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383 lines
13 KiB
383 lines
13 KiB
/* |
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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 "PCA9685LED_I2C.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 "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 "UAVCAN_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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extern const AP_HAL::HAL& hal; |
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AP_Notify *AP_Notify::_singleton; |
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#define CONFIG_NOTIFY_DEVICES_MAX 6 |
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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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// all I2C_LEDS |
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#define I2C_LEDS (Notify_LED_ToshibaLED_I2C_Internal | Notify_LED_ToshibaLED_I2C_External | \ |
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Notify_LED_NCP5623_I2C_Internal | Notify_LED_NCP5623_I2C_External) |
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#ifndef BUILD_DEFAULT_LED_TYPE |
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS |
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#define BUILD_DEFAULT_LED_TYPE (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 BUILD_DEFAULT_LED_TYPE (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 BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS) |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE |
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS |\ |
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Notify_LED_UAVCAN) |
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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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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_Board) |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ |
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#define BUILD_DEFAULT_LED_TYPE (Notify_LED_ToshibaLED_I2C_External) |
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#else // other linux |
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#define BUILD_DEFAULT_LED_TYPE (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 BUILD_DEFAULT_LED_TYPE (Notify_LED_Board | I2C_LEDS) |
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#endif // board selection |
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#endif // BUILD_DEFAULT_LED_TYPE |
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#ifndef BUZZER_ENABLE_DEFAULT |
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#define BUZZER_ENABLE_DEFAULT 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, 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. |
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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_ENABLE_DEFAULT), |
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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). |
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// @Values: 0:Standard,1:MAVLink,2:OutbackChallenge |
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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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// @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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#if !HAL_MINIMIZE_FEATURES |
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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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#if !defined(HAL_BUZZER_PIN) |
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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! |
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// @Values: 0:Disabled |
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// @User: Advanced |
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AP_GROUPINFO("BUZZ_PIN", 5, AP_Notify, _buzzer_pin, 0), |
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#endif |
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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:Build in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal |
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// @User: Advanced |
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AP_GROUPINFO("LED_TYPES", 6, AP_Notify, _led_type, BUILD_DEFAULT_LED_TYPE), |
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#if !defined(HAL_BUZZER_PIN) |
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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, 1), |
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#endif |
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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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#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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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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#if !HAL_MINIMIZE_FEATURES |
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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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ADD_BACKEND(new NCP5623(TOSHIBA_LED_I2C_BUS_INTERNAL)); |
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break; |
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#endif |
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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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case Notify_LED_OreoLED: |
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#if !HAL_MINIMIZE_FEATURES |
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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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#endif |
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break; |
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case Notify_LED_UAVCAN: |
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#if HAL_WITH_UAVCAN |
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ADD_BACKEND(new UAVCAN_RGB_LED(0)); |
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#endif // HAL_WITH_UAVCAN |
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break; |
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} |
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} |
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// Always try and add a display backend |
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ADD_BACKEND(new Display()); |
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// ChibiOS noise makers |
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS |
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ADD_BACKEND(new Buzzer()); |
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#ifdef HAL_PWM_ALARM |
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ADD_BACKEND(new AP_ToneAlarm()); |
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#endif |
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// Linux noise makers |
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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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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \ |
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE || \ |
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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_RST_ZYNQ || \ |
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE |
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// No noise makers, keep this though to ensure that the final else is safe |
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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_POCKET |
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ADD_BACKEND(new Buzzer()); |
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#else // other linux |
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ADD_BACKEND(new AP_ToneAlarm()); |
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#endif |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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ADD_BACKEND(new AP_ToneAlarm()); |
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#ifdef WITH_SITL_RGBLED |
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ADD_BACKEND(new SITL_SFML_LED()); |
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#endif |
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#endif // Noise makers |
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} |
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// initialisation |
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void AP_Notify::init(void) |
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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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// add all the backends |
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add_backends(); |
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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 < _num_devices; i++) { |
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if (_devices[i] != nullptr) { |
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_devices[i]->update(); |
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} |
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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(const mavlink_message_t &msg) |
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{ |
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for (uint8_t i = 0; i < _num_devices; i++) { |
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if (_devices[i] != nullptr) { |
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_devices[i]->handle_led_control(msg); |
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} |
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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(const mavlink_message_t &msg) |
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{ |
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for (uint8_t i = 0; i < _num_devices; i++) { |
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if (_devices[i] != nullptr) { |
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_devices[i]->handle_play_tune(msg); |
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} |
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} |
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} |
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void AP_Notify::play_tune(const char *tune) |
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{ |
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for (uint8_t i = 0; i < _num_devices; i++) { |
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if (_devices[i] != nullptr) { |
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_devices[i]->play_tune(tune); |
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} |
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} |
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} |
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// set flight mode string |
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void AP_Notify::set_flight_mode_str(const char *str) |
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{ |
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strncpy(_flight_mode_str, str, 4); |
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_flight_mode_str[sizeof(_flight_mode_str)-1] = 0; |
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} |
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void AP_Notify::send_text(const char *str) |
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{ |
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strncpy(_send_text, str, sizeof(_send_text)); |
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_send_text[sizeof(_send_text)-1] = 0; |
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_send_text_updated_millis = AP_HAL::millis(); |
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} |
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namespace AP { |
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AP_Notify ¬ify() |
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{ |
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return *AP_Notify::get_singleton(); |
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} |
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};
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