mirror of https://github.com/ArduPilot/ardupilot
553 lines
19 KiB
C++
553 lines
19 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 "IS31FL3195.h"
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#include "PCA9685LED_I2C.h"
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#include "NavigatorLED.h"
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#include "NeoPixel.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 "LP5562.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 "DroneCAN_RGB_LED.h"
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#include "SITL_SFML_LED.h"
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#include <stdio.h>
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#include "AP_BoardLED2.h"
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#include "ProfiLED.h"
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#include "ScriptingLED.h"
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#include "DShotLED.h"
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extern const AP_HAL::HAL& hal;
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AP_Notify *AP_Notify::_singleton;
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#define CONFIG_NOTIFY_DEVICES_MAX 12
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#else
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#define CONFIG_NOTIFY_DEVICES_MAX 6
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#endif
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#if AP_NOTIFY_TOSHIBALED_ENABLED
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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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#define ALL_TOSHIBALED_I2C (Notify_LED_ToshibaLED_I2C_Internal | Notify_LED_ToshibaLED_I2C_External)
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#else
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#define ALL_TOSHIBALED_I2C 0
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#endif
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#if AP_NOTIFY_NCP5623_ENABLED
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#define ALL_NCP5623_I2C (Notify_LED_NCP5623_I2C_Internal | Notify_LED_NCP5623_I2C_External)
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#else
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#define ALL_NCP5623_I2C 0
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#endif
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#if AP_NOTIFY_LP5562_ENABLED
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#define ALL_LP5562_I2C (Notify_LED_LP5562_I2C_Internal | Notify_LED_LP5562_I2C_External)
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#else
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#define ALL_LP5562_I2C 0
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#endif
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// all I2C_LEDS
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#define I2C_LEDS (ALL_TOSHIBALED_I2C | ALL_NCP5623_I2C | ALL_LP5562_I2C)
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#if AP_NOTIFY_DRONECAN_LED_ENABLED
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#define DRONECAN_LEDS Notify_LED_DroneCAN
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#else
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#define DRONECAN_LEDS 0
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#endif
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#ifndef DEFAULT_NTF_LED_TYPES
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#define DEFAULT_NTF_LED_TYPES (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 DEFAULT_NTF_LED_TYPES (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 DEFAULT_NTF_LED_TYPES (Notify_LED_Board | I2C_LEDS)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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#define DEFAULT_NTF_LED_TYPES (Notify_LED_Board | I2C_LEDS |\
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DRONECAN_LEDS)
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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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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
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#define DEFAULT_NTF_LED_TYPES (Notify_LED_Board)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
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#define DEFAULT_NTF_LED_TYPES (Notify_LED_ToshibaLED_I2C_External)
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#else // other linux
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#define DEFAULT_NTF_LED_TYPES (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 DEFAULT_NTF_LED_TYPES (Notify_LED_Board | I2C_LEDS)
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#endif // board selection
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#endif // DEFAULT_NTF_LED_TYPES
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#ifndef BUZZER_ENABLE_DEFAULT
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#if HAL_CANMANAGER_ENABLED
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// Enable Buzzer messages over UAVCAN
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#define BUZZER_ENABLE_DEFAULT (Notify_Buzz_Builtin | Notify_Buzz_UAVCAN)
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#else
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#define BUZZER_ENABLE_DEFAULT Notify_Buzz_Builtin
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#endif
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#endif
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#ifndef BUILD_DEFAULT_BUZZER_TYPE
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#define BUILD_DEFAULT_BUZZER_TYPE BUZZER_ENABLE_DEFAULT
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#endif
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#ifndef NOTIFY_LED_BRIGHT_DEFAULT
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#define NOTIFY_LED_BRIGHT_DEFAULT RGB_LED_HIGH
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#endif
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#ifndef NOTIFY_LED_OVERRIDE_DEFAULT
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#define NOTIFY_LED_OVERRIDE_DEFAULT 0 // rgb_source_t::standard
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#endif
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#ifndef NOTIFY_LED_LEN_DEFAULT
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#define NOTIFY_LED_LEN_DEFAULT 1
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#endif
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#ifndef HAL_BUZZER_PIN
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#define HAL_BUZZER_PIN -1
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#endif
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#ifndef DEFAULT_BUZZ_ON_LVL
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#define DEFAULT_BUZZ_ON_LVL 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, NOTIFY_LED_BRIGHT_DEFAULT),
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// @Param: BUZZ_TYPES
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// @DisplayName: Buzzer Driver Types
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// @Description: Controls what types of Buzzer will be enabled
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// @Bitmask: 0:Built-in buzzer, 1:DShot, 2:DroneCAN
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// @User: Advanced
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AP_GROUPINFO("BUZZ_TYPES", 1, AP_Notify, _buzzer_type, BUILD_DEFAULT_BUZZER_TYPE),
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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). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.
