mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-10 18:08:30 -04:00
AP_Notify: new LED drivers
update to current master
This commit is contained in:
Andrew Tridgell
parent
87459d520a
commit
f635bc1d81
@ -20,7 +20,8 @@
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#include "Buzzer.h"
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#include "Display.h"
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#include "ExternalLED.h"
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#include "NavioLED_I2C.h"
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#include "PCA9685LED_I2C.h"
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#include "NCP5623.h"
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#include "OreoLED_PX4.h"
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#include "RCOutputRGBLed.h"
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#include "ToneAlarm.h"
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@ -42,6 +43,64 @@ AP_Notify *AP_Notify::_instance;
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#define TOSHIBA_LED_I2C_BUS_INTERNAL 0
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#define TOSHIBA_LED_I2C_BUS_EXTERNAL 1
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// all I2C_LEDS
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#define I2C_LEDS (Notify_LED_ToshibaLED_I2C_Internal | Notify_LED_ToshibaLED_I2C_External | \
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Notify_LED_NCP5623_I2C_Internal | Notify_LED_NCP5623_I2C_External)
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#ifndef BUILD_DEFAULT_LED_TYPE
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// PX4 boards
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V3 // Has enough memory for Oreo LEDs
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS | Notify_LED_OreoLED)
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#else // All other px4 boards use standard devices
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS)
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#endif
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// ChibiOS and VRBrain boards
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#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS || \
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CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS)
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// Linux boards
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS |\
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Notify_LED_PCA9685LED_I2C_External)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS |\
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Notify_LED_UAVCAN)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_ToshibaLED_I2C_External)
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#else // other linux
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS)
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#endif
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// F4Light
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#elif CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | Notify_LED_ToshibaLED_I2C_External)
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// All other builds
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#else
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS)
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#endif // board selection
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#endif // BUILD_DEFAULT_LED_TYPE
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// table of user settable parameters
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const AP_Param::GroupInfo AP_Notify::var_info[] = {
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@ -92,6 +151,13 @@ const AP_Param::GroupInfo AP_Notify::var_info[] = {
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AP_GROUPINFO("BUZZ_PIN", 5, AP_Notify, _buzzer_pin, 0),
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#endif
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// @Param: LED_TYPES
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// @DisplayName: LED Driver Types
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// @Description: Controls what types of LEDs will be enabled
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// @Bitmask: 0:Build in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal
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// @User: Advanced
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AP_GROUPINFO("LED_TYPES", 6, AP_Notify, _led_type, BUILD_DEFAULT_LED_TYPE),
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AP_GROUPEND
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};
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@ -133,147 +199,129 @@ void AP_Notify::add_backends(void)
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return;
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}
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// Notify devices for PX4 boards
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V3 // Has enough memory for Oreo LEDs
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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ADD_BACKEND(new AP_ToneAlarm());
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ADD_BACKEND(new Display());
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for (uint32_t i = 1; i < Notify_LED_MAX; i = i << 1) {
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switch(_led_type & i) {
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case Notify_LED_None:
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break;
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case Notify_LED_Board:
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// select the most appropriate built in LED driver type
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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ADD_BACKEND(new Led_Sysfs("rgb_led0", "rgb_led2", "rgb_led1"));
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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ADD_BACKEND(new RCOutputRGBLedInverted(12, 13, 14));
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
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ADD_BACKEND(new RCOutputRGBLed(HAL_RCOUT_RGBLED_RED, HAL_RCOUT_RGBLED_GREEN, HAL_RCOUT_RGBLED_BLUE));
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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ADD_BACKEND(new DiscoLED());
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#endif
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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// Oreo LED enable/disable by NTF_OREO_THEME parameter
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#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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ADD_BACKEND(new AP_ExternalLED()); // despite the name this is a built in set of onboard LED's
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#if defined(HAL_HAVE_PIXRACER_LED)
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ADD_BACKEND(new PixRacerLED());
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#elif (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN) && defined(HAL_GPIO_C_LED_PIN))
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#if CONFIG_HAL_BOARD != HAL_BOARD_VRBRAIN || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_VRBRAIN_V45
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ADD_BACKEND(new AP_BoardLED());
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#else
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ADD_BACKEND(new VRBoard_LED());
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#endif // CONFIG_HAL_BOARD != HAL_BOARD_VRBRAIN || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_VRBRAIN_V45
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#elif (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN))
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ADD_BACKEND(new AP_BoardLED2());
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#endif
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break;
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case Notify_LED_ToshibaLED_I2C_Internal:
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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break;
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case Notify_LED_ToshibaLED_I2C_External:
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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break;
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#if !HAL_MINIMIZE_FEATURES
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case Notify_LED_NCP5623_I2C_External:
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FOREACH_I2C_EXTERNAL(b) {
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ADD_BACKEND(new NCP5623(b));
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}
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break;
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case Notify_LED_NCP5623_I2C_Internal:
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ADD_BACKEND(new NCP5623(TOSHIBA_LED_I2C_BUS_INTERNAL));
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break;
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#endif
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#if !HAL_MINIMIZE_FEATURES
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case Notify_LED_PCA9685LED_I2C_External:
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ADD_BACKEND(new PCA9685LED_I2C());
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break;
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#endif
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case Notify_LED_OreoLED:
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// OreoLED's are PX4-v3 build only
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#if (CONFIG_HAL_BOARD == HAL_BOARD_PX4) && (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V3)
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if (_oreo_theme) {
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ADD_BACKEND(new OreoLED_PX4(_oreo_theme));
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}
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#endif // (CONFIG_HAL_BOARD == HAL_BOARD_PX4) && (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V3)
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break;
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case Notify_LED_UAVCAN:
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#if HAL_WITH_UAVCAN
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ADD_BACKEND(new UAVCAN_RGB_LED(0));
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#endif // HAL_WITH_UAVCAN
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break;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V4 // Has its own LED board
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ADD_BACKEND(new PixRacerLED());
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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ADD_BACKEND(new AP_ToneAlarm());
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}
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}
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// Always try and add a display backend
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ADD_BACKEND(new Display());
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#else // All other px4 boards use standard devices.
