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LibrePilot/flight/modules/Notify/inc/sequences.h
Alessio Morale 02d04ddf43 LP-361 - Cleanup sequences to make alarms easier to understand 
Error sequence:
  pause, RED, <item color> x 2, pause;
warn sequence:
  pause, ORANGE, <item color>, pause;

ITEM COLOR:
- GPS = GREEN;
- MAG = PURPLE;
- CONFIG = RED;
- RECEIVER = YELLOW.

BATTERY ALARM:
- warning 5x ORANGE blinks
- critical 5x RED blinks

DISARMED: short white blinks
2016-07-17 17:19:34 +02:00

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/**
******************************************************************************
*
* @file sequences.h
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* 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>
// This represent the list of basic light sequences, defined later
typedef enum {
NOTIFY_SEQUENCE_ARMED_FM_MANUAL = 0,
NOTIFY_SEQUENCE_ARMED_FM_STABILIZED1,
NOTIFY_SEQUENCE_ARMED_FM_STABILIZED2,
NOTIFY_SEQUENCE_ARMED_FM_STABILIZED3,
NOTIFY_SEQUENCE_ARMED_FM_STABILIZED4,
NOTIFY_SEQUENCE_ARMED_FM_STABILIZED5,
NOTIFY_SEQUENCE_ARMED_FM_STABILIZED6,
NOTIFY_SEQUENCE_ARMED_FM_GPS,
NOTIFY_SEQUENCE_ARMED_FM_RTH,
NOTIFY_SEQUENCE_ARMED_FM_LAND,
NOTIFY_SEQUENCE_ARMED_FM_AUTO,
NOTIFY_SEQUENCE_ALM_WARN_GPS,
NOTIFY_SEQUENCE_ALM_ERROR_GPS,
NOTIFY_SEQUENCE_ALM_WARN_BATTERY,
NOTIFY_SEQUENCE_ALM_ERROR_BATTERY,
NOTIFY_SEQUENCE_ALM_WARN_MAG,
NOTIFY_SEQUENCE_ALM_ERROR_MAG,
NOTIFY_SEQUENCE_ALM_CONFIG,
NOTIFY_SEQUENCE_ALM_RECEIVER,
NOTIFY_SEQUENCE_DISARMED,
NOTIFY_SEQUENCE_ALM_ATTITUDE,
NOTIFY_SEQUENCE_NULL = 255, // skips any signalling for this condition
} NotifySequences;
// This structure determine sequences attached to an alarm
typedef struct {
uint32_t timeBetweenNotifications; // time in milliseconds to wait between each notification iteration
uint8_t alarmIndex; // Index of the alarm, use one of the SYSTEMALARMS_ALARM_XXXXX defines
uint8_t warnNotification; // index of the sequence to be used when alarm is in warning status(pick one from NotifySequences enum)
uint8_t criticalNotification; // index of the sequence to be used when alarm is in critical status(pick one from NotifySequences enum)
uint8_t errorNotification; // index of the sequence to be used when alarm is in error status(pick one from NotifySequences enum)
} AlarmDefinition_t;
#define STANDARD_ERROR_SEQUENCE(alarm_color, alarm_repeats) \
{ .repeats = alarm_repeats, .steps = { \
{ .time_off = 200, .time_on = 10, .color = COLOR_BLACK, .repeats = 1, }, \
{ .time_off = 100, .time_on = 300, .color = COLOR_DARKRED, .repeats = 1, }, \
{ .time_off = 100, .time_on = 300, .color = alarm_color, .repeats = 2, }, \
{ .time_off = 100, .time_on = 10, .color = COLOR_BLACK, .repeats = 1, }, \
}, }
#define STANDARD_WARN_SEQUENCE(alarm_color, alarm_repeats) \
{ .repeats = alarm_repeats, .steps = { \
{ .time_off = 200, .time_on = 10, .color = COLOR_BLACK, .repeats = 1, }, \
{ .time_off = 100, .time_on = 300, .color = COLOR_ORANGE, .repeats = 1, }, \
{ .time_off = 100, .time_on = 300, .color = alarm_color, .repeats = 1, }, \
{ .time_off = 200, .time_on = 10, .color = COLOR_BLACK, .repeats = 1, }, \
}, }
// This is the list of defined light sequences
/* how each sequence is defined
* [NOTIFY_SEQUENCE_DISARMED] = { // Sequence ID
.repeats = -1, // Number of repetitions or -1 for infinite
.steps = { // List of steps (until NOTIFY_SEQUENCE_MAX_STEPS steps, default to 5)
{
.time_off = 500, // Off time for the step
.time_on = 500, // On time for the step
.color = COLOR_TEAL, // color
.repeats = 1, // repetitions for this step
},
},
},
*
* There are two kind of sequences:
* - "Background" sequences, executed if no higher priority sequence is played;
* - "Alarm" sequences, that are "modal", they temporarily suspends background sequences and plays.
* Cannot have "-1" repetitions
* At the end background sequence are resumed;
*
*/
const LedSequence_t notifications[] = {
[NOTIFY_SEQUENCE_DISARMED] = { .repeats = -1, .steps = {
