/* 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 . */ #include "AP_Notify.h" #include "AP_BoardLED.h" #include "PixRacerLED.h" #include "Buzzer.h" #include "Display.h" #include "ExternalLED.h" #include "PCA9685LED_I2C.h" #include "NCP5623.h" #include "OreoLED_I2C.h" #include "RCOutputRGBLed.h" #include "ToneAlarm.h" #include "ToshibaLED_I2C.h" #include "VRBoard_LED.h" #include "DiscreteRGBLed.h" #include "DiscoLED.h" #include "Led_Sysfs.h" #include "UAVCAN_RGB_LED.h" #include "SITL_SFML_LED.h" #include #include "AP_BoardLED2.h" extern const AP_HAL::HAL& hal; AP_Notify *AP_Notify::_singleton; #define CONFIG_NOTIFY_DEVICES_MAX 6 #define TOSHIBA_LED_I2C_BUS_INTERNAL 0 #define TOSHIBA_LED_I2C_BUS_EXTERNAL 1 // all I2C_LEDS #define I2C_LEDS (Notify_LED_ToshibaLED_I2C_Internal | Notify_LED_ToshibaLED_I2C_External | \ Notify_LED_NCP5623_I2C_Internal | Notify_LED_NCP5623_I2C_External) #ifndef BUILD_DEFAULT_LED_TYPE #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS) // Linux boards #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS |\ Notify_LED_PCA9685LED_I2C_External) #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS) #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS |\ Notify_LED_UAVCAN) #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board) #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ #define BUILD_DEFAULT_LED_TYPE (Notify_LED_ToshibaLED_I2C_External) #else // other linux #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS) #endif // All other builds #else #define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS) #endif // board selection #endif // BUILD_DEFAULT_LED_TYPE #ifndef BUZZER_ENABLE_DEFAULT #define BUZZER_ENABLE_DEFAULT 1 #endif // table of user settable parameters const AP_Param::GroupInfo AP_Notify::var_info[] = { // @Param: LED_BRIGHT // @DisplayName: LED Brightness // @Description: Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting. // @Values: 0:Off,1:Low,2:Medium,3:High // @User: Advanced AP_GROUPINFO("LED_BRIGHT", 0, AP_Notify, _rgb_led_brightness, RGB_LED_HIGH), // @Param: BUZZ_ENABLE // @DisplayName: Buzzer enable // @Description: Enable or disable the buzzer. // @Values: 0:Disable,1:Enable // @User: Advanced AP_GROUPINFO("BUZZ_ENABLE", 1, AP_Notify, _buzzer_enable, BUZZER_ENABLE_DEFAULT), // @Param: LED_OVERRIDE // @DisplayName: Specifies colour source for the RGBLed // @Description: Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). // @Values: 0:Standard,1:MAVLink,2:OutbackChallenge // @User: Advanced AP_GROUPINFO("LED_OVERRIDE", 2, AP_Notify, _rgb_led_override, 0), // @Param: DISPLAY_TYPE // @DisplayName: Type of on-board I2C display // @Description: This sets up the type of on-board I2C display. Disabled by default. // @Values: 0:Disable,1:ssd1306,2:sh1106 // @User: Advanced AP_GROUPINFO("DISPLAY_TYPE", 3, AP_Notify, _display_type, 0), #if !HAL_MINIMIZE_FEATURES // @Param: OREO_THEME // @DisplayName: OreoLED Theme // @Description: Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme // @Values: 0:Disabled,1:Aircraft,2:Rover // @User: Advanced AP_GROUPINFO("OREO_THEME", 4, AP_Notify, _oreo_theme, 0), #endif #if !defined(HAL_BUZZER_PIN) // @Param: BUZZ_PIN // @DisplayName: Buzzer pin // @Description: Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! // @Values: 0:Disabled // @User: Advanced AP_GROUPINFO("BUZZ_PIN", 5, AP_Notify, _buzzer_pin, 0), #endif // @Param: LED_TYPES // @DisplayName: LED Driver Types // @Description: Controls what types of LEDs will be enabled // @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 // @User: Advanced AP_GROUPINFO("LED_TYPES", 6, AP_Notify, _led_type, BUILD_DEFAULT_LED_TYPE), #if !defined(HAL_BUZZER_PIN) // @Param: BUZZ_ON_LVL // @DisplayName: Buzzer-on pin logic level // @Description: Specifies pin level that indicates buzzer should play // @Values: 0:LowIsOn,1:HighIsOn // @User: Advanced AP_GROUPINFO("BUZZ_ON_LVL", 7, AP_Notify, _buzzer_level, 1), #endif AP_GROUPEND }; // Default constructor AP_Notify::AP_Notify() { AP_Param::setup_object_defaults(this, var_info); if (_singleton != nullptr) { AP_HAL::panic("AP_Notify must be singleton"); } _singleton = this; } // static flags, to allow for direct class update from device drivers struct AP_Notify::notify_flags_and_values_type AP_Notify::flags; struct AP_Notify::notify_events_type AP_Notify::events; NotifyDevice *AP_Notify::_devices[CONFIG_NOTIFY_DEVICES_MAX]; uint8_t AP_Notify::_num_devices; void AP_Notify::add_backend_helper(NotifyDevice *backend) { _devices[_num_devices] = backend; _devices[_num_devices]->pNotify = this; if(!