flight/modules/Notify/inc/sequences.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       sequences.h
   5  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
   6  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   7  * @brief      Notify module, sequences configuration.
   8  *
   9  * @see        The GNU Public License (GPL) Version 3
  10  *
  11  *****************************************************************************/
  12 /*
  13  * This program is free software; you can redistribute it and/or modify
  14  * it under the terms of the GNU General Public License as published by
  15  * the Free Software Foundation; either version 3 of the License, or
  16  * (at your option) any later version.
  17  *
  18  * This program is distributed in the hope that it will be useful, but
  19  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  20  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  21  * for more details.
  22  *
  23  * You should have received a copy of the GNU General Public License along
  24  * with this program; if not, write to the Free Software Foundation, Inc.,
  25  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  26  */
  27 #ifndef SEQUENCES_H_
  28 #define SEQUENCES_H_
  29 #include <optypes.h>
  30 #include <pios_notify.h>
  31 #include <flightstatus.h>
  32 #include <systemalarms.h>
  33 #include <pios_helpers.h>
  34
  35 // This represent the list of basic light sequences, defined later
  36 typedef enum {
  37     NOTIFY_SEQUENCE_ARMED_FM_MANUAL = 0,
  38     NOTIFY_SEQUENCE_ARMED_FM_STABILIZED1,
  39     NOTIFY_SEQUENCE_ARMED_FM_STABILIZED2,
  40     NOTIFY_SEQUENCE_ARMED_FM_STABILIZED3,
  41     NOTIFY_SEQUENCE_ARMED_FM_STABILIZED4,
  42     NOTIFY_SEQUENCE_ARMED_FM_STABILIZED5,
  43     NOTIFY_SEQUENCE_ARMED_FM_STABILIZED6,
  44     NOTIFY_SEQUENCE_ARMED_FM_GPS,
  45     NOTIFY_SEQUENCE_ARMED_FM_RTH,
  46     NOTIFY_SEQUENCE_ARMED_FM_LAND,
  47     NOTIFY_SEQUENCE_ARMED_FM_AUTO,
  48     NOTIFY_SEQUENCE_ALM_WARN_GPS,
  49     NOTIFY_SEQUENCE_ALM_ERROR_GPS,
  50     NOTIFY_SEQUENCE_ALM_WARN_BATTERY,
  51     NOTIFY_SEQUENCE_ALM_ERROR_BATTERY,
  52     NOTIFY_SEQUENCE_ALM_WARN_MAG,
  53     NOTIFY_SEQUENCE_ALM_ERROR_MAG,
  54     NOTIFY_SEQUENCE_ALM_CONFIG,
  55     NOTIFY_SEQUENCE_ALM_RECEIVER,
  56     NOTIFY_SEQUENCE_DISARMED,
  57     NOTIFY_SEQUENCE_ALM_ATTITUDE,
  58     NOTIFY_SEQUENCE_NULL = 255, // skips any signalling for this condition
  59 } NotifySequences;
  60
  61 // This structure determine sequences attached to an alarm
  62 typedef struct {
  63     uint32_t timeBetweenNotifications; // time in milliseconds to wait between each notification iteration
  64     uint8_t  alarmIndex; // Index of the alarm, use one of the SYSTEMALARMS_ALARM_XXXXX defines
  65     uint8_t  warnNotification; // index of the sequence to be used when alarm is in warning status(pick one from NotifySequences enum)
  66     uint8_t  criticalNotification; // index of the sequence to be used when alarm is in critical status(pick one from NotifySequences enum)
  67     uint8_t  errorNotification; // index of the sequence to be used when alarm is in error status(pick one from NotifySequences enum)
  68 } AlarmDefinition_t;
  69
  70 #define STANDARD_ERROR_SEQUENCE(alarm_color, alarm_repeats) \
  71     { .repeats = alarm_repeats, .steps = { \
  72           { .time_off = 200, .time_on = 10,  .color = COLOR_BLACK,   .repeats = 1, }, \
  73           { .time_off = 100, .time_on = 300, .color = COLOR_DARKRED, .repeats = 1, }, \
  74           { .time_off = 100, .time_on = 300, .color = alarm_color,   .repeats = 2, }, \
  75           { .time_off = 100, .time_on = 10,  .color = COLOR_BLACK,   .repeats = 1, }, \
  76       }, }
  77
  78 #define STANDARD_WARN_SEQUENCE(alarm_color, alarm_repeats) \
  79     { .repeats = alarm_repeats, .steps = { \
  80           { .time_off = 200, .time_on = 10,  .color = COLOR_BLACK,  .repeats = 1, }, \
  81           { .time_off = 100, .time_on = 300, .color = COLOR_ORANGE, .repeats = 1, }, \