{ .time_off = 200, .time_on = 10, .color = COLOR_BLACK, .repeats = 1, },
{ .time_off = 100, .time_on = 100, .color = COLOR_WHITE, .repeats = 1, },
{ .time_off = 200, .time_on = 10, .color = COLOR_BLACK, .repeats = 1, },
}, },
[NOTIFY_SEQUENCE_ARMED_FM_MANUAL] = { .repeats = -1, .steps = {
{ .time_off = 900, .time_on = 100, .color = COLOR_BLUE, .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_BLUE, .repeats = 1, },
{ .time_off = 500, .time_on = 100, .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 = 100, .color = COLOR_GREEN, .repeats = 1, },
{ .time_off = 100, .time_on = 100, .color = COLOR_YELLOW, .repeats = 1, },
}, },
[NOTIFY_SEQUENCE_ARMED_FM_LAND] = { .repeats = -1, .steps = {
{ .time_off = 100, .time_on = 100, .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] = STANDARD_WARN_SEQUENCE(COLOR_GREEN, 1),
[NOTIFY_SEQUENCE_ALM_ERROR_GPS] = STANDARD_ERROR_SEQUENCE(COLOR_GREEN, 1),
[NOTIFY_SEQUENCE_ALM_WARN_BATTERY] = { .repeats = 1, .steps = {
{ .time_off = 100, .time_on = 100, .color = COLOR_ORANGE, .repeats = 5, },
}, },
[NOTIFY_SEQUENCE_ALM_ERROR_BATTERY] = { .repeats = 1, .steps = {
{ .time_off = 100, .time_on = 100, .color = COLOR_RED, .repeats = 5, },
}, },
[NOTIFY_SEQUENCE_ALM_ERROR_MAG] = STANDARD_ERROR_SEQUENCE(COLOR_PURPLE, 1),
[NOTIFY_SEQUENCE_ALM_WARN_MAG] = STANDARD_WARN_SEQUENCE(COLOR_PURPLE, 1),
[NOTIFY_SEQUENCE_ALM_CONFIG] = STANDARD_ERROR_SEQUENCE(COLOR_RED, 2),
[NOTIFY_SEQUENCE_ALM_RECEIVER] = STANDARD_ERROR_SEQUENCE(COLOR_YELLOW, 1),
[NOTIFY_SEQUENCE_ALM_ATTITUDE] = { .repeats = 10, .steps = {
{ .time_off = 0, .time_on = 50, .color = COLOR_RED, .repeats = 1, },
{ .time_off = 0, .time_on = 50, .color = COLOR_BLUE, .repeats = 1, },
}, },
};
// List of background sequences attached to each flight mode
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_POSITIONHOLD] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_COURSELOCK] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_HOMELEASH] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_ABSOLUTEPOSITION] = &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],
[FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_LAND],
#if !defined(PIOS_EXCLUDE_ADVANCED_FEATURES)
[FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_MANUAL],
#endif /* !defined(PIOS_EXCLUDE_ADVANCED_FEATURES) */
};
// List of alarms to show with attached sequences for each status
const AlarmDefinition_t alarmsMap[] = {
{
.timeBetweenNotifications = 5000,
.alarmIndex = SYSTEMALARMS_ALARM_GPS,
.warnNotification = NOTIFY_SEQUENCE_ALM_WARN_GPS,
.criticalNotification = NOTIFY_SEQUENCE_ALM_ERROR_GPS,
.errorNotification = NOTIFY_SEQUENCE_ALM_ERROR_GPS,
},
{
.timeBetweenNotifications = 5000,
.alarmIndex = SYSTEMALARMS_ALARM_MAGNETOMETER,
.warnNotification = NOTIFY_SEQUENCE_ALM_WARN_MAG,
.criticalNotification = NOTIFY_SEQUENCE_ALM_ERROR_MAG,
.errorNotification = NOTIFY_SEQUENCE_ALM_ERROR_MAG,
},
{
.timeBetweenNotifications = 15000,
.alarmIndex = SYSTEMALARMS_ALARM_BATTERY,
.warnNotification = NOTIFY_SEQUENCE_ALM_WARN_BATTERY,
.criticalNotification = NOTIFY_SEQUENCE_ALM_ERROR_BATTERY,
.errorNotification = NOTIFY_SEQUENCE_ALM_ERROR_BATTERY,
},
{
.timeBetweenNotifications = 5000,
.alarmIndex = SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION,
.warnNotification = NOTIFY_SEQUENCE_NULL,
.criticalNotification = NOTIFY_SEQUENCE_ALM_CONFIG,
.errorNotification = NOTIFY_SEQUENCE_ALM_CONFIG,
},
{
.timeBetweenNotifications = 5000,
.alarmIndex = SYSTEMALARMS_ALARM_RECEIVER,
.warnNotification = NOTIFY_SEQUENCE_ALM_RECEIVER,
.criticalNotification = NOTIFY_SEQUENCE_ALM_RECEIVER,
.errorNotification = NOTIFY_SEQUENCE_ALM_RECEIVER,
},
{
.timeBetweenNotifications = 1000,
.alarmIndex = SYSTEMALARMS_ALARM_ATTITUDE,
.warnNotification = NOTIFY_SEQUENCE_ALM_ATTITUDE,
.criticalNotification = NOTIFY_SEQUENCE_NULL,
.errorNotification = NOTIFY_SEQUENCE_ALM_ATTITUDE,
},
};
const uint8_t alarmsMapSize = NELEMENTS(alarmsMap);
#endif /* SEQUENCES_H_ */
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