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1 : /* 2 : This program is free software: you can redistribute it and/or modify 3 : it under the terms of the GNU General Public License as published by 4 : the Free Software Foundation, either version 3 of the License, or 5 : (at your option) any later version. 6 : 7 : This program is distributed in the hope that it will be useful, 8 : but WITHOUT ANY WARRANTY; without even the implied warranty of 9 : MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 10 : GNU General Public License for more details. 11 : 12 : You should have received a copy of the GNU General Public License 13 : along with this program. If not, see <http://www.gnu.org/licenses/>. 14 : */ 15 : #pragma once 16 : 17 : #include <AP_GPS/AP_GPS_FixType.h> 18 : 19 : #include <AP_Common/AP_Common.h> 20 : #include <AP_Param/AP_Param.h> 21 : #include "AP_Notify_config.h" 22 : #include <AP_IOMCU/AP_IOMCU.h> 23 : 24 : #include "NotifyDevice.h" 25 : 26 : // Device parameters values 27 : #define RGB_LED_OFF 0 28 : #define RGB_LED_LOW 1 29 : #define RGB_LED_MEDIUM 2 30 : #define RGB_LED_HIGH 3 31 : 32 : #define NOTIFY_TEXT_BUFFER_SIZE 51 33 : 34 : //Type of on-board display 35 : #define DISPLAY_OFF 0 36 : #define DISPLAY_SSD1306 1 37 : #define DISPLAY_SH1106 2 38 : #define DISPLAY_SITL 10 39 : 40 : class AP_Notify 41 : { 42 : friend class RGBLed; // RGBLed needs access to notify parameters 43 : friend class Display; // Display needs access to notify parameters 44 : public: 45 : AP_Notify(); 46 : 47 : /* Do not allow copies */ 48 : CLASS_NO_COPY(AP_Notify); 49 : 50 : // get singleton instance 51 290086 : static AP_Notify *get_singleton(void) { 52 290086 : return _singleton; 53 : } 54 : 55 : enum Notify_LED_Type { 56 : Notify_LED_None = 0, // not enabled 57 : Notify_LED_Board = (1 << 0), // Built in board LED's 58 : #if AP_NOTIFY_TOSHIBALED_ENABLED 59 : Notify_LED_ToshibaLED_I2C_Internal = (1 << 1), // Internal ToshibaLED_I2C 60 : Notify_LED_ToshibaLED_I2C_External = (1 << 2), // External ToshibaLED_I2C 61 : #endif 62 : #if AP_NOTIFY_PCA9685_ENABLED 63 : Notify_LED_PCA9685LED_I2C_External = (1 << 3), // External PCA9685_I2C 64 : #endif 65 : #if AP_NOTIFY_OREOLED_ENABLED 66 : Notify_LED_OreoLED = (1 << 4), // Oreo 67 : #endif 68 : #if AP_NOTIFY_DRONECAN_LED_ENABLED 69 : Notify_LED_DroneCAN = (1 << 5), // UAVCAN RGB LED 70 : #endif 71 : #if AP_NOTIFY_NCP5623_ENABLED 72 : Notify_LED_NCP5623_I2C_External = (1 << 6), // External NCP5623 73 : Notify_LED_NCP5623_I2C_Internal = (1 << 7), // Internal NCP5623 74 : #endif 75 : #if AP_NOTIFY_NEOPIXEL_ENABLED 76 : Notify_LED_NeoPixel = (1 << 8), // NeoPixel 5050 AdaFruit 1655 SK6812 Worldsemi WS2812B 77 : #endif 78 : #if AP_NOTIFY_PROFILED_ENABLED 79 : Notify_LED_ProfiLED = (1 << 9), // ProfiLED 80 : #endif 81 : #if AP_NOTIFY_SCRIPTING_LED_ENABLED 82 : Notify_LED_Scripting = (1 << 10),// Colour accessor for scripting 83 : #endif 84 : #if AP_NOTIFY_DSHOT_LED_ENABLED 85 : Notify_LED_DShot = (1 << 11),// Use dshot commands to set ESC LEDs 86 : #endif 87 : #if AP_NOTIFY_PROFILED_SPI_ENABLED 88 : Notify_LED_ProfiLED_SPI = (1 << 12), // ProfiLED (SPI) 89 : #endif 90 : #if AP_NOTIFY_LP5562_ENABLED 91 : Notify_LED_LP5562_I2C_External = (1 << 13), // LP5562 92 : Notify_LED_LP5562_I2C_Internal = (1 << 14), // LP5562 93 : #endif 94 : #if AP_NOTIFY_IS31FL3195_ENABLED 95 : Notify_LED_IS31FL3195_I2C_External = (1 << 15), // IS31FL3195 96 : Notify_LED_IS31FL3195_I2C_Internal = (1 << 16), // IS31FL3195 97 : #endif 98 : #if AP_NOTIFY_DISCRETE_RGB_ENABLED 99 : Notify_LED_DiscreteRGB = (1 << 17), // DiscreteRGB 100 : #endif 101 : #if AP_NOTIFY_NEOPIXEL_ENABLED 102 : Notify_LED_NeoPixelRGB = (1 << 18), // NeoPixel AdaFruit 4544 Worldsemi WS2811 103 : #endif 104 : #if HAL_WITH_IO_MCU && AP_IOMCU_PROFILED_SUPPORT_ENABLED 105 : Notify_LED_ProfiLED_IOMCU = (1 << 19), // ProfiLED IOMCU 106 : #endif 107 : Notify_LED_MAX 108 : }; 109 : 110 : enum class BuzzerType : uint8_t { 111 : NONE = 0, 112 : BUILTIN = (1 << 0), // Built in default Alarm Out 113 : DSHOT = (1 << 1), // DShot Alarm 114 : UAVCAN = (1 << 2), // UAVCAN Alarm 115 : }; 116 : 117 : /// notify_flags_type - bitmask of notification flags 118 : struct notify_flags_and_values_type { 119 : bool initialising; // true if initialising and the vehicle should not be moved 120 : AP_GPS_FixType gps_status; // GPS fix type 121 : uint8_t gps_num_sats; // number of sats 122 : uint8_t flight_mode; // flight mode 123 : bool armed; // 0 = disarmed, 1 = armed 124 : bool flying; // 0 = not flying, 1 = flying/driving/diving/tracking 125 : bool pre_arm_check; // true if passing pre arm checks 126 : bool pre_arm_gps_check; // true if passing pre arm gps checks 127 : bool save_trim; // true if gathering trim data 128 : bool esc_calibration; // true if calibrating escs 129 : bool failsafe_radio; // true if radio failsafe 130 : bool failsafe_battery; // true if battery failsafe 131 : bool failsafe_gcs; // true if GCS failsafe 132 : bool failsafe_ekf; // true if ekf failsafe 133 : bool parachute_release; // true if parachute is being released 134 : bool ekf_bad; // true if ekf is reporting problems 135 : bool autopilot_mode; // true if vehicle is in an autopilot flight mode (only used by OreoLEDs) 136 : bool firmware_update; // true just before vehicle firmware is updated 137 : bool compass_cal_running; // true if a compass calibration is running 138 : bool leak_detected; // true if leak detected 139 : bool gps_fusion; // true if the GPS is in use by EKF, usable for flight 140 : bool gps_glitching; // true f the GPS is believed to be glitching is affecting navigation accuracy 141 : bool have_pos_abs; // true if absolute position is available 142 : bool vehicle_lost; // true when lost copter tone is requested (normally only used for copter) 143 : bool waiting_for_throw; // true when copter is in THROW mode and waiting to detect the user hand launch 144 : bool powering_off; // true when the vehicle is powering off 145 : bool video_recording; // true when the vehicle is recording video 146 : bool temp_cal_running; // true if a temperature calibration is running 147 : bool gyro_calibrated; // true if calibrated gyro/acc 148 : }; 149 : 150 : /// notify_events_type - bitmask of active events. 151 : // Notify library is responsible for setting back to zero after notification has been completed 152 : struct notify_events_type { 153 : uint32_t arming_failed : 1; // 1 if copter failed to arm after user input 154 : uint32_t user_mode_change : 1; // 1 if user has initiated a flight mode change 155 : uint32_t user_mode_change_failed: 1; // 1 when user initiated flight mode change fails 156 : uint32_t failsafe_mode_change : 1; // 1 when failsafe has triggered a flight mode change 157 : uint32_t autotune_complete : 1; // 1 when autotune has successfully completed 158 : uint32_t autotune_failed : 1; // 1 when autotune has failed 159 : uint32_t autotune_next_axis : 1; // 1 when autotune has completed one axis and is moving onto the next 160 : uint32_t mission_complete : 1; // 1 when the mission has completed successfully 161 : uint32_t waypoint_complete : 1; // 1 as vehicle completes a waypoint 162 : uint32_t initiated_compass_cal : 1; // 1 when user input to begin compass cal was accepted 163 : uint32_t compass_cal_saved : 1; // 1 when compass calibration was just saved 164 : uint32_t compass_cal_failed : 1; // 1 when compass calibration has just failed 165 : uint32_t compass_cal_canceled : 1; // 1 when