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AP_Notify: new files and definitions for VRBRAIN board

mission-4.1.18
Emile Castelnuovo 11 years ago committed by Andrew Tridgell
parent
1bc199c5bd
commit
4ad83f3c8a
7 changed files with 286 additions and 0 deletions
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  1. 6
      libraries/AP_Notify/AP_BoardLED.h
  2. 6
      libraries/AP_Notify/AP_Notify.cpp
  3. 5
      libraries/AP_Notify/AP_Notify.h
  4. 108
      libraries/AP_Notify/ToneAlarm_VRBRAIN.cpp
  5. 47
      libraries/AP_Notify/ToneAlarm_VRBRAIN.h
  6. 77
      libraries/AP_Notify/ToshibaLED_VRBRAIN.cpp
  7. 37
      libraries/AP_Notify/ToshibaLED_VRBRAIN.h

6
libraries/AP_Notify/AP_BoardLED.h
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@ -60,6 +60,12 @@ @@ -60,6 +60,12 @@
# define HAL_GPIO_C_LED_PIN -1
# define HAL_GPIO_LED_ON LOW
# define HAL_GPIO_LED_OFF HIGH
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
# define HAL_GPIO_A_LED_PIN 27
# define HAL_GPIO_B_LED_PIN 26
# define HAL_GPIO_C_LED_PIN 25
# define HAL_GPIO_LED_ON LOW
# define HAL_GPIO_LED_OFF HIGH
#else
#error "Unknown board type in AP_Notify"
#endif

6
libraries/AP_Notify/AP_Notify.cpp
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@ -34,6 +34,9 @@ void AP_Notify::init(bool enable_external_leds) @@ -34,6 +34,9 @@ void AP_Notify::init(bool enable_external_leds)
externalled.init();
buzzer.init();
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
tonealarm.init();
#endif
}
// main update function, called at 50Hz
@ -49,4 +52,7 @@ void AP_Notify::update(void) @@ -49,4 +52,7 @@ void AP_Notify::update(void)
externalled.update();
buzzer.update();
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
tonealarm.update();
#endif
}

5
libraries/AP_Notify/AP_Notify.h
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@ -26,6 +26,8 @@ @@ -26,6 +26,8 @@
#include <ToneAlarm_PX4.h>
#include <ExternalLED.h>
#include <Buzzer.h>
#include <ToshibaLED_VRBRAIN.h>
#include <ToneAlarm_VRBRAIN.h>
class AP_Notify
{
@ -69,6 +71,9 @@ private: @@ -69,6 +71,9 @@ private:
ToshibaLED_I2C toshibaled;
ExternalLED externalled;
Buzzer buzzer;
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
ToshibaLED_VRBRAIN toshibaled;
ToneAlarm_VRBRAIN tonealarm;
#else
ToshibaLED_I2C toshibaled;
#endif

108
libraries/AP_Notify/ToneAlarm_VRBRAIN.cpp
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@ -0,0 +1,108 @@ @@ -0,0 +1,108 @@
/*
ToneAlarm VRBRAIN driver
*/
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include "ToneAlarm_VRBRAIN.h"
#include "AP_Notify.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_tone_alarm.h>
#include <stdio.h>
#include <errno.h>
extern const AP_HAL::HAL& hal;
bool ToneAlarm_VRBRAIN::init()
{
// open the tone alarm device
_tonealarm_fd = open(TONEALARM_DEVICE_PATH, 0);
if (_tonealarm_fd == -1) {
hal.console->printf("Unable to open " TONEALARM_DEVICE_PATH);
return false;
}
// set initial boot states. This prevents us issueing a arming
// warning in plane and rover on every boot
flags.armed = AP_Notify::flags.armed;
flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
return true;
}
// play_tune - play one of the pre-defined tunes
bool ToneAlarm_VRBRAIN::play_tune(const uint8_t tune_number)
{
int ret = ioctl(_tonealarm_fd, TONE_SET_ALARM, tune_number);
return (ret == 0);
}
// update - updates led according to timed_updated. Should be called at 50Hz
void ToneAlarm_VRBRAIN::update()
{
// exit immediately if we haven't initialised successfully
if (_tonealarm_fd == -1) {
return;
}
// check if arming status has changed
if (flags.armed != AP_Notify::flags.armed) {
flags.armed = AP_Notify::flags.armed;
if (flags.armed) {
// arming tune
play_tune(TONE_ARMING_WARNING_TUNE);
}else{
// disarming tune
play_tune(TONE_NOTIFY_NEUTRAL_TUNE);
}
}
// check if battery status has changed
if (flags.failsafe_battery != AP_Notify::flags.failsafe_battery) {
flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
if (flags.failsafe_battery) {
// low battery warning tune
play_tune(TONE_BATTERY_WARNING_FAST_TUNE);
}
}
// check gps glitch
if (flags.gps_glitching != AP_Notify::flags.gps_glitching) {
flags.gps_glitching = AP_Notify::flags.gps_glitching;
if (flags.gps_glitching) {
// gps glitch warning tune
play_tune(TONE_GPS_WARNING_TUNE);
}
}
// check gps failsafe
if (flags.failsafe_gps != AP_Notify::flags.failsafe_gps) {
flags.failsafe_gps = AP_Notify::flags.failsafe_gps;
if (flags.failsafe_gps) {
// gps glitch warning tune
play_tune(TONE_GPS_WARNING_TUNE);
}
}
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN

47
libraries/AP_Notify/ToneAlarm_VRBRAIN.h
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@ -0,0 +1,47 @@ @@ -0,0 +1,47 @@
/*
ToneAlarm VRBRAIN driver
*/
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __TONE_ALARM_VRBRAIN_H__
#define __TONE_ALARM_VRBRAIN_H__
#include "ToneAlarm_VRBRAIN.h"
class ToneAlarm_VRBRAIN
{
public:
/// init - initialised the tone alarm
bool init(void);
/// update - updates led according to timed_updated. Should be called at 50Hz
void update();
private:
/// play_tune - play one of the pre-defined tunes
bool play_tune(const uint8_t tune_number);
int _tonealarm_fd; // file descriptor for the tone alarm
/// tonealarm_type - bitmask of states we track
struct tonealarm_type {
uint8_t armed : 1; // 0 = disarmed, 1 = armed
uint8_t failsafe_battery : 1; // 1 if battery failsafe
uint8_t gps_glitching : 1; // 1 if gps position is not good
uint8_t failsafe_gps : 1; // 1 if gps failsafe
} flags;
};
#endif // __TONE_ALARM_VRBRAIN_H__

77
libraries/AP_Notify/ToshibaLED_VRBRAIN.cpp
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@ -0,0 +1,77 @@ @@ -0,0 +1,77 @@
/*
ToshibaLED VRBRAIN driver
*/
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include "ToshibaLED_VRBRAIN.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_rgbled.h>
#include <stdio.h>
#include <errno.h>
extern const AP_HAL::HAL& hal;
bool ToshibaLED_VRBRAIN::hw_init()
{
// open the rgb led device
_rgbled_fd = open(RGBLED_DEVICE_PATH, 0);
if (_rgbled_fd == -1) {
hal.console->printf("Unable to open " RGBLED_DEVICE_PATH);
return false;
}
ioctl(_rgbled_fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_ON);
last.zero();
next.zero();
hal.scheduler->register_io_process(AP_HAL_MEMBERPROC(&ToshibaLED_VRBRAIN::update_timer));
return true;
}
// set_rgb - set color as a combination of red, green and blue values
bool ToshibaLED_VRBRAIN::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
{
hal.scheduler->suspend_timer_procs();
next[0] = red;
next[1] = green;
next[2] = blue;
hal.scheduler->resume_timer_procs();
return true;
}
void ToshibaLED_VRBRAIN::update_timer(void)
{
if (last == next) {
return;
}
rgbled_rgbset_t v;
v.red = next[0];
v.green = next[1];
v.blue = next[2];
ioctl(_rgbled_fd, RGBLED_SET_RGB, (unsigned long)&v);
last = next;
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN

37
libraries/AP_Notify/ToshibaLED_VRBRAIN.h
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@ -0,0 +1,37 @@ @@ -0,0 +1,37 @@
/*
ToshibaLED VRBRAIN driver
*/
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __TOSHIBA_LED_VRBRAIN_H__
#define __TOSHIBA_LED_VRBRAIN_H__
#include "ToshibaLED.h"
#include "AP_Math.h"
#include "vectorN.h"
class ToshibaLED_VRBRAIN : public ToshibaLED
{
public:
bool hw_init(void);
bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b);
private:
int _rgbled_fd;
void update_timer(void);
VectorN<uint8_t,3> last, next;
};
#endif // __TOSHIBA_LED_VRBRAIN_H__
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