplitude_red, uint8_t new_amplitude_green, uint8_t new_amplitude_blue,
- uint16_t new_period, uint16_t new_phase_offset) {
- clear_state();
- mode = OREOLED_MODE_RGB_EXTENDED;
- pattern = new_pattern;
- red = new_red;
- green = new_green;
- blue = new_blue;
- amplitude_red = new_amplitude_red;
- amplitude_green = new_amplitude_green;
- amplitude_blue = new_amplitude_blue;
- period = new_period;
- phase_offset = new_phase_offset;
-}
-
-bool OreoLED_PX4::oreo_state::operator==(const OreoLED_PX4::oreo_state &os) {
- return ((os.mode==mode) && (os.pattern==pattern) && (os.macro==macro) && (os.red==red) && (os.green==green) && (os.blue==blue)
- && (os.amplitude_red==amplitude_red) && (os.amplitude_green==amplitude_green) && (os.amplitude_blue==amplitude_blue)
- && (os.period==period) && (os.repeat==repeat) && (os.phase_offset==phase_offset));
-}
-
-#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
-
diff --git a/libraries/AP_Notify/OreoLED_PX4.h b/libraries/AP_Notify/OreoLED_PX4.h
deleted file mode 100644
index 59d5d6bc33..0000000000
--- a/libraries/AP_Notify/OreoLED_PX4.h
+++ /dev/null
@@ -1,147 +0,0 @@
-/*
- OreoLED I2C driver
-
- 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 .
- */
-#pragma once
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-
-#include
-#include "NotifyDevice.h"
-#include
-
-#define OREOLED_NUM_LEDS 4 // maximum number of individual LEDs connected to the oreo led cpu
-#define OREOLED_INSTANCE_ALL 0xff // instance number to indicate all LEDs (used for set_rgb and set_macro)
-#define OREOLED_BRIGHT 0xff // maximum brightness when flying (disconnected from usb)
-
-#define CUSTOM_HEADER_LENGTH 4 // number of bytes in the custom LED buffer that are used to identify the command
-
-class OreoLED_PX4 : public NotifyDevice
-{
-public:
- // constuctor
- OreoLED_PX4(uint8_t theme);
-
- // init - initialised the device
- bool init(void);
-
- // update - updates device according to timed_updated. Should be
- // called at 50Hz
- void update();
-
- // healthy - return true if at least one LED is responding
- bool healthy() const { return _overall_health; }
-
- // handle a LED_CONTROL message, by default device ignore message
- void handle_led_control(mavlink_message_t *msg);
-
-private:
- // update_timer - called by scheduler and updates PX4 driver with commands
- void update_timer(void);
-
- // set_rgb - set color as a combination of red, green and blue values for one or all LEDs, pattern defaults to solid color
- void set_rgb(uint8_t instance, uint8_t red, uint8_t green, uint8_t blue);
-
- // set_rgb - set color as a combination of red, green and blue values for one or all LEDs, using the specified pattern
- void set_rgb(uint8_t instance, enum oreoled_pattern pattern, uint8_t red, uint8_t green, uint8_t blue);
-
- // set_rgb - set color as a combination of red, green and blue values for one or all LEDs, using the specified pattern and other parameters
- void set_rgb(uint8_t instance, oreoled_pattern pattern, uint8_t red, uint8_t green, uint8_t blue,
- uint8_t amplitude_red, uint8_t amplitude_green, uint8_t amplitude_blue,
- uint16_t period, uint16_t phase_offset);
-
- // set_macro - set macro for one or all LEDs
- void set_macro(uint8_t instance, enum oreoled_macro macro);
-
- // send_sync - force a syncronisation of the all LED's
- void send_sync();
-
- // functions to set LEDs to specific patterns. These functions return true if no further updates should be made to LEDs this iteration
- bool slow_counter(void);
- void sync_counter(void);
- bool mode_firmware_update(void);
- bool mode_init(void);
- bool mode_failsafe_radio(void);
- bool set_standard_colors(void);
- bool mode_failsafe_batt(void);
- bool mode_auto_flight(void);
- bool mode_pilot_flight(void);
-
- // Clear the desired state
- void clear_state(void);
-
- // oreo led modes (pattern, macro or rgb)
- enum oreoled_mode {
- OREOLED_MODE_NONE,
- OREOLED_MODE_MACRO,
- OREOLED_MODE_RGB,
- OREOLED_MODE_RGB_EXTENDED,
- OREOLED_MODE_SYNC
- };
-
- // Oreo LED modes
- enum Oreo_LED_Theme {
- OreoLED_Disabled = 0,
- OreoLED_Aircraft = 1,
- OreoLED_Automobile = 2,
- };
-
- // oreo_state structure holds possible state of an led
- struct oreo_state {
- enum oreoled_mode mode;
- enum oreoled_pattern pattern;
- enum oreoled_macro macro;
- uint8_t red;
- uint8_t green;
- uint8_t blue;
- uint8_t amplitude_red;
- uint8_t amplitude_green;
- uint8_t amplitude_blue;
- uint16_t period;
- int8_t repeat;
- uint16_t phase_offset;
-
- oreo_state();
-
- void clear_state();
-
- void send_sync();
-
- void set_macro(oreoled_macro new_macro);
-
- void set_rgb(enum oreoled_pattern new_pattern, uint8_t new_red, uint8_t new_green, uint8_t new_blue);
-
- void set_rgb(enum oreoled_pattern new_pattern, uint8_t new_red, uint8_t new_green,
- uint8_t new_blue, uint8_t new_amplitude_red, uint8_t new_amplitude_green, uint8_t new_amplitude_blue,
- uint16_t new_period, uint16_t new_phase_offset);
-
- bool operator==(const oreo_state &os);
- };
-
- // private members
- bool _overall_health; // overall health
- int _oreoled_fd; // file descriptor
- bool _send_required; // true when we need to send an update to at least one led
- volatile bool _state_desired_semaphore; // true when we are updating the state desired values to ensure they are not sent prematurely
- oreo_state _state_desired[OREOLED_NUM_LEDS]; // desired state
- oreo_state _state_sent[OREOLED_NUM_LEDS]; // last state sent to led
- uint8_t _pattern_override; // holds last processed pattern override, 0 if we are not overriding a pattern
- uint8_t _oreo_theme; // theme (1=AirCraft, 2=Ground Vehicle)
- uint8_t _rear_color_r = 255; // the rear LED red value
- uint8_t _rear_color_g = 255; // the rear LED green value
- uint8_t _rear_color_b = 255; // the rear LED blue value
-};
-
-#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4