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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// Add noise making devices
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || \
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CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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ADD_BACKEND(new AP_ToneAlarm());
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ADD_BACKEND(new Display());
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#endif
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// Notify devices for ChibiOS boards
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// ChibiOS noise makers
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#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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# ifdef HAL_HAVE_PIXRACER_LED
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ADD_BACKEND(new PixRacerLED());
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# elif (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN) && defined(HAL_GPIO_C_LED_PIN))
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ADD_BACKEND(new AP_BoardLED());
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#else
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ADD_BACKEND(new AP_BoardLED2());
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# endif
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#ifdef HAL_BUZZER_PIN
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ADD_BACKEND(new Buzzer());
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#endif
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#ifdef HAL_PWM_ALARM
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ADD_BACKEND(new AP_ToneAlarm());
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#endif
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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ADD_BACKEND(new Display());
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// Notify devices for VRBRAIN boards
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_VRBRAIN_V45 // Uses px4 LED board
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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ADD_BACKEND(new AP_ToneAlarm());
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ADD_BACKEND(new ExternalLED());
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#else
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ADD_BACKEND(new VRBoard_LED());
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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ADD_BACKEND(new AP_ToneAlarm());
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ADD_BACKEND(new ExternalLED());
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#endif
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// Notify devices for linux boards
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// Linux noise makers
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new NavioLED_I2C());
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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// No noise makers, keep this though to ensure that the final else is safe
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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ADD_BACKEND(new Led_Sysfs("rgb_led0", "rgb_led2", "rgb_led1"));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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ADD_BACKEND(new RCOutputRGBLedInverted(12, 13, 14));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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ADD_BACKEND(new UAVCAN_RGB_LED(0));
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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ADD_BACKEND(new AP_BoardLED());
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
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ADD_BACKEND(new Buzzer());
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ADD_BACKEND(new Display());
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new Display());
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new Buzzer());
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ADD_BACKEND(new Display());
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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ADD_BACKEND(new AP_BoardLED());
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new RCOutputRGBLed(HAL_RCOUT_RGBLED_RED, HAL_RCOUT_RGBLED_GREEN, HAL_RCOUT_RGBLED_BLUE));
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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ADD_BACKEND(new DiscoLED());
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ADD_BACKEND(new AP_ToneAlarm());
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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#else // other linux
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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ADD_BACKEND(new AP_ToneAlarm());
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#endif
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// F4Light noise makers
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#elif CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new Display());
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ADD_BACKEND(new Buzzer());
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ADD_BACKEND(new AP_BoardLED2()); // needs AP_BoardLED2 in master
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#else
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ADD_BACKEND(new AP_BoardLED());
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
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ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
