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81 lines
2.9 KiB
81 lines
2.9 KiB
/// -*- 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 <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 <ExternalLED.h> |
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#include <Buzzer.h> |
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class AP_Notify |
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{ |
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public: |
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/// notify_type - bitmask of notification types |
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struct notify_type { |
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uint16_t initialising : 1; // 1 if initialising and copter should not be moved |
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uint16_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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uint16_t gps_glitching : 1; // 1 if gps position is not good |
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uint16_t armed : 1; // 0 = disarmed, 1 = armed |
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uint16_t pre_arm_check : 1; // 0 = failing checks, 1 = passed |
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uint16_t save_trim : 1; // 1 if gathering trim data |
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uint16_t esc_calibration : 1; // 1 if calibrating escs |
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uint16_t failsafe_radio : 1; // 1 if radio failsafe |
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uint16_t failsafe_battery : 1; // 1 if battery failsafe |
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uint16_t failsafe_gps : 1; // 1 if gps failsafe |
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uint16_t arming_failed : 1; // 1 if copter failed to arm after user input |
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uint16_t parachute_release : 1; // 1 if parachute is being released |
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// additional flags |
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uint16_t external_leds : 1; // 1 if external LEDs are enabled (normally only used for copter) |
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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_type flags; |
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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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private: |
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// individual drivers |
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AP_BoardLED boardled; |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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ToshibaLED_PX4 toshibaled; |
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ToneAlarm_PX4 tonealarm; |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2 |
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ToshibaLED_I2C toshibaled; |
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ExternalLED externalled; |
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Buzzer buzzer; |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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ToshibaLED_I2C toshibaled; |
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ExternalLED externalled; |
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Buzzer buzzer; |
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#else |
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ToshibaLED_I2C toshibaled; |
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#endif |
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}; |
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#endif // __AP_NOTIFY_H__
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