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OP-1302 Add a stub pios_notify API for user interaction/notifications
right now all notifications produces the same output, the DRAW_ATTENTION sequence
This commit is contained in:
parent
132aa83dff
commit
299f388245
@ -1,32 +1,35 @@
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/**
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******************************************************************************
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*
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* @file notification.h
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* @file notification.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @brief notification library
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* --
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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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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/*
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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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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef NOTIFICATION_H
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#define NOTIFICATION_H
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#define LED_BLINK_PERIOD_MS 200
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// period of each blink phase
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#define LED_BLINK_PERIOD_MS 200
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// Define the pause in half blink periods to be added between phases
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#define LED_PAUSE_BETWEEN_PHASES 3
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// update the status snapshot used by notifcations
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void NotificationUpdateStatus();
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@ -1,26 +1,26 @@
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/**
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******************************************************************************
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*
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* @file notification.c
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* @file notification.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @brief brief goes here.
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* @brief notification library.
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* --
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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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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/*
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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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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "inc/notification.h"
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@ -28,6 +28,7 @@
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#include <pios_struct_helper.h>
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#include <systemalarms.h>
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#include <flightstatus.h>
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#include <pios_notify.h>
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#ifdef PIOS_LED_ALARM
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#define ALARM_LED_ON() PIOS_LED_On(PIOS_LED_ALARM)
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@ -53,9 +54,9 @@
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#define BLINK_COUNT(x) \
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(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 2 : \
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x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 3 : \
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x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 4 : \
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(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 1 : \
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x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 2 : \
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x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 3 : \
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x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 2 : \
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x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 2 : \
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x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 2 : \
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@ -82,27 +83,31 @@
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static volatile SystemAlarmsAlarmOptions currentAlarmLevel = SYSTEMALARMS_ALARM_OK;
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static volatile FlightStatusData currentFlightStatus;
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static volatile bool started = false;
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static volatile pios_notify_notification nextNotification = NOTIFY_NONE;
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void NotificationUpdateStatus(){
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#ifdef PIOS_LED_ALARM
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static bool handleAlarms(uint8_t cycleCount, uint8_t blinkCount);
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#endif // PIOS_LED_ALARM
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static bool handleNotifications(uint8_t cycleCount, pios_notify_notification runningNotification);
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static void handleStatus(uint8_t cycleCount, uint8_t blinkCount);
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void NotificationUpdateStatus()
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{
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started = true;
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// get values to be used for led handling
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FlightStatusGet((FlightStatusData *)¤tFlightStatus);
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currentAlarmLevel = AlarmsGetHighestSeverity();
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if (nextNotification == NOTIFY_NONE) {
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nextNotification = PIOS_NOTIFY_GetActiveNotification(true);
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}
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}
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void NotificationOnboardLedsRun(){
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void NotificationOnboardLedsRun()
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{
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static portTickType lastRunTimestamp;
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if (!started || (xTaskGetTickCount() - lastRunTimestamp) < (LED_BLINK_PERIOD_MS * portTICK_RATE_MS / 2)) {
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return;
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}
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lastRunTimestamp = xTaskGetTickCount();
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// the led will show various status information, subdivided in three phases
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// - Notification
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// - Alarm
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// - Flight status
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// they are shown using the above priority
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// a phase last exactly 8 cycles (so bit 1<<4 is used to determine if a phase end
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static uint8_t blinkCount; // number of blinks since phase start
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static uint8_t cycleCount; // cound the number of cycles (half of a blink)
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static pios_notify_notification runningNotification = NOTIFY_NONE;
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static enum {
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STATUS_NOTIFY,
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@ -111,87 +116,145 @@ void NotificationOnboardLedsRun(){
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STATUS_LENGHT
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} status;
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static uint8_t cycleCount;
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cycleCount++;
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// a blink last 2 cycles.