  82           { .time_off = 100, .time_on = 300, .color = alarm_color,  .repeats = 1, }, \
  83           { .time_off = 200, .time_on = 10,  .color = COLOR_BLACK,  .repeats = 1, }, \
  84       }, }
  85
  86 // This is the list of defined light sequences
  87 /* how each sequence is defined
  88  * [NOTIFY_SEQUENCE_DISARMED] = {  // Sequence ID
  89         .repeats = -1,             // Number of repetitions or -1 for infinite
  90         .steps   = { // List of steps (until NOTIFY_SEQUENCE_MAX_STEPS steps, default to 5)
  91                     {
  92                         .time_off = 500,           // Off time for the step
  93                         .time_on  = 500,           // On time for the step
  94                         .color    = COLOR_TEAL,    // color
  95                         .repeats  = 1,             // repetitions for this step
  96                     },
  97         },
  98     },
  99  *
 100  * There are two kind of sequences:
 101  * - "Background" sequences, executed if no higher priority sequence is played;
 102  * - "Alarm" sequences, that are "modal", they temporarily suspends background sequences and plays.
 103  * Cannot have "-1" repetitions
 104  * At the end background sequence are resumed;
 105  *
 106  */
 107 const LedSequence_t notifications[] = {
 108     [NOTIFY_SEQUENCE_DISARMED] =                   { .repeats  = -1,  .steps    = {
 109                                                    { .time_off = 200, .time_on  = 10,  .color = COLOR_BLACK, .repeats = 1, },
 110                                                    { .time_off = 100, .time_on  = 100, .color = COLOR_WHITE, .repeats = 1, },
 111                                                    { .time_off = 200, .time_on  = 10,  .color = COLOR_BLACK, .repeats = 1, },
 112                                                      }, },
 113     [NOTIFY_SEQUENCE_ARMED_FM_MANUAL] =            { .repeats  = -1,  .steps    = {
 114                                                    { .time_off = 900, .time_on  = 100, .color = COLOR_BLUE, .repeats = 1, },
 115                                                      }, },
 116     [NOTIFY_SEQUENCE_ARMED_FM_STABILIZED1] =       { .repeats  = -1,  .steps    = {
 117                                                    { .time_off = 900, .time_on  = 100, .color = COLOR_BLUE, .repeats = 1, },
 118                                                      }, },
 119     [NOTIFY_SEQUENCE_ARMED_FM_STABILIZED2] =       { .repeats  = -1,  .steps    = {
 120                                                    { .time_off = 100, .time_on  = 100, .color = COLOR_BLUE, .repeats = 1, },
 121                                                    { .time_off = 700, .time_on  = 100, .color = COLOR_BLUE, .repeats = 1, },
 122                                                      }, },
 123     [NOTIFY_SEQUENCE_ARMED_FM_STABILIZED3] =       { .repeats  = -1,  .steps    = {
 124                                                    { .time_off = 100, .time_on  = 100, .color = COLOR_BLUE, .repeats = 2, },
 125                                                    { .time_off = 500, .time_on  = 100, .color = COLOR_BLUE, .repeats = 1, },
 126                                                      }, },
 127     [NOTIFY_SEQUENCE_ARMED_FM_STABILIZED4] =       { .repeats  = -1,  .steps    = {
 128                                                    { .time_off = 900, .time_on  = 100, .color = COLOR_PURPLE, .repeats = 1, },
 129                                                      }, },
 130     [NOTIFY_SEQUENCE_ARMED_FM_STABILIZED5] =       { .repeats  = -1,  .steps    = {
 131                                                    { .time_off = 100, .time_on  = 100, .color = COLOR_PURPLE, .repeats = 1, },
 132                                                    { .time_off = 700, .time_on  = 100, .color = COLOR_BLUE,   .repeats = 1, },
 133                                                      }, },