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ADD_BACKEND(new Display());
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#endif
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#endif // Noise makers
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}
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// initialisation
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void AP_Notify::init(bool enable_external_leds)
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void AP_Notify::init(bool dummy)
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{
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// clear all flags and events
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memset(&AP_Notify::flags, 0, sizeof(AP_Notify::flags));
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memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
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AP_Notify::flags.external_leds = enable_external_leds;
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// add all the backends
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add_backends();
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}
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@ -58,36 +58,46 @@ public:
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OreoLED_Automobile = 2, // Automobile themed lighting (white front, red back)
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};
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enum Notify_LED_Type {
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Notify_LED_None = 0, // not enabled
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Notify_LED_Board = (1 << 0), // Built in board LED's
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Notify_LED_ToshibaLED_I2C_Internal = (1 << 1), // Internal ToshibaLED_I2C
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Notify_LED_ToshibaLED_I2C_External = (1 << 2), // External ToshibaLED_I2C
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Notify_LED_PCA9685LED_I2C_External = (1 << 3), // External PCA9685_I2C
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Notify_LED_OreoLED = (1 << 4), // Oreo
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Notify_LED_UAVCAN = (1 << 5), // UAVCAN RGB LED
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Notify_LED_NCP5623_I2C_External = (1 << 6), // External NCP5623
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Notify_LED_NCP5623_I2C_Internal = (1 << 7), // Internal NCP5623
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Notify_LED_MAX
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};
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/// notify_flags_type - bitmask of notification flags
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struct notify_flags_and_values_type {
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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
|
||||
float battery_voltage;
|
||||
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.
|
||||
@ -118,10 +128,7 @@ public:
|
||||
static struct notify_events_type events;
|
||||
|
||||
// initialisation
|
||||
void init(bool enable_external_leds);
|
||||
|
||||
// add all backends
|
||||
void add_backends(void);
|
||||
void init(bool dummy);
|
||||
|
||||
/// update - allow updates of leds that cannot be updated during a timed interrupt
|
||||
void update(void);
|
||||
@ -152,6 +159,9 @@ 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;
|
||||
@ -159,6 +169,7 @@ private:
|
||||
AP_Int8 _display_type;
|
||||
AP_Int8 _oreo_theme;
|
||||
AP_Int8 _buzzer_pin;
|
||||
AP_Int32 _led_type;
|
||||
|
||||
char _send_text[NOTIFY_TEXT_BUFFER_SIZE];
|
||||
uint32_t _send_text_updated_millis; // last time text changed
|
||||
|
||||
@ -33,6 +33,9 @@ extern const AP_HAL::HAL& hal;
|
||||
|
||||
bool Buzzer::init()
|
||||
{
|
||||
if (pNotify->buzzer_enabled() == false) {
|
||||
return false;
|
||||
}
|
||||
#if defined(HAL_BUZZER_PIN)
|
||||
_pin = HAL_BUZZER_PIN;
|
||||
#else
|
||||
@ -54,11 +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
|
||||
|
||||
@ -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);
|
||||
}
|
||||
|
||||
|
||||
@ -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) {
|
||||
|
||||
120
libraries/AP_Notify/NCP5623.cpp
Normal file
120
libraries/AP_Notify/NCP5623.cpp
Normal file
@ -0,0 +1,120 @@
|
||||
/*
|
||||
NCP5623 I2C LED 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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include "NCP5623.h"
|
||||
#include <utility>
|
||||
|
||||
#include <AP_HAL/AP_HAL.h>
|
||||
|
||||
extern const AP_HAL::HAL& hal;
|
||||
|
||||
#define NCP5623_LED_BRIGHT 0x1f // full brightness
|
||||
#define NCP5623_LED_MEDIUM 0x18 // medium brightness
|
||||
#define NCP5623_LED_DIM 0x0f // dim
|
||||
#define NCP5623_LED_OFF 0x00 // off
|
||||
|
||||
#define NCP5623_LED_I2C_ADDR 0x38 // default I2C bus address
|
||||
#define NCP5623_C_LED_I2C_ADDR 0x39 // default I2C bus address for the NCP5623C
|
||||
|
||||
#define NCP5623_LED_PWM0 0x40 // pwm0 register
|
||||
#define NCP5623_LED_PWM1 0x60 // pwm1 register
|
||||
#define NCP5623_LED_PWM2 0x80 // pwm2 register
|
||||
#define NCP5623_LED_ENABLE 0x20 // enable register
|
||||
|
||||
NCP5623::NCP5623(uint8_t bus)
|
||||
: RGBLed(NCP5623_LED_OFF, NCP5623_LED_BRIGHT, NCP5623_LED_MEDIUM, NCP5623_LED_DIM)
|
||||
, _bus(bus)
|
||||
{
|
||||
}
|
||||
|
||||
bool NCP5623::write(uint8_t reg, uint8_t data)
|
||||
{
|
||||
uint8_t msg[1] = { 0x00 };
|
||||
msg[0] = ((reg & 0xe0) | (data & 0x1f));
|
||||
bool ret = _dev->transfer(msg, 1, nullptr, 0);
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool NCP5623::write_pwm(uint8_t _rgb[3])
|
||||
{
|
||||
uint8_t reg = NCP5623_LED_PWM0;
|
||||
for (uint8_t i=0; i<3; i++) {