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static uint8_t blinkCount;
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blinkCount = (cycleCount & 0xF) >> 1;
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if (cycleCount & 0x08) {
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// add a short pause between each phase
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if (cycleCount > 0xA) {
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cycleCount = 0xFF;
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status = (status + 1) % STATUS_LENGHT;
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}
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HEARTBEAT_LED_OFF();
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ALARM_LED_OFF();
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if (!started || (xTaskGetTickCount() - lastRunTimestamp) < (LED_BLINK_PERIOD_MS * portTICK_RATE_MS / 2)) {
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return;
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}
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lastRunTimestamp = xTaskGetTickCount();
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// the led will show various status information, subdivided in three phases
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// - Notification
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// - Alarm
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// - Flight status
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// they are shown using the above priority
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// a phase last exactly 8 cycles (so bit 1<<4 is used to determine if a phase end
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cycleCount++;
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// Notifications are "modal" to other statuses so they takes precedence
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if (status != STATUS_NOTIFY && nextNotification != NOTIFY_NONE) {
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// Force a notification status
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runningNotification = nextNotification;
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nextNotification = NOTIFY_NONE;
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status = STATUS_NOTIFY;
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cycleCount = 0; // instantly start a notify cycle
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}
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// check if a phase has just finished
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if (cycleCount & 0x08) {
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// add a short pause between each phase
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if (cycleCount > 0x8 + LED_PAUSE_BETWEEN_PHASES) {
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// ready to start a new phase
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cycleCount = 0x0;
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// Notification has been already shown, so clear the running one
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if (status == STATUS_NOTIFY) {
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runningNotification = NOTIFY_NONE;
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}
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status = (status + 1) % STATUS_LENGHT;
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} else {
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HEARTBEAT_LED_OFF();
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ALARM_LED_OFF();
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return;
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}
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}
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// a blink last 2 cycles.
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blinkCount = (cycleCount & 0xF) >> 1;
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if (status == STATUS_NOTIFY) {
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// Not implemented yet
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status++;
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if (!handleNotifications(cycleCount, runningNotification)) {
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status++;
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}
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}
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// Handles Alarm display
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if (status == STATUS_ALARM) {
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#if defined(PIOS_LED_ALARM)
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if (currentAlarmLevel > SYSTEMALARMS_ALARM_OK) {
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if (currentAlarmLevel == SYSTEMALARMS_ALARM_CRITICAL) {
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// Slow blink
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ALARM_LED_OFF();
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if (cycleCount & 0x4) {
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ALARM_LED_OFF();
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} else {
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ALARM_LED_ON();
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}
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} else {
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if ((blinkCount < (ALARM_BLINK_COUNT(currentAlarmLevel))) &&
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(cycleCount & 0x1)) {
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ALARM_LED_ON();
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} else {
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ALARM_LED_OFF();
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}
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}
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} else {
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#ifdef PIOS_LED_ALARM
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if (!handleAlarms(cycleCount, blinkCount)) {
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status++;
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}
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#else /* if defined(PIOS_LED_ALARM) */
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// no alarms, handle next phase
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#else
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status++;
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// #endif
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#endif /* PIOS_LED_ALARM */
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#endif // PIOS_LED_ALARM
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}
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// **** Handles flightmode display
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if (status == STATUS_FLIGHTMODE) {
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uint8_t flightmode = currentFlightStatus.FlightMode;
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handleStatus(cycleCount, blinkCount);
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}
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}
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// Flash the heartbeat LED
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#if defined(PIOS_LED_HEARTBEAT)
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if (currentFlightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED) {
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#if defined(PIOS_LED_ALARM)
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static bool handleAlarms(uint8_t cycleCount, uint8_t blinkCount)
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{
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if (currentAlarmLevel > SYSTEMALARMS_ALARM_OK) {
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if (currentAlarmLevel == SYSTEMALARMS_ALARM_CRITICAL) {
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// Slow blink
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if (blinkCount < 3) {
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HEARTBEAT_LED_ON();
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ALARM_LED_OFF();
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if (cycleCount & 0x4) {
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ALARM_LED_OFF();
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} else {
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HEARTBEAT_LED_OFF();
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ALARM_LED_ON();
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}
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} else {
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if ((blinkCount < BLINK_COUNT(flightmode)) &&
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if ((blinkCount < (ALARM_BLINK_COUNT(currentAlarmLevel))) &&
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(cycleCount & 0x1)) {
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// red led will be active active in last or last two (4 blinks case) blinks
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if (BLINK_RED(flightmode) &&
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((blinkCount == BLINK_COUNT(flightmode) - 1) ||
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blinkCount > 1)) {