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// @Values: 0:Standard,1:MAVLink/Scripting/AP_Periph,2:OutbackChallenge,3:TrafficLight
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// @User: Advanced
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AP_GROUPINFO("LED_OVERRIDE", 2, AP_Notify, _rgb_led_override, NOTIFY_LED_OVERRIDE_DEFAULT),
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#if HAL_DISPLAY_ENABLED
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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:sh1106,10:SITL
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// @User: Advanced
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AP_GROUPINFO("DISPLAY_TYPE", 3, AP_Notify, _display_type, 0),
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#endif
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#if AP_NOTIFY_OREOLED_ENABLED
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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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// @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! Some the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
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// @Values: -1:Disabled
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// @User: Advanced
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AP_GROUPINFO("BUZZ_PIN", 5, AP_Notify, _buzzer_pin, HAL_BUZZER_PIN),
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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:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:DroneCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting, 11:DShot, 12:ProfiLED_SPI, 13:LP5562 External, 14: LP5562 Internal, 17: DiscreteRGB
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// @User: Advanced
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AP_GROUPINFO("LED_TYPES", 6, AP_Notify, _led_type, DEFAULT_NTF_LED_TYPES),
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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, DEFAULT_BUZZ_ON_LVL),
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// @Param: BUZZ_VOLUME
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// @DisplayName: Buzzer volume
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// @Description: Control the volume of the buzzer
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// @Range: 0 100
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// @Units: %
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AP_GROUPINFO("BUZZ_VOLUME", 8, AP_Notify, _buzzer_volume, 100),
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// @Param: LED_LEN
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// @DisplayName: Serial LED String Length
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// @Description: The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)
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// @Range: 1 32
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("LED_LEN", 9, AP_Notify, _led_len, NOTIFY_LED_LEN_DEFAULT),
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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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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
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ADD_BACKEND(new NavigatorLED());
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
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ADD_BACKEND(new AP_BoardLED2());
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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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#if AP_NOTIFY_TOSHIBALED_ENABLED
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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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#endif
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#if AP_NOTIFY_NCP5623_ENABLED
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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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FOREACH_I2C_INTERNAL(b) {
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ADD_BACKEND(new NCP5623(b));
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}
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break;
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#endif
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#if AP_NOTIFY_PCA9685_ENABLED
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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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#endif
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#if AP_NOTIFY_NEOPIXEL_ENABLED
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case Notify_LED_NeoPixel:
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ADD_BACKEND(new NeoPixel());
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break;
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#endif
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#if AP_NOTIFY_PROFILED_ENABLED
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case Notify_LED_ProfiLED:
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ADD_BACKEND(new ProfiLED());
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break;
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#endif
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#if AP_NOTIFY_PROFILED_SPI_ENABLED
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case Notify_LED_ProfiLED_SPI:
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ADD_BACKEND(new ProfiLED_SPI());
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break;
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#endif
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#if AP_NOTIFY_OREOLED_ENABLED
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case Notify_LED_OreoLED:
