mirror of https://github.com/ArduPilot/ardupilot
380 lines
13 KiB
C++
380 lines
13 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_Notify.h"
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#include "AP_BoardLED.h"
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#include "PixRacerLED.h"
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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 "PCA9685LED_I2C.h"
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#include "NCP5623.h"
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#include "OreoLED_I2C.h"
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#include "RCOutputRGBLed.h"
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#include "ToneAlarm.h"
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#include "ToshibaLED_I2C.h"
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#include "VRBoard_LED.h"
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#include "DiscreteRGBLed.h"
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#include "DiscoLED.h"
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#include "Led_Sysfs.h"
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#include "UAVCAN_RGB_LED.h"
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#include <stdio.h>
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#include "AP_BoardLED2.h"
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extern const AP_HAL::HAL& hal;
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AP_Notify *AP_Notify::_singleton;
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#define CONFIG_NOTIFY_DEVICES_MAX 6
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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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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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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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// 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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#ifndef BUZZER_ENABLE_DEFAULT
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#define BUZZER_ENABLE_DEFAULT 1
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#endif
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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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// @Param: LED_BRIGHT
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// @DisplayName: LED Brightness
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// @Description: Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.
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// @Values: 0:Off,1:Low,2:Medium,3:High
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// @User: Advanced
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AP_GROUPINFO("LED_BRIGHT", 0, AP_Notify, _rgb_led_brightness, RGB_LED_HIGH),
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// @Param: BUZZ_ENABLE
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// @DisplayName: Buzzer enable
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// @Description: Enable or disable the buzzer.
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// @Values: 0:Disable,1:Enable
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// @User: Advanced
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AP_GROUPINFO("BUZZ_ENABLE", 1, AP_Notify, _buzzer_enable, BUZZER_ENABLE_DEFAULT),
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// @Param: LED_OVERRIDE
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// @DisplayName: Specifies colour source for the RGBLed
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// @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).
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// @Values: 0:Standard,1:MAVLink,2:OutbackChallenge
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// @User: Advanced
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AP_GROUPINFO("LED_OVERRIDE", 2, AP_Notify, _rgb_led_override, 0),
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// @Param: DISPLAY_TYPE
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// @DisplayName: Type of on-board I2C display
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// @Description: This sets up the type of on-board I2C display. Disabled by default.
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// @Values: 0:Disable,1:ssd1306,2:sh1106
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// @User: Advanced
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AP_GROUPINFO("DISPLAY_TYPE", 3, AP_Notify, _display_type, 0),
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#if !HAL_MINIMIZE_FEATURES
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// @Param: OREO_THEME
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// @DisplayName: OreoLED Theme
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// @Description: Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme
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// @Values: 0:Disabled,1:Aircraft,2:Rover
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// @User: Advanced
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AP_GROUPINFO("OREO_THEME", 4, AP_Notify, _oreo_theme, 0),
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#endif
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#if !defined(HAL_BUZZER_PIN)
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// @Param: BUZZ_PIN
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// @DisplayName: Buzzer pin
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// @Description: Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!
