AP_Notify: add support for dshot command beeps

add support for ESC LEDs triggered by dshot commands
don't send DShot LED commands when armed
make enablement of dshot buzzer and LEDs configurable

libraries/AP_Notify/AP_Notify.cpp

@@ -38,6 +38,7 @@
 #include "AP_BoardLED2.h"
 #include "ProfiLED.h"
 #include "ScriptingLED.h"
+#include "DShotLED.h"
 
 extern const AP_HAL::HAL& hal;
 
@@ -96,6 +97,14 @@ AP_Notify *AP_Notify::_singleton;
 #define BUZZER_ENABLE_DEFAULT 1
 #endif
 
+#ifndef BUILD_DEFAULT_BUZZER_TYPE
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && HAL_DSHOT_ALARM
+  #define BUILD_DEFAULT_BUZZER_TYPE (BUZZER_ENABLE_DEFAULT | (HAL_DSHOT_ALARM << 1))
+#else
+  #define BUILD_DEFAULT_BUZZER_TYPE BUZZER_ENABLE_DEFAULT
+#endif
+#endif
+
 #ifndef NOTIFY_LED_BRIGHT_DEFAULT
 #define NOTIFY_LED_BRIGHT_DEFAULT RGB_LED_HIGH
 #endif
@@ -122,12 +131,12 @@ const AP_Param::GroupInfo AP_Notify::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("LED_BRIGHT", 0, AP_Notify, _rgb_led_brightness, NOTIFY_LED_BRIGHT_DEFAULT),
 
-    // @Param: BUZZ_ENABLE
-    // @DisplayName: Buzzer enable
-    // @Description: Enable or disable the buzzer.
-    // @Values: 0:Disable,1:Enable
+    // @Param: BUZZ_TYPES
+    // @DisplayName: Buzzer Driver Types
+    // @Description: Controls what types of Buzzer will be enabled
+    // @Bitmask: 0:Built-in buzzer, 1:DShot
     // @User: Advanced
-    AP_GROUPINFO("BUZZ_ENABLE", 1, AP_Notify, _buzzer_enable, BUZZER_ENABLE_DEFAULT),
+    AP_GROUPINFO("BUZZ_TYPES", 1, AP_Notify, _buzzer_type, BUILD_DEFAULT_BUZZER_TYPE),
 
     // @Param: LED_OVERRIDE
     // @DisplayName: Specifies colour source for the RGBLed
@@ -164,7 +173,7 @@ const AP_Param::GroupInfo AP_Notify::var_info[] = {
     // @Param: LED_TYPES
     // @DisplayName: LED Driver Types
     // @Description: Controls what types of LEDs will be enabled
-    // @Bitmask: 0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting
+    // @Bitmask: 0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting, 11:DShot
     // @User: Advanced
     AP_GROUPINFO("LED_TYPES", 6, AP_Notify, _led_type, BUILD_DEFAULT_LED_TYPE),
 
@@ -313,6 +322,11 @@ void AP_Notify::add_backends(void)
 #endif
                 break;
 
+            case Notify_LED_DShot:
+#if HAL_SUPPORT_RCOUT_SERIAL
+                ADD_BACKEND(new DShotLED());
+#endif
+                break;
         }
     }
 
@@ -323,7 +337,7 @@ void AP_Notify::add_backends(void)
 // ChibiOS noise makers
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     ADD_BACKEND(new Buzzer());
-#ifdef HAL_PWM_ALARM
+#if defined(HAL_PWM_ALARM) || HAL_DSHOT_ALARM
     ADD_BACKEND(new AP_ToneAlarm());
 #endif
 

libraries/AP_Notify/AP_Notify.h

@@ -72,6 +72,7 @@ public:
         Notify_LED_NeoPixel                 = (1 << 8), // NeoPixel 5050 AdaFruit 1655 SK6812  Worldsemi WS2812B
         Notify_LED_ProfiLED                 = (1 << 9), // ProfiLED
         Notify_LED_Scripting                = (1 << 10),// Colour accessor for scripting
+        Notify_LED_DShot                    = (1 << 11),// Use dshot commands to set ESC LEDs
         Notify_LED_MAX
     };
 
@@ -155,7 +156,9 @@ public:
     // play a tune string
     static void play_tune(const char *tune);
 
-    bool buzzer_enabled() const { return _buzzer_enable; }
+    bool buzzer_enabled() const { return _buzzer_type != 0; }
+
+    uint8_t get_buzzer_types() const { return _buzzer_type; }
 
     // set flight mode string
     void set_flight_mode_str(const char *str);
@@ -189,7 +192,7 @@ private:
     // parameters
     AP_Int8 _rgb_led_brightness;
     AP_Int8 _rgb_led_override;
-    AP_Int8 _buzzer_enable;
+    AP_Int8 _buzzer_type;
     AP_Int8 _display_type;
     AP_Int8 _oreo_theme;
     AP_Int8 _buzzer_pin;

libraries/AP_Notify/DShotLED.cpp

@@ -0,0 +1,35 @@
+/*
+   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/>.
+ */
+
+#include "AP_Notify/AP_Notify.h"
+#include <AP_HAL/RCOutput.h>
+#include "DShotLED.h"
+#include "SRV_Channel/SRV_Channel.h"
+
+extern const AP_HAL::HAL& hal;
+
+bool DShotLED::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
+{
+    // don't play the motor LEDs while flying
+    if (hal.util->get_soft_armed() || hal.rcout->get_dshot_esc_type() != AP_HAL::RCOutput::DSHOT_ESC_BLHELI) {
+        return false;
+    }
+
+    hal.rcout->send_dshot_command(red ? AP_HAL::RCOutput::DSHOT_LED1_ON : AP_HAL::RCOutput::DSHOT_LED1_OFF);
+    hal.rcout->send_dshot_command(green ? AP_HAL::RCOutput::DSHOT_LED2_ON : AP_HAL::RCOutput::DSHOT_LED2_OFF);
+    hal.rcout->send_dshot_command(blue ? AP_HAL::RCOutput::DSHOT_LED0_ON : AP_HAL::RCOutput::DSHOT_LED0_OFF);
+
+    return true;
+}

libraries/AP_Notify/DShotLED.h

@@ -0,0 +1,29 @@
+/*
+   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/>.
+ */
+#pragma once
+
+#include "RGBLed.h"
+#include "DShotLED.h"
+#include <AP_Common/AP_Common.h>
+
+class DShotLED : public RGBLed {
+public:
+    DShotLED() : RGBLed(0, 1, 1, 1) {}
+
+    bool init(void) override { return true; }
+
+protected:
+    bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b) override;
+};

libraries/AP_Notify/ToneAlarm.cpp

@@ -105,7 +105,7 @@ bool AP_ToneAlarm::init()
     if (pNotify->buzzer_enabled() == false) {
         return false;
     }
-    if (!hal.util->toneAlarm_init()) {
+    if (!hal.util->toneAlarm_init(pNotify->get_buzzer_types())) {
         return false;
     }