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LibrePilot/flight/modules/Notify/inc/sequences.h

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OP-1379 - Initial Notify module. Supports: 1) predefined seqences associated with each flightmode. 2) fixed table with alarm index and assciated led warn/error sequences/repetition rate.
2014-08-13 15:18:17 +02:00
/**
******************************************************************************
*
* @file sequences.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Notify module, sequences configuration.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef SEQUENCES_H_
#define SEQUENCES_H_
#include <optypes.h>
#include <pios_notify.h>
#include <flightstatus.h>
#include <systemalarms.h>
#include <pios_helpers.h>
typedef enum {
NOTIFY_SEQUENCE_ARMED_FM_MANUAL = 0,
NOTIFY_SEQUENCE_ARMED_FM_STABILIZED1 = 1,
NOTIFY_SEQUENCE_ARMED_FM_STABILIZED2 = 2,
NOTIFY_SEQUENCE_ARMED_FM_STABILIZED3 = 3,
NOTIFY_SEQUENCE_ARMED_FM_STABILIZED4 = 4,
NOTIFY_SEQUENCE_ARMED_FM_STABILIZED5 = 5,
NOTIFY_SEQUENCE_ARMED_FM_STABILIZED6 = 6,
NOTIFY_SEQUENCE_ARMED_FM_AUTOTUNE = 7,
NOTIFY_SEQUENCE_ARMED_FM_GPS = 8,
NOTIFY_SEQUENCE_ARMED_FM_RTH = 9,
NOTIFY_SEQUENCE_ARMED_FM_LAND = 10,
NOTIFY_SEQUENCE_ARMED_FM_AUTO = 11,
NOTIFY_SEQUENCE_ALM_WARN_GPS = 12,
NOTIFY_SEQUENCE_ALM_ERROR_GPS = 13,
NOTIFY_SEQUENCE_ALM_WARN_BATTERY = 14,
NOTIFY_SEQUENCE_ALM_ERROR_BATTERY = 15,
NOTIFY_SEQUENCE_ALM_MAG = 16,
NOTIFY_SEQUENCE_ALM_CONFIG = 17,
NOTIFY_SEQUENCE_DISARMED = 18,
} NotifySequences;
typedef struct {
uint32_t timeBetweenNotifications;
uint8_t alarmIndex;
uint8_t warnNotification;
uint8_t errorNotification;
} AlarmDefinition_t;
// consts
const LedSequence_t notifications[] = {
[NOTIFY_SEQUENCE_DISARMED] = {
.repeats = -1,
.steps = {
{
.time_off = 1000,
.time_on = 1000,
.color = COLOR_BLUE,
.repeats = 1,
},
{
.time_off = 1000,
.time_on = 1000,
.color = COLOR_LIME,
.repeats = 1,
},
{
.time_off = 1000,
.time_on = 1000,
.color = COLOR_RED,
.repeats = 1,
},
},
},
[NOTIFY_SEQUENCE_ARMED_FM_MANUAL] = {
.repeats = -1,
.steps = {
{
.time_off = 900,
.time_on = 100,
.color = COLOR_YELLOW,
.repeats = 1,
},
},
},
[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED1] = {
.repeats = -1,
.steps = {
{
.time_off = 900,
.time_on = 100,
.color = COLOR_BLUE,
.repeats = 1,
},
},
},
[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED2] = {
.repeats = -1,
.steps = {
{
.time_off = 100,
.time_on = 100,
.color = COLOR_BLUE,
.repeats = 1,
},
{
.time_off = 700,
.time_on = 100,
.color = COLOR_BLUE,
.repeats = 1,
},
},
},
[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED3] = {
.repeats = -1,
.steps = {
{
.time_off = 100,
.time_on = 100,
.color = COLOR_BLUE,
.repeats = 2,
},
{
.time_off = 500,
.time_on = 100,
.color = COLOR_BLUE,
.repeats = 1,
},
},
},
[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED4] = {
.repeats = -1,
.steps = {
{
.time_off = 900,
.time_on = 100,
.color = COLOR_PURPLE,
.repeats = 1,
},
},
},
[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED5] = {
.repeats = -1,
.steps = {
{
.time_off = 100,
.time_on = 100,
.color = COLOR_PURPLE,
.repeats = 1,
},
{
.time_off = 700,
.time_on = 100,
.color = COLOR_BLUE,
.repeats = 1,
},
},
},
[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED6] = {
.repeats = -1,
.steps = {
{
.time_off = 100,
.time_on = 100,
.color = COLOR_PURPLE,
.repeats = 1,
},
{
.time_off = 100,
.time_on = 100,
.color = COLOR_PURPLE,
.repeats = 1,
},
{
.time_off = 500,
.time_on = 100,
.color = COLOR_BLUE,
.repeats = 1,
},
},
},
[NOTIFY_SEQUENCE_ARMED_FM_AUTOTUNE] = {
.repeats = -1,
.steps = {
{
.time_off = 800,
.time_on = 200,
.color = COLOR_BLUE,
.repeats = 1,
},
},
},
[NOTIFY_SEQUENCE_ARMED_FM_GPS] = {
.repeats = -1,
.steps = {
{
.time_off = 800,
.time_on = 200,
.color = COLOR_GREEN,
.repeats = 1,
},
},
},
[NOTIFY_SEQUENCE_ARMED_FM_RTH] = {
.repeats = -1,
