mirror of https://github.com/ArduPilot/ardupilot
187 lines
6.4 KiB
C++
187 lines
6.4 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 "Buzzer.h"
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#include "Display_SSD1306_I2C.h"
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#include "ExternalLED.h"
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#include "NavioLED_I2C.h"
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#include "OreoLED_PX4.h"
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#include "RCOutputRGBLed.h"
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#include "ToneAlarm_Linux.h"
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#include "ToneAlarm_PX4.h"
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#include "ToneAlarm_PX4_Solo.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 "VRBoard_LED.h"
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#include "DiscreteRGBLed.h"
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#include "DiscoLED.h"
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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. Only for Linux and PX4 based boards.
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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_ON),
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// @Param: LED_OVERRIDE
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// @DisplayName: Setup for MAVLink LED override
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// @Description: This sets up the board RGB LED for override by MAVLink. Normal notify LED control is disabled
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// @Values: 0:Disable,1:Enable
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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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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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}
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// static flags, to allow for direct class update from device drivers
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struct AP_Notify::notify_flags_type AP_Notify::flags;
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struct AP_Notify::notify_events_type AP_Notify::events;
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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AP_BoardLED boardled;
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ToshibaLED_PX4 toshibaled;
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#if AP_NOTIFY_SOLO_TONES == 1
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ToneAlarm_PX4_Solo tonealarm;
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#else
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ToneAlarm_PX4 tonealarm;
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#endif
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#if AP_NOTIFY_OREOLED == 1
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OreoLED_PX4 oreoled;
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NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &tonealarm, &oreoled};
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#else
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NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &tonealarm};
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#endif
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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ToneAlarm_PX4 tonealarm;
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_VRBRAIN_V45
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AP_BoardLED boardled;
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#else
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VRBoard_LED boardled;
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#endif
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ToshibaLED_PX4 toshibaled;
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ExternalLED externalled;
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NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &externalled, &tonealarm};
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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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NavioLED_I2C navioled;
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ToshibaLED_I2C toshibaled;
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NotifyDevice *AP_Notify::_devices[] = {&navioled, &toshibaled};
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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DiscreteRGBLed navioled(4, 27, 6, false);
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ToshibaLED_I2C toshibaled;
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NotifyDevice *AP_Notify::_devices[] = {&navioled, &toshibaled};
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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Buzzer buzzer;
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Display_SSD1306_I2C display;
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NotifyDevice *AP_Notify::_devices[] = {&display, &buzzer};
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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ToshibaLED_I2C toshibaled;
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ToneAlarm_Linux tonealarm;
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NotifyDevice *AP_Notify::_devices[] = {&toshibaled, &tonealarm};
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
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RCOutputRGBLedOff led(15, 13, 14, 255);
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NotifyDevice *AP_Notify::_devices[] = { &led };
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#elif 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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AP_BoardLED boardled;
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NotifyDevice *AP_Notify::_devices[] = {&boardled};
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
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AP_BoardLED boardled;
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RCOutputRGBLed bhled(HAL_RCOUT_RGBLED_RED, HAL_RCOUT_RGBLED_GREEN, HAL_RCOUT_RGBLED_BLUE);
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NotifyDevice *AP_Notify::_devices[] = {&boardled, &bhled};
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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DiscoLED discoled;
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ToneAlarm_Linux tonealarm;
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NotifyDevice *AP_Notify::_devices[] = {&discoled, &tonealarm};
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#else
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AP_BoardLED boardled;
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ToshibaLED_I2C toshibaled;
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ToneAlarm_Linux tonealarm;
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NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &tonealarm};
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#endif
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#else
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AP_BoardLED boardled;
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ToshibaLED_I2C toshibaled;
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NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled};
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#endif
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#define CONFIG_NOTIFY_DEVICES_COUNT (ARRAY_SIZE(AP_Notify::_devices))
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// initialisation
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void AP_Notify::init(bool enable_external_leds)
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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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AP_Notify::flags.external_leds = enable_external_leds;
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for (uint8_t i = 0; i < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
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_devices[i]->pNotify = this;
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_devices[i]->init();
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}
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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 < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
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_devices[i]->update();
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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 < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
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_devices[i]->handle_led_control(msg);
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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 < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
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_devices[i]->handle_play_tune(msg);
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}
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}
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