/* 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 #include #include #include "AP_Notify_config.h" #include "NotifyDevice.h" // Device parameters values #define RGB_LED_OFF 0 #define RGB_LED_LOW 1 #define RGB_LED_MEDIUM 2 #define RGB_LED_HIGH 3 #define BUZZER_ON 1 #define BUZZER_OFF 0 #define NOTIFY_TEXT_BUFFER_SIZE 51 //Type of on-board display #define DISPLAY_OFF 0 #define DISPLAY_SSD1306 1 #define DISPLAY_SH1106 2 #define DISPLAY_SITL 10 class AP_Notify { friend class RGBLed; // RGBLed needs access to notify parameters friend class Display; // Display needs access to notify parameters public: AP_Notify(); /* Do not allow copies */ CLASS_NO_COPY(AP_Notify); // get singleton instance static AP_Notify *get_singleton(void) { return _singleton; } // Oreo LED Themes enum Oreo_LED_Theme { OreoLED_Disabled = 0, // Disabled the OLED driver entirely OreoLED_Aircraft = 1, // Standard aviation themed lighting OreoLED_Automobile = 2, // Automobile themed lighting (white front, red back) }; enum Notify_LED_Type { Notify_LED_None = 0, // not enabled Notify_LED_Board = (1 << 0), // Built in board LED's #if AP_NOTIFY_TOSHIBALED_ENABLED Notify_LED_ToshibaLED_I2C_Internal = (1 << 1), // Internal ToshibaLED_I2C Notify_LED_ToshibaLED_I2C_External = (1 << 2), // External ToshibaLED_I2C #endif #if AP_NOTIFY_PCA9685_ENABLED Notify_LED_PCA9685LED_I2C_External = (1 << 3), // External PCA9685_I2C #endif Notify_LED_OreoLED = (1 << 4), // Oreo Notify_LED_UAVCAN = (1 << 5), // UAVCAN RGB LED #if AP_NOTIFY_NCP5623_ENABLED Notify_LED_NCP5623_I2C_External = (1 << 6), // External NCP5623 Notify_LED_NCP5623_I2C_Internal = (1 << 7), // Internal NCP5623 #endif #if AP_NOTIFY_NEOPIXEL_ENABLED Notify_LED_NeoPixel = (1 << 8), // NeoPixel 5050 AdaFruit 1655 SK6812 Worldsemi WS2812B #endif #if AP_NOTIFY_PROFILED_ENABLED Notify_LED_ProfiLED = (1 << 9), // ProfiLED #endif Notify_LED_Scripting = (1 << 10),// Colour accessor for scripting Notify_LED_DShot = (1 << 11),// Use dshot commands to set ESC LEDs Notify_LED_ProfiLED_SPI = (1 << 12), // ProfiLED #if AP_NOTIFY_LP5562_ENABLED Notify_LED_LP5562_I2C_External = (1 << 13), // LP5562 Notify_LED_LP5562_I2C_Internal = (1 << 14), // LP5562 #endif Notify_LED_MAX }; enum Notify_Buzz_Type { Notify_Buzz_None = 0, Notify_Buzz_Builtin = (1 << 0), // Built in default Alarm Out Notify_Buzz_DShot = (1 << 1), // DShot Alarm Notify_Buzz_UAVCAN = (1 << 2), // UAVCAN Alarm }; /// notify_flags_type - bitmask of notification flags struct notify_flags_and_values_type { 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 flying; // 0 = not flying, 1 = flying/driving/diving/tracking 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 failsafe_gcs; // true if GCS failsafe bool failsafe_ekf; // true if ekf 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 bool temp_cal_running; // true if a temperature calibration is running }; /// notify_events_type - bitmask of active events. // Notify library is responsible for setting back to zero after notification has been completed struct notify_events_type { uint32_t arming_failed : 1; // 1 if copter failed to arm after user input uint32_t user_mode_change : 1; // 1 if user has initiated a flight mode change uint32_t user_mode_change_failed: 1; // 1 when user initiated flight mode change fails uint32_t failsafe_mode_change : 1; // 1 when failsafe has triggered a flight mode change uint32_t autotune_complete : 1; // 1 when autotune has successfully completed uint32_t autotune_failed : 1; // 1 when autotune has failed uint32_t autotune_next_axis : 1; // 1 when autotune has completed one axis and is moving onto the next uint32_t mission_complete : 1; // 1 when the mission has completed successfully uint32_t waypoint_complete : 1; // 1 as vehicle completes a waypoint uint32_t initiated_compass_cal : 1; // 1 when user input to begin compass cal was accepted uint32_t compass_cal_saved : 1; // 1 when compass calibration was just saved uint32_t compass_cal_failed : 1; // 1 when compass calibration has just failed uint32_t compass_cal_canceled : 1; // 1 when compass calibration was just canceled uint32_t tune_started : 1; // tuning a parameter has started uint32_t tune_next : 3; // tuning switched to next parameter uint32_t tune_save : 1; // tuning saved parameters uint32_t tune_error : 1; // tuning controller error uint32_t initiated_temp_cal : 1; // 1 when temperature calibration starts uint32_t temp_cal_saved : 1; // 1 when temperature calibration was just saved uint32_t temp_cal_failed : 1; // 1 when temperature calibration has just failed }; // The notify flags and values are static to allow direct class access // without declaring the object. static struct notify_flags_and_values_type flags; static struct notify_events_type events; // initialisation void init(void); /// update - allow updates of leds that cannot be updated during a timed interrupt void update(void); #if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED // handle a LED_CONTROL message static void handle_led_control(const mavlink_message_t &msg); #endif // handle RGB from Scripting or AP_Periph static void handle_rgb(uint8_t r, uint8_t g, uint8_t b, uint8_t rate_hz = 0); // handle RGB from Scripting static void handle_rgb_id(uint8_t r, uint8_t g, uint8_t b, uint8_t id); #if AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED // handle a PLAY_TUNE message static void handle_play_tune(const mavlink_message_t &msg); #endif // play a tune string static void play_tune(const char *tune); 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); const char* get_flight_mode_str() const { return _flight_mode_str; } // send text to display void send_text(const char *str); const char* get_text() const { return _send_text; } uint32_t get_text_updated_millis() const {return _send_text_updated_millis; } static const struct AP_Param::GroupInfo var_info[]; int8_t get_buzz_pin() const { return _buzzer_pin; } uint8_t get_buzz_level() const { return _buzzer_level; } uint8_t get_buzz_volume() const { return _buzzer_volume; } uint8_t get_led_len() const { return _led_len; } int8_t get_rgb_led_brightness_percent() const; #if CONFIG_HAL_BOARD == HAL_BOARD_SITL HAL_Semaphore sf_window_mutex; #endif private: static AP_Notify *_singleton; void add_backend_helper(NotifyDevice *backend); // add all backends void add_backends(void); // parameters AP_Int8 _rgb_led_brightness; AP_Int8 _rgb_led_override; AP_Int8 _buzzer_type; AP_Int8 _display_type; AP_Int8 _oreo_theme; AP_Int8 _buzzer_pin; AP_Int32 _led_type; AP_Int8 _buzzer_level; AP_Int8 _buzzer_volume; AP_Int8 _led_len; char _send_text[NOTIFY_TEXT_BUFFER_SIZE]; uint32_t _send_text_updated_millis; // last time text changed char _flight_mode_str[5]; static NotifyDevice* _devices[]; static uint8_t _num_devices; }; namespace AP { AP_Notify ¬ify(); };