/// -*- 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 #include #include #include #ifndef OREOLED_ENABLED # define OREOLED_ENABLED 0 // set to 1 to enable OreoLEDs #endif #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #define CONFIG_NOTIFY_DEVICES_COUNT (3+OREOLED_ENABLED) #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_flags_type - bitmask of notification flags struct notify_flags_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 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) // additional flags uint32_t external_leds : 1; // 1 if external LEDs are enabled (normally only used for copter) }; /// 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 { uint16_t arming_failed : 1; // 1 if copter failed to arm after user input uint16_t user_mode_change : 1; // 1 if user has initiated a flight mode change uint16_t user_mode_change_failed: 1; // 1 when user initiated flight mode change fails uint16_t failsafe_mode_change : 1; // 1 when failsafe has triggered a flight mode change uint16_t autotune_complete : 1; // 1 when autotune has successfully completed uint16_t autotune_failed : 1; // 1 when autotune has failed uint16_t autotune_next_axis : 1; // 1 when autotune has completed one axis and is moving onto the next uint16_t mission_complete : 1; // 1 when the mission has completed successfully uint16_t waypoint_complete : 1; // 1 as vehicle completes a waypoint uint16_t firmware_update : 1; // 1 just before vehicle firmware is updated }; // the notify flags are static to allow direct class access // without declaring the object static struct notify_flags_type flags; static struct notify_events_type events; // initialisation void init(bool enable_external_leds); /// update - allow updates of leds that cannot be updated during a timed interrupt void update(void); // handle a LED_CONTROL message static void handle_led_control(mavlink_message_t* msg); private: static NotifyDevice* _devices[CONFIG_NOTIFY_DEVICES_COUNT]; }; #endif // __AP_NOTIFY_H__