|
||||
if (!write(reg+i*0x20, _rgb[i])) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
bool NCP5623::hw_init(void)
|
||||
{
|
||||
uint8_t addrs[] = { NCP5623_LED_I2C_ADDR, NCP5623_C_LED_I2C_ADDR };
|
||||
for (uint8_t i=0; i<ARRAY_SIZE(addrs); i++) {
|
||||
// first look for led on external bus
|
||||
_dev = std::move(hal.i2c_mgr->get_device(_bus, addrs[i]));
|
||||
if (!_dev) {
|
||||
continue;
|
||||
}
|
||||
|
||||
_dev->get_semaphore()->take_blocking();
|
||||
_dev->set_retries(10);
|
||||
|
||||
// enable the led
|
||||
bool ret = write(NCP5623_LED_ENABLE, 0x1f);
|
||||
if (!ret) {
|
||||
_dev->get_semaphore()->give();
|
||||
continue;
|
||||
}
|
||||
|
||||
// update the red, green and blue values to zero
|
||||
uint8_t off[3] = { _led_off, _led_off, _led_off };
|
||||
ret = write_pwm(off);
|
||||
|
||||
_dev->set_retries(1);
|
||||
|
||||
// give back i2c semaphore
|
||||
_dev->get_semaphore()->give();
|
||||
|
||||
if (ret) {
|
||||
_dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&NCP5623::_timer, void));
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
// set_rgb - set color as a combination of red, green and blue values
|
||||
bool NCP5623::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
|
||||
{
|
||||
rgb[0] = red;
|
||||
rgb[1] = green;
|
||||
rgb[2] = blue;
|
||||
_need_update = true;
|
||||
return true;
|
||||
}
|
||||
|
||||
void NCP5623::_timer(void)
|
||||
{
|
||||
if (!_need_update) {
|
||||
return;
|
||||
}
|
||||
_need_update = false;
|
||||
|
||||
write_pwm(rgb);
|
||||
}
|
||||
37
libraries/AP_Notify/NCP5623.h
Normal file
37
libraries/AP_Notify/NCP5623.h
Normal file
@ -0,0 +1,37 @@
|
||||
/*
|
||||
NCP5623 Linux 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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <AP_HAL/I2CDevice.h>
|
||||
#include "RGBLed.h"
|
||||
|
||||
class NCP5623 : public RGBLed {
|
||||
public:
|
||||
NCP5623(uint8_t bus);
|
||||
protected:
|
||||
bool hw_init(void) override;
|
||||
bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b) override;
|
||||
private:
|
||||
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
|
||||
void _timer(void);
|
||||
bool write(uint8_t reg, uint8_t data);
|
||||
bool write_pwm(uint8_t rgb[3]);
|
||||
uint8_t rgb[3];
|
||||
bool _need_update;
|
||||
uint8_t _bus;
|
||||
};
|
||||
@ -1,5 +1,5 @@
|
||||
/*
|
||||
NavioLED I2C driver
|
||||
PCA9685LED I2C driver
|
||||
*/
|
||||
/*
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
@ -15,7 +15,7 @@
|
||||
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 "NavioLED_I2C.h"
|
||||
#include "PCA9685LED_I2C.h"
|
||||
|
||||
#include <AP_HAL/AP_HAL.h>
|
||||
|
||||
@ -25,16 +25,19 @@
|
||||
#define NAVIO_LED_OFF 0xFF // off
|
||||
|
||||
#define PCA9685_ADDRESS 0x40
|
||||
#define PCA9685_MODE1 0x00
|
||||
#define PCA9685_PWM 0x6
|
||||
#define PCA9685_MODE_SLEEP (1 << 4)
|
||||
#define PCA9685_MODE_AUTO_INCREMENT (1 << 5)
|
||||
|
||||
extern const AP_HAL::HAL& hal;
|
||||
|
||||
NavioLED_I2C::NavioLED_I2C() :
|
||||
PCA9685LED_I2C::PCA9685LED_I2C() :
|
||||
RGBLed(NAVIO_LED_OFF, NAVIO_LED_BRIGHT, NAVIO_LED_MEDIUM, NAVIO_LED_DIM)
|
||||
{
|
||||
}
|
||||
|
||||
bool NavioLED_I2C::hw_init()
|
||||
bool PCA9685LED_I2C::hw_init()
|
||||
{
|
||||
_dev = hal.i2c_mgr->get_device(1, PCA9685_ADDRESS);
|
||||
|
||||
@ -42,13 +45,36 @@ bool NavioLED_I2C::hw_init()
|
||||
return false;
|
||||
}
|
||||
|
||||
_dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&NavioLED_I2C::_timer, void));
|
||||
_dev->get_semaphore()->take_blocking();
|
||||
|
||||
_dev->set_retries(5);
|
||||
|
||||
// read the current mode1 configuration
|
||||
uint8_t mode1 = 0;
|
||||
if (!_dev->read_registers(PCA9685_MODE1, &mode1, sizeof(mode1))) {
|
||||
_dev->get_semaphore()->give();
|
||||
return false;
|
||||
}
|
||||
|
||||
// bring the device out of sleep, and enable auto register increment
|
||||
uint8_t new_mode1 = (mode1 | PCA9685_MODE_AUTO_INCREMENT) & ~PCA9685_MODE_SLEEP;
|
||||
const uint8_t config[2] = {PCA9685_MODE1, new_mode1};
|
||||
if (!_dev->transfer(config, sizeof(config), nullptr, 0)) {
|
||||
_dev->get_semaphore()->give();
|
||||
return false;
|
||||
}
|
||||
|
||||
_dev->set_retries(1);
|
||||
|
||||
_dev->get_semaphore()->give();
|
||||
|
||||
_dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&PCA9685LED_I2C::_timer, void));
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
// set_rgb - set color as a combination of red, green and blue values
|
||||
bool NavioLED_I2C::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
|
||||
bool PCA9685LED_I2C::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
|
||||
{
|
||||
rgb.r = red;
|
||||
rgb.g = green;
|
||||
@ -57,7 +83,7 @@ bool NavioLED_I2C::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
|
||||
return true;
|
||||
}
|
||||
|
||||
void NavioLED_I2C::_timer(void)
|
||||
void PCA9685LED_I2C::_timer(void)
|
||||
{
|
||||
if (!_need_update) {
|
||||
return;
|
||||
@ -1,5 +1,5 @@
|
||||
/*
|
||||
NavioLED I2C driver
|
||||
PCA9685LED 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
|
||||
@ -19,10 +19,10 @@
|
||||
#include <AP_HAL/I2CDevice.h>
|
||||
#include "RGBLed.h"
|
||||
|
||||
class NavioLED_I2C : public RGBLed
|
||||
class PCA9685LED_I2C : public RGBLed
|
||||
{
|
||||
public:
|
||||
NavioLED_I2C(void);
|
||||
PCA9685LED_I2C(void);
|
||||
protected:
|
||||
bool hw_init(void) override;
|
||||
bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b) override;
|
||||
@ -93,6 +93,9 @@ const AP_ToneAlarm::Tone AP_ToneAlarm::_tones[] {
|
||||
|
||||
bool AP_ToneAlarm::init()
|
||||
{
|
||||
if (pNotify->buzzer_enabled() == false) {
|
||||
return false;
|
||||
}
|
||||
if (!hal.util->toneAlarm_init()) {
|
||||
return false;
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user