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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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break;
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#endif
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#if AP_NOTIFY_DRONECAN_LED_ENABLED
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case Notify_LED_DroneCAN:
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ADD_BACKEND(new DroneCAN_RGB_LED());
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break;
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#endif // AP_NOTIFY_DRONECAN_LED_ENABLED
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#if AP_NOTIFY_SCRIPTING_LED_ENABLED
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case Notify_LED_Scripting:
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ADD_BACKEND(new ScriptingLED());
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break;
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#endif
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#if AP_NOTIFY_DSHOT_LED_ENABLED
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case Notify_LED_DShot:
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ADD_BACKEND(new DShotLED());
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break;
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#endif
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#if AP_NOTIFY_LP5562_ENABLED
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case Notify_LED_LP5562_I2C_External:
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FOREACH_I2C_EXTERNAL(b) {
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ADD_BACKEND(new LP5562(b, 0x30));
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}
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break;
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case Notify_LED_LP5562_I2C_Internal:
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FOREACH_I2C_INTERNAL(b) {
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ADD_BACKEND(new LP5562(b, 0x30));
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}
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break;
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#endif
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#if AP_NOTIFY_IS31FL3195_ENABLED
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case Notify_LED_IS31FL3195_I2C_External:
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FOREACH_I2C_EXTERNAL(b) {
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ADD_BACKEND(new IS31FL3195(b, 0x54));
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}
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break;
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case Notify_LED_IS31FL3195_I2C_Internal:
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FOREACH_I2C_INTERNAL(b) {
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ADD_BACKEND(new IS31FL3195(b, 0x54));
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}
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break;
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#endif
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#if AP_NOTIFY_DISCRETE_RGB_ENABLED
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case Notify_LED_DiscreteRGB:
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ADD_BACKEND(new DiscreteRGBLed(DISCRETE_RGB_RED_PIN,
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DISCRETE_RGB_GREEN_PIN,
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DISCRETE_RGB_BLUE_PIN,
|
|
DISCRETE_RGB_POLARITY));
|
|
break;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
#if HAL_DISPLAY_ENABLED
|
|
// Always try and add a display backend
|
|
ADD_BACKEND(new Display());
|
|
#endif
|
|
|
|
// ChibiOS noise makers
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
|
|
ADD_BACKEND(new Buzzer());
|
|
#if AP_NOTIFY_TONEALARM_ENABLED
|
|
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 || \
|
|
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
|
|
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());
|
|
ADD_BACKEND(new Buzzer());
|
|
#ifdef WITH_SITL_RGBLED
|
|
ADD_BACKEND(new SITL_SFML_LED());
|
|
#endif
|
|
#endif // Noise makers
|
|
|
|
}
|
|
|
|
// initialisation
|
|
void AP_Notify::init(void)
|
|
{
|
|
// 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));
|
|
}
|
|
|
|
#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
|
|
// handle a LED_CONTROL message
|
|
void AP_Notify::handle_led_control(const mavlink_message_t &msg)
|
|
{
|
|
for (uint8_t i = 0; i < _num_devices; i++) {
|
|
if (_devices[i] != nullptr) {
|
|
_devices[i]->handle_led_control(msg);
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
// handle RGB from Scripting or AP_Periph
|
|
void AP_Notify::handle_rgb(uint8_t r, uint8_t g, uint8_t b, uint8_t rate_hz)
|
|
{
|
|
for (uint8_t i = 0; i < _num_devices; i++) {
|
|
if (_devices[i] != nullptr) {
|
|
_devices[i]->rgb_control(r, g, b, rate_hz);
|
|
}
|
|
}
|
|
}
|
|
|
|
// handle RGB Per led from Scripting
|
|
void AP_Notify::handle_rgb_id(uint8_t r, uint8_t g, uint8_t b, uint8_t id)
|
|
{
|
|
for (uint8_t i = 0; i < _num_devices; i++) {
|
|
if (_devices[i] != nullptr) {
|
|
_devices[i]->rgb_set_id(r, g, b, id);
|
|
}
|
|
}
|
|
}
|
|
|
|
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, sizeof(_flight_mode_str));
|
|
_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();
|
|
}
|
|
|
|
// convert 0-3 to 0-100
|
|
int8_t AP_Notify::get_rgb_led_brightness_percent() const
|
|
{
|
|
switch (_rgb_led_brightness) {
|
|
default:
|
|
case RGB_LED_OFF:
|
|
return 0;
|
|
case RGB_LED_LOW:
|
|
return 33;
|
|
case RGB_LED_MEDIUM:
|
|
return 66;
|
|
case RGB_LED_HIGH:
|
|
return 100;
|
|
}
|
|
}
|
|
|
|
namespace AP {
|
|
|
|
AP_Notify ¬ify()
|
|
{
|
|
return *AP_Notify::get_singleton();
|
|
}
|
|
|
|
};
|