/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /* 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 . */ #ifndef __AP_NOTIFY_H__ #define __AP_NOTIFY_H__ #include #include #include #include #include #include #include #include #include #include #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #define CONFIG_NOTIFY_DEVICES_COUNT 3 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2 #define CONFIG_NOTIFY_DEVICES_COUNT 3 #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #define CONFIG_NOTIFY_DEVICES_COUNT 4 #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO #define CONFIG_NOTIFY_DEVICES_COUNT 2 #else #define CONFIG_NOTIFY_DEVICES_COUNT 3 #endif #else #define CONFIG_NOTIFY_DEVICES_COUNT 2 #endif class AP_Notify { public: /// notify_type - bitmask of notification types struct notify_type { uint16_t initialising : 1; // 1 if initialising and copter should not be moved uint16_t gps_status : 3; // 0 = no gps, 1 = no lock, 2 = 2d lock, 3 = 3d lock, 4 = dgps lock, 5 = rtk lock uint16_t gps_glitching : 1; // 1 if gps position is not good uint16_t baro_glitching : 1; // 1 if baro altitude is not good uint16_t armed : 1; // 0 = disarmed, 1 = armed uint16_t pre_arm_check : 1; // 0 = failing checks, 1 = passed uint16_t save_trim : 1; // 1 if gathering trim data uint16_t esc_calibration : 1; // 1 if calibrating escs uint16_t failsafe_radio : 1; // 1 if radio failsafe uint16_t failsafe_battery : 1; // 1 if battery failsafe uint16_t failsafe_gps : 1; // 1 if gps failsafe uint16_t arming_failed : 1; // 1 if copter failed to arm after user input uint16_t parachute_release : 1; // 1 if parachute is being released uint16_t ekf_bad : 1; // 1 if ekf is reporting problems // additional flags uint16_t external_leds : 1; // 1 if external LEDs are enabled (normally only used for copter) }; // the notify flags are static to allow direct class access // without declaring the object static struct notify_type flags; // initialisation void init(bool enable_external_leds); /// update - allow updates of leds that cannot be updated during a timed interrupt void update(void); private: static NotifyDevice* _devices[CONFIG_NOTIFY_DEVICES_COUNT]; }; #endif // __AP_NOTIFY_H__