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// @Values: 0:Disabled
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// @User: Advanced
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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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#if !defined(HAL_BUZZER_PIN)
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// @Param: BUZZ_ON_LVL
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// @DisplayName: Buzzer-on pin logic level
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// @Description: Specifies pin level that indicates buzzer should play
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// @Values: 0:LowIsOn,1:HighIsOn
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// @User: Advanced
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AP_GROUPINFO("BUZZ_ON_LVL", 7, AP_Notify, _buzzer_level, 1),
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#endif
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AP_GROUPEND
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};
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// Default constructor
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AP_Notify::AP_Notify()
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{
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AP_Param::setup_object_defaults(this, var_info);
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if (_singleton != nullptr) {
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AP_HAL::panic("AP_Notify must be singleton");
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}
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_singleton = this;
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}
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// static flags, to allow for direct class update from device drivers
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struct AP_Notify::notify_flags_and_values_type AP_Notify::flags;
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struct AP_Notify::notify_events_type AP_Notify::events;
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NotifyDevice *AP_Notify::_devices[CONFIG_NOTIFY_DEVICES_MAX];
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uint8_t AP_Notify::_num_devices;
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void AP_Notify::add_backend_helper(NotifyDevice *backend)
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{
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_devices[_num_devices] = backend;
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_devices[_num_devices]->pNotify = this;
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if(!_devices[_num_devices]->init()) {
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delete _devices[_num_devices];
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_devices[_num_devices] = nullptr;
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} else {
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_num_devices++;
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}
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}
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#define ADD_BACKEND(backend) do { add_backend_helper(backend); if (_num_devices >= CONFIG_NOTIFY_DEVICES_MAX) return;} while(0)
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// add notify backends to _devices array
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void AP_Notify::add_backends(void)
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{
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if (_num_devices != 0) {
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return;
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}
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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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#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
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ADD_BACKEND(new ExternalLED()); // despite the name this is a built in set of onboard LED's
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#endif // CONFIG_HAL_BOARD_SUBTYPE == various CHIBIOS-VRBRAINs
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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_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
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ADD_BACKEND(new VRBoard_LED());
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#else
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ADD_BACKEND(new AP_BoardLED());
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#endif
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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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case Notify_LED_PCA9685LED_I2C_External:
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ADD_BACKEND(new PCA9685LED_I2C());
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break;
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case Notify_LED_OreoLED:
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#if !HAL_MINIMIZE_FEATURES
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if (_oreo_theme) {
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ADD_BACKEND(new OreoLED_I2C(0, _oreo_theme));
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}
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#endif
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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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}
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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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// ChibiOS noise makers
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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ADD_BACKEND(new Buzzer());
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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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// 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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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_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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#else // other linux
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ADD_BACKEND(new AP_ToneAlarm());
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#endif
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#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
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ADD_BACKEND(new AP_ToneAlarm());
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#endif // Noise makers
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}
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// initialisation
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void AP_Notify::init(void)
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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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// add all the backends
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add_backends();
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}
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// main update function, called at 50Hz
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void AP_Notify::update(void)
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{
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for (uint8_t i = 0; i < _num_devices; i++) {
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if (_devices[i] != nullptr) {
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_devices[i]->update();
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}
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}
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//reset the events
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memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
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}
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// handle a LED_CONTROL message
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void AP_Notify::handle_led_control(mavlink_message_t *msg)
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{
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for (uint8_t i = 0; i < _num_devices; i++) {
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if (_devices[i] != nullptr) {
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_devices[i]->handle_led_control(msg);
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}
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}
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}
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// handle a PLAY_TUNE message
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void AP_Notify::handle_play_tune(mavlink_message_t *msg)
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{
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for (uint8_t i = 0; i < _num_devices; i++) {
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if (_devices[i] != nullptr) {
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_devices[i]->handle_play_tune(msg);
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}
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}
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}
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void AP_Notify::play_tune(const char *tune)
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{
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for (uint8_t i = 0; i < _num_devices; i++) {
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if (_devices[i] != nullptr) {
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_devices[i]->play_tune(tune);
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}
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}
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}
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// set flight mode string
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void AP_Notify::set_flight_mode_str(const char *str)
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{
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strncpy(_flight_mode_str, str, 4);
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_flight_mode_str[sizeof(_flight_mode_str)-1] = 0;
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}
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void AP_Notify::send_text(const char *str)
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{
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strncpy(_send_text, str, sizeof(_send_text));
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_send_text[sizeof(_send_text)-1] = 0;
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_send_text_updated_millis = AP_HAL::millis();
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}
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namespace AP {
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AP_Notify ¬ify()
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{
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return *AP_Notify::get_singleton();
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}
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};
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