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AP_Notify: Reduce flash consumption, fix some drivers, always allow

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buzzer
This commit is contained in:
Michael du Breuil 2018-07-25 18:09:34 -07:00 committed by Andrew Tridgell
parent 90216f7cb6
commit a5e974c227
5 changed files with 35 additions and 51 deletions
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8
libraries/AP_Notify/AP_Notify.cpp
View File

@ -212,6 +212,10 @@ void AP_Notify::add_backends(void)
#endif
#endif // CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
ADD_BACKEND(new AP_ExternalLED()); // despite the name this is a built in set of onboard LED's
#endif // CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#if defined(HAL_HAVE_PIXRACER_LED)
ADD_BACKEND(new PixRacerLED());
#elif (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN) && defined(HAL_GPIO_C_LED_PIN))
@ -295,14 +299,12 @@ void AP_Notify::add_backends(void)
}
// initialisation
void AP_Notify::init(bool enable_external_leds)
void AP_Notify::init(void)
{
// clear all flags and events
memset(&AP_Notify::flags, 0, sizeof(AP_Notify::flags));
memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
AP_Notify::flags.external_leds = enable_external_leds;
// add all the backends
add_backends();
}

60
libraries/AP_Notify/AP_Notify.h
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@ -71,34 +71,30 @@ public:
/// notify_flags_type - bitmask of notification flags
struct notify_flags_and_values_type {
uint32_t initialising : 1; // 1 if initialising and copter should not be moved
uint32_t gps_status : 3; // 0 = no gps, 1 = no lock, 2 = 2d lock, 3 = 3d lock, 4 = dgps lock, 5 = rtk lock
uint32_t gps_num_sats : 6; // number of sats
uint32_t flight_mode : 8; // flight mode
uint32_t armed : 1; // 0 = disarmed, 1 = armed
uint32_t pre_arm_check : 1; // 0 = failing checks, 1 = passed
uint32_t pre_arm_gps_check : 1; // 0 = failing pre-arm GPS checks, 1 = passed
uint32_t save_trim : 1; // 1 if gathering trim data
uint32_t esc_calibration : 1; // 1 if calibrating escs
uint32_t failsafe_radio : 1; // 1 if radio failsafe
uint32_t failsafe_battery : 1; // 1 if battery failsafe
uint32_t parachute_release : 1; // 1 if parachute is being released
uint32_t ekf_bad : 1; // 1 if ekf is reporting problems
uint32_t autopilot_mode : 1; // 1 if vehicle is in an autopilot flight mode (only used by OreoLEDs)
uint32_t firmware_update : 1; // 1 just before vehicle firmware is updated
uint32_t compass_cal_running: 1; // 1 if a compass calibration is running
uint32_t leak_detected : 1; // 1 if leak detected
float battery_voltage ; // battery voltage
uint32_t gps_fusion : 1; // 0 = GPS fix rejected by EKF, not usable for flight. 1 = GPS in use by EKF, usable for flight
uint32_t gps_glitching : 1; // 1 if GPS glitching is affecting navigation accuracy
uint32_t have_pos_abs : 1; // 0 = no absolute position available, 1 = absolute position available
// additional flags
uint32_t external_leds : 1; // 1 if external LEDs are enabled (normally only used for copter)
uint32_t vehicle_lost : 1; // 1 when lost copter tone is requested (normally only used for copter)
uint32_t waiting_for_throw : 1; // 1 when copter is in THROW mode and waiting to detect the user hand launch
uint32_t powering_off : 1; // 1 when the vehicle is powering off
uint32_t video_recording : 1; // 1 when the vehicle is recording video
bool initialising; // true if initialising and the vehicle should not be moved
uint8_t gps_status; // see the GPS_0 = no gps, 1 = no lock, 2 = 2d lock, 3 = 3d lock, 4 = dgps lock, 5 = rtk lock
uint8_t gps_num_sats; // number of sats
uint8_t flight_mode; // flight mode
bool armed; // 0 = disarmed, 1 = armed
bool pre_arm_check; // true if passing pre arm checks
bool pre_arm_gps_check; // true if passing pre arm gps checks
bool save_trim; // true if gathering trim data
bool esc_calibration; // true if calibrating escs
bool failsafe_radio; // true if radio failsafe
bool failsafe_battery; // true if battery failsafe
bool parachute_release; // true if parachute is being released
bool ekf_bad; // true if ekf is reporting problems
bool autopilot_mode; // true if vehicle is in an autopilot flight mode (only used by OreoLEDs)
bool firmware_update; // true just before vehicle firmware is updated
bool compass_cal_running; // true if a compass calibration is running
bool leak_detected; // true if leak detected
bool gps_fusion; // true if the GPS is in use by EKF, usable for flight
bool gps_glitching; // true f the GPS is believed to be glitching is affecting navigation accuracy
bool have_pos_abs; // true if absolute position is available
bool vehicle_lost; // true when lost copter tone is requested (normally only used for copter)
bool waiting_for_throw; // true when copter is in THROW mode and waiting to detect the user hand launch
bool powering_off; // true when the vehicle is powering off
bool video_recording; // true when the vehicle is recording video
};
/// notify_events_type - bitmask of active events.
@ -129,10 +125,7 @@ public:
static struct notify_events_type events;
// initialisation
void init(bool enable_external_leds);
// add all backends
void add_backends(void);
void init(void);
/// update - allow updates of leds that cannot be updated during a timed interrupt
void update(void);
@ -163,6 +156,9 @@ private:
void add_backend_helper(NotifyDevice *backend);
// add all backends
void add_backends(void);
// parameters
AP_Int8 _rgb_led_brightness;
AP_Int8 _rgb_led_override;

5
libraries/AP_Notify/Buzzer.cpp
View File

@ -57,11 +57,6 @@ bool Buzzer::init()
// update - updates led according to timed_updated. Should be called at 50Hz
void Buzzer::update()
{
// return immediately if disabled
if (!AP_Notify::flags.external_leds) {
return;
}
// check for arming failed event
if (AP_Notify::events.arming_failed) {
// arming failed buzz

3
libraries/AP_Notify/Display.cpp
View File

@ -22,6 +22,7 @@
#include <stdio.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <utility>
@ -505,7 +506,7 @@ void Display::update_ekf(uint8_t r)
void Display::update_battery(uint8_t r)
{
char msg [DISPLAY_MESSAGE_SIZE];
snprintf(msg, DISPLAY_MESSAGE_SIZE, "BAT1: %4.2fV", (double)AP_Notify::flags.battery_voltage) ;
snprintf(msg, DISPLAY_MESSAGE_SIZE, "BAT1: %4.2fV", (double)AP::battery().voltage()) ;
draw_text(COLUMN(0), ROW(r), msg);
}

10
libraries/AP_Notify/ExternalLED.cpp
View File

@ -25,11 +25,6 @@ extern const AP_HAL::HAL& hal;
bool ExternalLED::init(void)
{
// return immediately if disabled
if (!AP_Notify::flags.external_leds) {
return false;
}
// setup the main LEDs as outputs
hal.gpio->pinMode(EXTERNAL_LED_ARMED, HAL_GPIO_OUTPUT);
hal.gpio->pinMode(EXTERNAL_LED_GPS, HAL_GPIO_OUTPUT);
@ -49,11 +44,6 @@ bool ExternalLED::init(void)
*/
void ExternalLED::update(void)
{
// return immediately if disabled
if (!AP_Notify::flags.external_leds) {
return;
}
// reduce update rate from 50hz to 10hz
_counter++;
if (_counter < 5) {