 134     [NOTIFY_SEQUENCE_ARMED_FM_STABILIZED6] =       { .repeats  = -1,  .steps    = {
 135                                                    { .time_off = 100, .time_on  = 100, .color = COLOR_PURPLE, .repeats = 1, },
 136                                                    { .time_off = 100, .time_on  = 100, .color = COLOR_BLUE,   .repeats = 1, },
 137                                                    { .time_off = 500, .time_on  = 100, .color = COLOR_BLUE,   .repeats = 1, },
 138                                                      }, },
 139     [NOTIFY_SEQUENCE_ARMED_FM_GPS] =               { .repeats  = -1,  .steps    = {
 140                                                    { .time_off = 800, .time_on  = 200, .color = COLOR_GREEN, .repeats = 1, },
 141                                                      }, },
 142     [NOTIFY_SEQUENCE_ARMED_FM_RTH] =               { .repeats  = -1,  .steps    = {
 143                                                    { .time_off = 100, .time_on  = 100, .color = COLOR_GREEN,  .repeats = 1, },
 144                                                    { .time_off = 100, .time_on  = 100, .color = COLOR_YELLOW, .repeats = 1, },
 145                                                      }, },
 146     [NOTIFY_SEQUENCE_ARMED_FM_LAND] =              { .repeats  = -1,  .steps    = {
 147                                                    { .time_off = 100, .time_on  = 100, .color = COLOR_GREEN, .repeats = 1, },
 148                                                      }, },
 149     [NOTIFY_SEQUENCE_ARMED_FM_AUTO] =              { .repeats  = -1,  .steps    = {
 150                                                    { .time_off = 100, .time_on  = 200, .color = COLOR_GREEN, .repeats = 2, },
 151                                                    { .time_off = 500, .time_on  = 200, .color = COLOR_GREEN, .repeats = 1, },
 152                                                      }, },
 153     [NOTIFY_SEQUENCE_ALM_WARN_GPS]      = STANDARD_WARN_SEQUENCE(COLOR_GREEN, 1),
 154     [NOTIFY_SEQUENCE_ALM_ERROR_GPS]     = STANDARD_ERROR_SEQUENCE(COLOR_GREEN, 1),
 155     [NOTIFY_SEQUENCE_ALM_WARN_BATTERY]  =          { .repeats  = 1,   .steps     = {
 156                                                    { .time_off = 100, .time_on   = 100, .color = COLOR_ORANGE, .repeats = 5, },
 157                                                      }, },
 158     [NOTIFY_SEQUENCE_ALM_ERROR_BATTERY] =          { .repeats  = 1,   .steps     = {
 159                                                    { .time_off = 100, .time_on   = 100, .color = COLOR_RED, .repeats = 5, },
 160                                                      }, },
 161     [NOTIFY_SEQUENCE_ALM_ERROR_MAG]     = STANDARD_ERROR_SEQUENCE(COLOR_PURPLE, 1),
 162     [NOTIFY_SEQUENCE_ALM_WARN_MAG]      = STANDARD_WARN_SEQUENCE(COLOR_PURPLE, 1),
 163     [NOTIFY_SEQUENCE_ALM_CONFIG] = STANDARD_ERROR_SEQUENCE(COLOR_RED, 2),
 164     [NOTIFY_SEQUENCE_ALM_RECEIVER]      = STANDARD_ERROR_SEQUENCE(COLOR_YELLOW, 1),
 165     [NOTIFY_SEQUENCE_ALM_ATTITUDE]      =          { .repeats  = 10, .steps     = {
 166                                                    { .time_off = 0, .time_on    = 50, .color = COLOR_RED,  .repeats = 1, },
 167                                                    { .time_off = 0, .time_on    = 50, .color = COLOR_BLUE, .repeats = 1, },
 168                                                      }, },
 169 };
 170
 171 // List of background sequences attached to each flight mode
 172 const LedSequence_t *flightModeMap[] = {
 173     [FLIGHTSTATUS_FLIGHTMODE_MANUAL] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_MANUAL],
 174     [FLIGHTSTATUS_FLIGHTMODE_STABILIZED1]      = &notifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED1],
 175     [FLIGHTSTATUS_FLIGHTMODE_STABILIZED2]      = &notifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED2],
 176     [FLIGHTSTATUS_FLIGHTMODE_STABILIZED3]      = &notifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED3],
