flight/modules/Notify/notify.c

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       notify.c
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   6  * @brief      Notify module, show events and status on external led.
   7  *
   8  * @see        The GNU Public License (GPL) Version 3
   9  *
  10  *****************************************************************************/
  11 /*
  12  * This program is free software; you can redistribute it and/or modify
  13  * it under the terms of the GNU General Public License as published by
  14  * the Free Software Foundation; either version 3 of the License, or
  15  * (at your option) any later version.
  16  *
  17  * This program is distributed in the hope that it will be useful, but
  18  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  19  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  20  * for more details.
  21  *
  22  * You should have received a copy of the GNU General Public License along
  23  * with this program; if not, write to the Free Software Foundation, Inc.,
  24  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  25  */
  26
  27 #include "openpilot.h"
  28 #include <flightstatus.h>
  29 #include <systemalarms.h>
  30 #include <flightbatterystate.h>
  31 #include <lednotification.h>
  32 #include <optypes.h>
  33 #include <pios_notify.h>
  34 #include <FreeRTOS.h>
  35 #include <task.h>
  36 #include <eventdispatcher.h>
  37 #include "inc/notify.h"
  38 #include "inc/sequences.h"
  39 #include <pios_mem.h>
  40
  41 #define SAMPLE_PERIOD_MS 250
  42 // private types
  43 typedef struct {
  44     uint32_t lastAlarmTime;
  45     uint8_t  lastAlarm;
  46 } AlarmStatus_t;
  47 // function declarations
  48 static void updatedCb(UAVObjEvent *ev);
  49 static void onTimerCb(UAVObjEvent *ev);
  50 static void checkAlarm(uint8_t alarm, uint8_t *last_alarm, uint32_t *last_alm_time,
  51                        uint8_t warn_sequence, uint8_t critical_sequence, uint8_t error_sequence,
  52                        uint32_t timeBetweenNotifications);
  53 static AlarmStatus_t *alarmStatus;
  54 int32_t NotifyInitialize(void)
  55 {
  56     if (PIOS_WS2811_DEVICE) {
  57         alarmStatus = (AlarmStatus_t *)pios_malloc(sizeof(AlarmStatus_t) * alarmsMapSize);
  58         for (uint8_t i = 0; i < alarmsMapSize; i++) {
  59             alarmStatus[i].lastAlarm     = SYSTEMALARMS_ALARM_OK;
  60             alarmStatus[i].lastAlarmTime = 0;
  61         }
  62
  63         FlightStatusConnectCallback(&updatedCb);
  64         static UAVObjEvent ev;
  65         memset(&ev, 0, sizeof(UAVObjEvent));
  66         EventPeriodicCallbackCreate(&ev, onTimerCb, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
  67
  68         updatedCb(0);
  69     }
  70     return 0;
  71 }
  72 MODULE_INITCALL(NotifyInitialize, 0);
  73
  74
  75 void updatedCb(UAVObjEvent *ev)
  76 {
  77     if (!ev || ev->obj == FlightStatusHandle()) {
  78         static uint8_t last_armed = 0xff;
  79         static uint8_t last_flightmode = 0xff;
  80         uint8_t armed;
  81         uint8_t flightmode;
  82         FlightStatusArmedGet(&armed);
  83         FlightStatusFlightModeGet(&flightmode);
  84         if (last_armed != armed || (armed && flightmode != last_flightmode)) {
  85             if (armed) {
  86                 PIOS_NOTIFICATION_Default_Ext_Led_Play(flightModeMap[flightmode], NOTIFY_PRIORITY_BACKGROUND);
  87             } else {
  88                 PIOS_NOTIFICATION_Default_Ext_Led_Play(&notifications[NOTIFY_SEQUENCE_DISARMED], NOTIFY_PRIORITY_BACKGROUND);
  89             }
  90         }
  91         last_armed = armed;
  92         last_flightmode = flightmode;
  93     }
  94 }
  95
  96 void onTimerCb(__attribute__((unused)) UAVObjEvent *ev)
  97 {
  98     static SystemAlarmsAlarmData alarms;
  99
 100     SystemAlarmsAlarmGet(&alarms);
 101     for (uint8_t i = 0; i < alarmsMapSize; i++) {
 102         uint8_t alarm = SystemAlarmsAlarmToArray(alarms)[alarmsMap[i].alarmIndex];
 103         checkAlarm(alarm,
 104                    &alarmStatus[i].lastAlarm,
 105                    &alarmStatus[i].lastAlarmTime,
 106                    alarmsMap[i].warnNotification,
 107                    alarmsMap[i].criticalNotification,
 108                    alarmsMap[i].errorNotification,
 109                    alarmsMap[i].timeBetweenNotifications);
 110     }
 111 }
 112
 113 void checkAlarm(uint8_t alarm, uint8_t *last_alarm, uint32_t *last_alm_time, uint8_t warn_sequence, uint8_t critical_sequence, uint8_t error_sequence, uint32_t timeBetweenNotifications)
 114 {
 115     if (alarm > SYSTEMALARMS_ALARM_OK) {
 116         uint32_t current_time = PIOS_DELAY_GetuS();
 117         if (*last_alarm < alarm || (*last_alm_time + timeBetweenNotifications * 1000) < current_time) {
 118             uint8_t sequence = (alarm == SYSTEMALARMS_ALARM_WARNING) ? warn_sequence :
 119                                ((alarm == SYSTEMALARMS_ALARM_CRITICAL) ? critical_sequence : error_sequence);
 120             bool updated     = true;
 121             if (sequence != NOTIFY_SEQUENCE_NULL) {
 122                 updated = PIOS_NOTIFICATION_Default_Ext_Led_Play(
 123                     &notifications[sequence],
 124                     alarm == SYSTEMALARMS_ALARM_WARNING ? NOTIFY_PRIORITY_REGULAR : NOTIFY_PRIORITY_CRITICAL);
 125             }
 126             if (updated) {
 127                 *last_alarm    = alarm;
 128                 *last_alm_time = current_time;
 129             }
 130         }
 131         // workaround timer overflow
 132         if (*last_alm_time > current_time) {
 133             *last_alm_time = 0;
 134         }
 135     } else {
 136         *last_alarm = SYSTEMALARMS_ALARM_OK;
 137     }
 138 }