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ALARM_LED_ON();
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}
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HEARTBEAT_LED_ON();
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ALARM_LED_ON();
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} else {
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HEARTBEAT_LED_OFF();
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ALARM_LED_OFF();
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}
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}
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return true;
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} else {
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return false;
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}
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}
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#endif /* PIOS_LED_ALARM */
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static bool handleNotifications(uint8_t cycleCount, pios_notify_notification runningNotification)
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{
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if (runningNotification == NOTIFY_NONE) {
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return false;
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}
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if (cycleCount & 0x1) {
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ALARM_LED_OFF();
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HEARTBEAT_LED_ON();
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} else {
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ALARM_LED_ON();
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HEARTBEAT_LED_OFF();
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}
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return true;
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}
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static void handleStatus(uint8_t cycleCount, uint8_t blinkCount)
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{
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// Flash the heartbeat LED
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#if defined(PIOS_LED_HEARTBEAT)
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uint8_t flightmode = currentFlightStatus.FlightMode;
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if (currentFlightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED) {
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// Slow blink
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if (blinkCount < 3) {
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HEARTBEAT_LED_ON();
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} else {
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HEARTBEAT_LED_OFF();
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}
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} else {
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if ((blinkCount < BLINK_COUNT(flightmode)) &&
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(cycleCount & 0x1)) {
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// red led will be active active in last or last two (4 blinks case) blinks
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if (BLINK_RED(flightmode) &&
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((blinkCount == BLINK_COUNT(flightmode) - 1) ||
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blinkCount > 1)) {
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ALARM_LED_ON();
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}
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HEARTBEAT_LED_ON();
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} else {
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HEARTBEAT_LED_OFF();
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ALARM_LED_OFF();
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}
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}
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#endif /* PIOS_LED_HEARTBEAT */
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}
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@ -72,7 +72,7 @@
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#endif
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// Private constants
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#define SYSTEM_UPDATE_PERIOD_MS 500
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#define SYSTEM_UPDATE_PERIOD_MS 250
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#if defined(PIOS_SYSTEM_STACK_SIZE)
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#define STACK_SIZE_BYTES PIOS_SYSTEM_STACK_SIZE
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@ -80,7 +80,7 @@
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#define STACK_SIZE_BYTES 1024
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#endif
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
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// Private types
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@ -620,34 +620,34 @@ void vApplicationIdleHook(void)
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* Called by the RTOS when a stack overflow is detected.
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*/
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#define DEBUG_STACK_OVERFLOW 0
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void vApplicationStackOverflowHook(__attribute__((unused)) xTaskHandle *pxTask,
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__attribute__((unused)) signed portCHAR *pcTaskName)
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{
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stackOverflow = STACKOVERFLOW_CRITICAL;
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void vApplicationStackOverflowHook(__attribute__((unused)) xTaskHandle *pxTask,
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__attribute__((unused)) signed portCHAR *pcTaskName)
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{
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stackOverflow = STACKOVERFLOW_CRITICAL;
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#if DEBUG_STACK_OVERFLOW
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static volatile bool wait_here = true;
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while (wait_here) {
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;
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}
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wait_here = true;
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#endif
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static volatile bool wait_here = true;
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while (wait_here) {
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;
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}
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wait_here = true;
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#endif
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}
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/**
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* Called by the RTOS when a malloc call fails.
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*/
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#define DEBUG_MALLOC_FAILURES 0
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void vApplicationMallocFailedHook(void)
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{
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mallocFailed = true;
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void vApplicationMallocFailedHook(void)
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{
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mallocFailed = true;
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#if DEBUG_MALLOC_FAILURES
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static volatile bool wait_here = true;
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while (wait_here) {
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;
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}
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wait_here = true;
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#endif
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static volatile bool wait_here = true;
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while (wait_here) {
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;
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}
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wait_here = true;
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#endif
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}
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/**
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* @}
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|
49
flight/pios/common/pios_notify.c
Normal file
49
flight/pios/common/pios_notify.c
Normal file
@ -0,0 +1,49 @@
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/**
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******************************************************************************
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*
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* @file pios_notify.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @brief Handles user notifications.