_devices[_num_devices]->init()) { delete _devices[_num_devices]; _devices[_num_devices] = nullptr; } else { _num_devices++; } } #define ADD_BACKEND(backend) do { add_backend_helper(backend); if (_num_devices >= CONFIG_NOTIFY_DEVICES_MAX) return;} while(0) // add notify backends to _devices array void AP_Notify::add_backends(void) { if (_num_devices != 0) { return; } for (uint32_t i = 1; i < Notify_LED_MAX; i = i << 1) { switch(_led_type & i) { case Notify_LED_None: break; case Notify_LED_Board: // select the most appropriate built in LED driver type #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 ADD_BACKEND(new Led_Sysfs("rgb_led0", "rgb_led2", "rgb_led1")); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE ADD_BACKEND(new RCOutputRGBLedInverted(12, 13, 14)); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH ADD_BACKEND(new RCOutputRGBLed(HAL_RCOUT_RGBLED_RED, HAL_RCOUT_RGBLED_GREEN, HAL_RCOUT_RGBLED_BLUE)); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO ADD_BACKEND(new DiscoLED()); #endif #endif // CONFIG_HAL_BOARD == HAL_BOARD_LINUX #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V51 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V52 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRCORE_V10 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V54 ADD_BACKEND(new ExternalLED()); // despite the name this is a built in set of onboard LED's #endif // CONFIG_HAL_BOARD_SUBTYPE == various CHIBIOS-VRBRAINs #if defined(HAL_HAVE_PIXRACER_LED) ADD_BACKEND(new PixRacerLED()); #elif (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN) && defined(HAL_GPIO_C_LED_PIN)) #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V51 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V52 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRCORE_V10 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V54 ADD_BACKEND(new VRBoard_LED()); #else ADD_BACKEND(new AP_BoardLED()); #endif #elif (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN)) ADD_BACKEND(new AP_BoardLED2()); #endif break; case Notify_LED_ToshibaLED_I2C_Internal: ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL)); break; case Notify_LED_ToshibaLED_I2C_External: ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL)); break; #if !HAL_MINIMIZE_FEATURES case Notify_LED_NCP5623_I2C_External: FOREACH_I2C_EXTERNAL(b) { ADD_BACKEND(new NCP5623(b)); } break; case Notify_LED_NCP5623_I2C_Internal: ADD_BACKEND(new NCP5623(TOSHIBA_LED_I2C_BUS_INTERNAL)); break; #endif case Notify_LED_PCA9685LED_I2C_External: ADD_BACKEND(new PCA9685LED_I2C()); break; case Notify_LED_OreoLED: #if !HAL_MINIMIZE_FEATURES if (_oreo_theme) { ADD_BACKEND(new OreoLED_I2C(0, _oreo_theme)); } #endif break; case Notify_LED_UAVCAN: #if HAL_WITH_UAVCAN ADD_BACKEND(new UAVCAN_RGB_LED(0)); #endif // HAL_WITH_UAVCAN break; } } // Always try and add a display backend ADD_BACKEND(new Display()); // ChibiOS noise makers #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS ADD_BACKEND(new Buzzer()); #ifdef HAL_PWM_ALARM ADD_BACKEND(new AP_ToneAlarm()); #endif // Linux noise makers #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE // No noise makers, keep this though to ensure that the final else is safe #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET ADD_BACKEND(new Buzzer()); #else // other linux ADD_BACKEND(new AP_ToneAlarm()); #endif #elif CONFIG_HAL_BOARD == HAL_BOARD_SITL ADD_BACKEND(new AP_ToneAlarm()); #ifdef WITH_SITL_RGBLED ADD_BACKEND(new SITL_SFML_LED()); #endif #endif // Noise makers } // initialisation void AP_Notify::init(void) { // clear all flags and events memset(&AP_Notify::flags, 0, sizeof(AP_Notify::flags)); memset(&AP_Notify::events, 0, sizeof(AP_Notify::events)); // add all the backends add_backends(); } // main update function, called at 50Hz void AP_Notify::update(void) { for (uint8_t i = 0; i < _num_devices; i++) { if (_devices[i] != nullptr) { _devices[i]->update(); } } //reset the events memset(&AP_Notify::events, 0, sizeof(AP_Notify::events)); } // handle a LED_CONTROL message void AP_Notify::handle_led_control(mavlink_message_t *msg) { for (uint8_t i = 0; i < _num_devices; i++) { if (_devices[i] != nullptr) { _devices[i]->handle_led_control(msg); } } } // handle a PLAY_TUNE message void AP_Notify::handle_play_tune(mavlink_message_t *msg) { for (uint8_t i = 0; i < _num_devices; i++) { if (_devices[i] != nullptr) { _devices[i]->handle_play_tune(msg); } } } void AP_Notify::play_tune(const char *tune) { for (uint8_t i = 0; i < _num_devices; i++) { if (_devices[i] != nullptr) { _devices[i]->play_tune(tune); } } } // set flight mode string void AP_Notify::set_flight_mode_str(const char *str) { strncpy(_flight_mode_str, str, 4); _flight_mode_str[sizeof(_flight_mode_str)-1] = 0; } void AP_Notify::send_text(const char *str) { strncpy(_send_text, str, sizeof(_send_text)); _send_text[sizeof(_send_text)-1] = 0; _send_text_updated_millis = AP_HAL::millis(); } namespace AP { AP_Notify ¬ify() { return *AP_Notify::get_singleton(); } };