 177     [FLIGHTSTATUS_FLIGHTMODE_STABILIZED4]      = &notifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED4],
 178     [FLIGHTSTATUS_FLIGHTMODE_STABILIZED5]      = &notifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED5],
 179     [FLIGHTSTATUS_FLIGHTMODE_STABILIZED6]      = &notifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED6],
 180     [FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER]      = &notifications[NOTIFY_SEQUENCE_ARMED_FM_AUTO],
 181     [FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD]     = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
 182     [FLIGHTSTATUS_FLIGHTMODE_COURSELOCK]       = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
 183     [FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM]     = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
 184     [FLIGHTSTATUS_FLIGHTMODE_HOMELEASH]        = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
 185     [FLIGHTSTATUS_FLIGHTMODE_ABSOLUTEPOSITION] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
 186     [FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE]     = &notifications[NOTIFY_SEQUENCE_ARMED_FM_RTH],
 187     [FLIGHTSTATUS_FLIGHTMODE_LAND] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_LAND],
 188     [FLIGHTSTATUS_FLIGHTMODE_POI] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
 189     [FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE]       = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
 190     [FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF]      = &notifications[NOTIFY_SEQUENCE_ARMED_FM_LAND],
 191 #if !defined(PIOS_EXCLUDE_ADVANCED_FEATURES)
 192     [FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_MANUAL],
 193 #endif /* !defined(PIOS_EXCLUDE_ADVANCED_FEATURES) */
 194 };
 195
 196 // List of alarms to show with attached sequences for each status
 197 const AlarmDefinition_t alarmsMap[] = {
 198     {
 199         .timeBetweenNotifications = 5000,
 200         .alarmIndex = SYSTEMALARMS_ALARM_GPS,
 201         .warnNotification = NOTIFY_SEQUENCE_ALM_WARN_GPS,
 202         .criticalNotification     = NOTIFY_SEQUENCE_ALM_ERROR_GPS,
 203         .errorNotification = NOTIFY_SEQUENCE_ALM_ERROR_GPS,
 204     },
 205     {
 206         .timeBetweenNotifications = 5000,
 207         .alarmIndex = SYSTEMALARMS_ALARM_MAGNETOMETER,
 208         .warnNotification = NOTIFY_SEQUENCE_ALM_WARN_MAG,
 209         .criticalNotification     = NOTIFY_SEQUENCE_ALM_ERROR_MAG,
 210         .errorNotification = NOTIFY_SEQUENCE_ALM_ERROR_MAG,
 211     },
 212     {
 213         .timeBetweenNotifications = 15000,
 214         .alarmIndex = SYSTEMALARMS_ALARM_BATTERY,
 215         .warnNotification = NOTIFY_SEQUENCE_ALM_WARN_BATTERY,
 216         .criticalNotification     = NOTIFY_SEQUENCE_ALM_ERROR_BATTERY,
 217         .errorNotification = NOTIFY_SEQUENCE_ALM_ERROR_BATTERY,
 218     },
 219     {
 220         .timeBetweenNotifications = 5000,
 221         .alarmIndex = SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION,
 222         .warnNotification = NOTIFY_SEQUENCE_NULL,
 223         .criticalNotification     = NOTIFY_SEQUENCE_ALM_CONFIG,
 224         .errorNotification = NOTIFY_SEQUENCE_ALM_CONFIG,
 225     },
 226     {
 227         .timeBetweenNotifications = 5000,
 228         .alarmIndex = SYSTEMALARMS_ALARM_RECEIVER,
 229         .warnNotification = NOTIFY_SEQUENCE_ALM_RECEIVER,
 230         .criticalNotification     = NOTIFY_SEQUENCE_ALM_RECEIVER,
 231         .errorNotification = NOTIFY_SEQUENCE_ALM_RECEIVER,
 232     },
 233     {
 234         .timeBetweenNotifications = 1000,
 235         .alarmIndex = SYSTEMALARMS_ALARM_ATTITUDE,
 236         .warnNotification = NOTIFY_SEQUENCE_ALM_ATTITUDE,
 237         .criticalNotification     = NOTIFY_SEQUENCE_NULL,
 238         .errorNotification = NOTIFY_SEQUENCE_ALM_ATTITUDE,
 239     },
 240 };
 241
 242 const uint8_t alarmsMapSize = NELEMENTS(alarmsMap);
 243
 244 #endif /* SEQUENCES_H_ */