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* --
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
|
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/*
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* 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
|
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*/
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#include "pios_notify.h"
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static volatile pios_notify_notification currentNotification = NOTIFY_NONE;
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static volatile pios_notify_priority currentPriority;
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void PIOS_NOTIFY_StartNotification(pios_notify_notification notification, pios_notify_priority priority)
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{
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if (currentNotification == NOTIFY_NONE || currentPriority < priority) {
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currentPriority = priority;
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currentNotification = notification;
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}
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}
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pios_notify_notification PIOS_NOTIFY_GetActiveNotification(bool clear)
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{
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pios_notify_notification ret = currentNotification;
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if (clear && ret != NOTIFY_NONE) {
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currentNotification = NOTIFY_NONE;
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}
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return ret;
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}
|
58
flight/pios/inc/pios_notify.h
Normal file
58
flight/pios/inc/pios_notify.h
Normal file
@ -0,0 +1,58 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file pios_notify.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
|
||||
* @brief Handles user notifications.
|
||||
* --
|
||||
* @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 PIOS_NOTIFY_H_
|
||||
#define PIOS_NOTIFY_H_
|
||||
#include <stdbool.h>
|
||||
|
||||
typedef enum {
|
||||
NOTIFY_NONE = 0,
|
||||
NOTIFY_OK,
|
||||
NOTIFY_NOK,
|
||||
NOTIFY_DRAW_ATTENTION
|
||||
} pios_notify_notification;
|
||||
|
||||
typedef enum {
|
||||
NOTIFY_PRIORITY_CRITICAL = 2,
|
||||
NOTIFY_PRIORITY_REGULAR = 1,
|
||||
NOTIFY_PRIORITY_LOW = 0,
|
||||
} pios_notify_priority;
|
||||
|
||||
/**
|
||||
* start a new notification. If a notification is active it will be overwritten if its priority is lower than the new one.
|
||||
* The new will be discarded otherwise
|
||||
* @param notification kind of notification
|
||||
* @param priority priority of the new notification
|
||||
*/
|
||||
void PIOS_NOTIFY_StartNotification(pios_notify_notification notification, pios_notify_priority priority);
|
||||
|
||||
/**
|
||||
* retrieve any active notification
|
||||
* @param clear
|
||||
* @return
|
||||
*/
|
||||
pios_notify_notification PIOS_NOTIFY_GetActiveNotification(bool clear);
|
||||
|
||||
#endif /* PIOS_NOTIFY_H_ */
|
@ -104,6 +104,8 @@ SRC += $(PIOSCORECOMMON)/pios_dosfs_logfs.c
|
||||
SRC += $(PIOSCORECOMMON)/pios_debuglog.c
|
||||
SRC += $(PIOSCORECOMMON)/pios_callbackscheduler.c
|
||||
SRC += $(PIOSCORECOMMON)/pios_deltatime.c
|
||||
SRC += $(PIOSCORECOMMON)/pios_notify.c
|
||||
|
||||
|
||||
## PIOS Hardware
|
||||
include $(PIOS)/posix/library.mk
|
||||
|
@ -99,7 +99,7 @@ SRC += $(PIOSCOMMON)/pios_usb_util.c
|
||||
## PIOS system code
|
||||
SRC += $(PIOSCOMMON)/pios_task_monitor.c
|
||||
SRC += $(PIOSCOMMON)/pios_callbackscheduler.c
|
||||
|
||||
SRC += $(PIOSCOMMON)/pios_notify.c
|
||||
## Misc library functions
|
||||
SRC += $(FLIGHTLIB)/fifo_buffer.c
|
||||
SRC += $(FLIGHTLIB)/sanitycheck.c
|
||||
|
Loading…
x
Reference in New Issue
Block a user