mirror of https://github.com/ArduPilot/ardupilot
112 lines
4.8 KiB
C++
112 lines
4.8 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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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#ifndef __AP_NOTIFY_H__
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#define __AP_NOTIFY_H__
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#include <AP_Common.h>
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#include <GCS_MAVLink.h>
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#include <AP_BoardLED.h>
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#include <ToshibaLED.h>
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#include <ToshibaLED_I2C.h>
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#include <ToshibaLED_PX4.h>
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#include <ToneAlarm_PX4.h>
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#include <ToneAlarm_Linux.h>
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#include <NavioLED_I2C.h>
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#include <ExternalLED.h>
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#include <Buzzer.h>
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#include <VRBoard_LED.h>
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#include <OreoLED_PX4.h>
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#ifndef OREOLED_ENABLED
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# define OREOLED_ENABLED 0 // set to 1 to enable OreoLEDs
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#define CONFIG_NOTIFY_DEVICES_COUNT (3+OREOLED_ENABLED)
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
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#define CONFIG_NOTIFY_DEVICES_COUNT 3
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#define CONFIG_NOTIFY_DEVICES_COUNT 4
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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 CONFIG_NOTIFY_DEVICES_COUNT 2
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#else
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#define CONFIG_NOTIFY_DEVICES_COUNT 3
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#endif
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#else
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#define CONFIG_NOTIFY_DEVICES_COUNT 2
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#endif
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class AP_Notify
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{
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public:
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/// notify_flags_type - bitmask of notification flags
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struct notify_flags_type {
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uint32_t initialising : 1; // 1 if initialising and copter should not be moved
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uint32_t gps_status : 3; // 0 = no gps, 1 = no lock, 2 = 2d lock, 3 = 3d lock, 4 = dgps lock, 5 = rtk lock
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uint32_t armed : 1; // 0 = disarmed, 1 = armed
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uint32_t pre_arm_check : 1; // 0 = failing checks, 1 = passed
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uint32_t pre_arm_gps_check : 1; // 0 = failing pre-arm GPS checks, 1 = passed
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uint32_t save_trim : 1; // 1 if gathering trim data
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uint32_t esc_calibration : 1; // 1 if calibrating escs
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uint32_t failsafe_radio : 1; // 1 if radio failsafe
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uint32_t failsafe_battery : 1; // 1 if battery failsafe
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uint32_t parachute_release : 1; // 1 if parachute is being released
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uint32_t ekf_bad : 1; // 1 if ekf is reporting problems
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uint32_t autopilot_mode : 1; // 1 if vehicle is in an autopilot flight mode (only used by OreoLEDs)
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// additional flags
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uint32_t external_leds : 1; // 1 if external LEDs are enabled (normally only used for copter)
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uint32_t vehicle_lost : 1; // 1 when lost copter tone is requested (normally only used for copter)
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};
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/// notify_events_type - bitmask of active events.
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// Notify library is responsible for setting back to zero after notification has been completed
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struct notify_events_type {
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uint16_t arming_failed : 1; // 1 if copter failed to arm after user input
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uint16_t user_mode_change : 1; // 1 if user has initiated a flight mode change
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uint16_t user_mode_change_failed: 1; // 1 when user initiated flight mode change fails
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uint16_t failsafe_mode_change : 1; // 1 when failsafe has triggered a flight mode change
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uint16_t autotune_complete : 1; // 1 when autotune has successfully completed
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uint16_t autotune_failed : 1; // 1 when autotune has failed
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uint16_t autotune_next_axis : 1; // 1 when autotune has completed one axis and is moving onto the next
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uint16_t mission_complete : 1; // 1 when the mission has completed successfully
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uint16_t waypoint_complete : 1; // 1 as vehicle completes a waypoint
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uint16_t firmware_update : 1; // 1 just before vehicle firmware is updated
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};
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// the notify flags are static to allow direct class access
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// without declaring the object
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static struct notify_flags_type flags;
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static struct notify_events_type events;
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// initialisation
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void init(bool enable_external_leds);
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/// update - allow updates of leds that cannot be updated during a timed interrupt
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void update(void);
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// handle a LED_CONTROL message
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static void handle_led_control(mavlink_message_t* msg);
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private:
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static NotifyDevice* _devices[CONFIG_NOTIFY_DEVICES_COUNT];
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};
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#endif // __AP_NOTIFY_H__
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