.steps = {
{
.time_off = 100,
.time_on = 200,
.color = COLOR_GREEN,
.repeats = 1,
},
{
.time_off = 500,
.time_on = 200,
.color = COLOR_GREEN,
.repeats = 1,
},
},
},
[NOTIFY_SEQUENCE_ARMED_FM_LAND] = {
.repeats = -1,
.steps = {
{
.time_off = 100,
.time_on = 200,
.color = COLOR_GREEN,
.repeats = 1,
},
{
.time_off = 100,
.time_on = 200,
.color = COLOR_BLUE,
.repeats = 1,
},
{
.time_off = 100,
.time_on = 200,
.color = COLOR_GREEN,
.repeats = 1,
},
{
.time_off = 100,
.time_on = 200,
.color = COLOR_BLUE,
.repeats = 1,
},
{
.time_off = 100,
.time_on = 200,
.color = COLOR_GREEN,
.repeats = 1,
},
},
},
[NOTIFY_SEQUENCE_ARMED_FM_AUTO] = {
.repeats = -1,
.steps = {
{
.time_off = 100,
.time_on = 200,
.color = COLOR_GREEN,
.repeats = 2,
},
{
.time_off = 500,
.time_on = 200,
.color = COLOR_GREEN,
.repeats = 1,
},
},
},
[NOTIFY_SEQUENCE_ALM_WARN_GPS] = {
.repeats = 2,
.steps = {
{
.time_off = 300,
.time_on = 300,
.color = COLOR_ORANGE,
.repeats = 2,
},
{
.time_off = 300,
.time_on = 300,
.color = COLOR_YELLOW,
.repeats = 1,
},
},
},
[NOTIFY_SEQUENCE_ALM_ERROR_GPS] = {
.repeats = 2,
.steps = {
{
.time_off = 300,
.time_on = 300,
.color = COLOR_RED,
.repeats = 2,
},
{
.time_off = 300,
.time_on = 300,
.color = COLOR_YELLOW,
.repeats = 1,
},
},
},
[NOTIFY_SEQUENCE_ALM_WARN_BATTERY] = {
.repeats = 1,
.steps = {
{
.time_off = 100,
.time_on = 100,
.color = COLOR_ORANGE,
.repeats = 10,
},
},
},
[NOTIFY_SEQUENCE_ALM_ERROR_BATTERY] = {
.repeats = 1,
.steps = {
{
.time_off = 100,
.time_on = 100,
.color = COLOR_RED,
.repeats = 10,
},
},
},
[NOTIFY_SEQUENCE_ALM_MAG] = {
.repeats = 1,
.steps = {
{
.time_off = 300,
.time_on = 300,
.color = COLOR_RED,
.repeats = 2,
},
{
.time_off = 300,
.time_on = 300,
.color = COLOR_GREEN,
.repeats = 1,
},
},
},
[NOTIFY_SEQUENCE_ALM_CONFIG] = {
.repeats = -1,
.steps = {
{
.time_off = 500,
.time_on = 100,
.color = COLOR_RED,
.repeats = 1,
},
},
},
};
const LedSequence_t *flightModeMap[] = {
[FLIGHTSTATUS_FLIGHTMODE_MANUAL] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_MANUAL],
[FLIGHTSTATUS_FLIGHTMODE_STABILIZED1] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED1],
[FLIGHTSTATUS_FLIGHTMODE_STABILIZED2] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED2],
[FLIGHTSTATUS_FLIGHTMODE_STABILIZED3] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED3],
[FLIGHTSTATUS_FLIGHTMODE_STABILIZED4] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED4],
[FLIGHTSTATUS_FLIGHTMODE_STABILIZED5] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED5],
[FLIGHTSTATUS_FLIGHTMODE_STABILIZED6] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED6],
[FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_AUTO],
[FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_AUTOTUNE],
[FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIOFPV] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIOLOS] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIONSEW] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_RTH],
[FLIGHTSTATUS_FLIGHTMODE_LAND] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_LAND],
[FLIGHTSTATUS_FLIGHTMODE_POI] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
};
const AlarmDefinition_t alarmsMap[] = {
{
.timeBetweenNotifications = 10000,
.alarmIndex = SYSTEMALARMS_ALARM_GPS,
.warnNotification = NOTIFY_SEQUENCE_ALM_WARN_GPS,
.errorNotification = NOTIFY_SEQUENCE_ALM_ERROR_GPS,
},
{
.timeBetweenNotifications = 15000,
.alarmIndex = SYSTEMALARMS_ALARM_MAGNETOMETER,
.warnNotification = NOTIFY_SEQUENCE_ALM_MAG,
.errorNotification = NOTIFY_SEQUENCE_ALM_MAG,
},
{
.timeBetweenNotifications = 15000,
.alarmIndex = SYSTEMALARMS_ALARM_BATTERY,
.warnNotification = NOTIFY_SEQUENCE_ALM_WARN_BATTERY,
.errorNotification = NOTIFY_SEQUENCE_ALM_ERROR_BATTERY,
},
};
const uint8_t alarmsMapSize = NELEMENTS(alarmsMap);
#endif /* SEQUENCES_H_ */
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