compass calibration was just canceled 166 : uint32_t tune_started : 1; // tuning a parameter has started 167 : uint32_t tune_next : 3; // tuning switched to next parameter 168 : uint32_t tune_save : 1; // tuning saved parameters 169 : uint32_t tune_error : 1; // tuning controller error 170 : uint32_t initiated_temp_cal : 1; // 1 when temperature calibration starts 171 : uint32_t temp_cal_saved : 1; // 1 when temperature calibration was just saved 172 : uint32_t temp_cal_failed : 1; // 1 when temperature calibration has just failed 173 : }; 174 : 175 : // The notify flags and values are static to allow direct class access 176 : // without declaring the object. 177 : static struct notify_flags_and_values_type flags; 178 : static struct notify_events_type events; 179 : 180 : // initialisation 181 : void init(void); 182 : 183 : /// update - allow updates of leds that cannot be updated during a timed interrupt 184 : void update(void); 185 : 186 : #if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED 187 : // handle a LED_CONTROL message 188 : static void handle_led_control(const mavlink_message_t &msg); 189 : #endif 190 : 191 : // handle RGB from Scripting or AP_Periph 192 : static void handle_rgb(uint8_t r, uint8_t g, uint8_t b, uint8_t rate_hz = 0); 193 : 194 : // handle RGB from Scripting 195 : static void handle_rgb_id(uint8_t r, uint8_t g, uint8_t b, uint8_t id); 196 : 197 : #if AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED 198 : // handle a PLAY_TUNE message 199 : static void handle_play_tune(const mavlink_message_t &msg); 200 : #endif 201 : 202 : // play a tune string 203 : static void play_tune(const char *tune); 204 : 205 4188 : bool buzzer_enabled() const { return _buzzer_type != 0; } 206 : 207 2094 : uint8_t get_buzzer_types() const { return _buzzer_type; } 208 : 209 : // set flight mode string 210 : void set_flight_mode_str(const char *str); 211 565 : const char* get_flight_mode_str() const { return _flight_mode_str; } 212 : 213 : // send text to display 214 : void send_text(const char *str); 215 521 : const char* get_text() const { return _send_text; } 216 652 : uint32_t get_text_updated_millis() const {return _send_text_updated_millis; } 217 : 218 : #if AP_SCRIPTING_ENABLED 219 : // send text to the display using scripting 220 : void send_text_scripting(const char *str, uint8_t r); 221 : void release_text_scripting(uint8_t r); 222 : #endif 223 : 224 : static const struct AP_Param::GroupInfo var_info[]; 225 2094 : int8_t get_buzz_pin() const { return _buzzer_pin; } 226 0 : uint8_t get_buzz_level() const { return _buzzer_level; } 227 0 : uint8_t get_buzz_volume() const { return _buzzer_volume; } 228 0 : uint8_t get_led_len() const { return _led_len; } 229 0 : uint32_t get_led_type() const { return _led_type; } 230 : int8_t get_rgb_led_brightness_percent() const; 231 : 232 : #if CONFIG_HAL_BOARD == HAL_BOARD_SITL 233 : HAL_Semaphore sf_window_mutex; 234 : #endif 235 : 236 : private: 237 : 238 : static AP_Notify *_singleton; 239 : 240 : void add_backend_helper(NotifyDevice *backend); 241 : 242 : // add all backends 243 : void add_backends(void); 244 : 245 : // parameters 246 : AP_Int8 _rgb_led_brightness; 247 : AP_Int8 _rgb_led_override; 248 : AP_Int8 _buzzer_type; 249 : AP_Int8 _display_type; 250 : AP_Int8 _oreo_theme; 251 : AP_Int8 _buzzer_pin; 252 : AP_Int32 _led_type; 253 : AP_Int8 _buzzer_level; 254 : AP_Int8 _buzzer_volume; 255 : AP_Int8 _led_len; 256 : 257 : char _send_text[NOTIFY_TEXT_BUFFER_SIZE]; 258 : uint32_t _send_text_updated_millis; // last time text changed 259 : char _flight_mode_str[5]; 260 : 261 : static NotifyDevice* _devices[]; 262 : static uint8_t _num_devices; 263 : }; 264 : 265 : namespace AP { 266 : AP_Notify ¬ify(); 267 : };
