AP_Notify: stop using linux board subtype in Notify LED setup

... instead have the board definitions define things like we do for ChibiOS
ArduPilot · Jul 11, 2024 · 624419a · 624419a
1 parent f9036b2
commit 624419a
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Showing 10 changed files with 74 additions and 20 deletions.
diff --git a/libraries/AP_Notify/AP_Notify.cpp b/libraries/AP_Notify/AP_Notify.cpp
@@ -287,19 +287,17 @@ void AP_Notify::add_backends(void)
                 break;
             case Notify_LED_Board:
                 // select the most appropriate built in LED driver type
-#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-  #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
+#if AP_NOTIFY_SYSFS_LED_ENABLED
                 ADD_BACKEND(NEW_NOTHROW Led_Sysfs("rgb_led0", "rgb_led2", "rgb_led1"));
-  #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
+#elif AP_NOTIFY_RCOUTPUTRGBLEDINVERTED_LED_ENABLED
                 ADD_BACKEND(NEW_NOTHROW RCOutputRGBLedInverted(12, 13, 14));
-  #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
+#elif AP_NOTIFY_RCOUTPUTRGBLED_LED_ENABLED
                 ADD_BACKEND(NEW_NOTHROW RCOutputRGBLed(HAL_RCOUT_RGBLED_RED, HAL_RCOUT_RGBLED_GREEN, HAL_RCOUT_RGBLED_BLUE));
-  #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+#elif AP_NOTIFY_DISCO_LED_ENABLED
                 ADD_BACKEND(NEW_NOTHROW DiscoLED());
-  #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
+#elif AP_NOTIFY_NAVIGATOR_LED_ENABLED
                 ADD_BACKEND(NEW_NOTHROW NavigatorLED());
-  #endif
-#endif // CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+#endif
 
 #if AP_NOTIFY_EXTERNALLED_ENABLED
                 ADD_BACKEND(NEW_NOTHROW ExternalLED()); // despite the name this is a built in set of onboard LED's

diff --git a/libraries/AP_Notify/AP_Notify_config.h b/libraries/AP_Notify/AP_Notify_config.h
@@ -37,6 +37,14 @@
 #define AP_NOTIFY_LP5562_ENABLED 1
 #endif
 
+#ifndef AP_NOTIFY_DISCO_LED_ENABLED
+#define AP_NOTIFY_DISCO_LED_ENABLED 0
+#endif
+
+#ifndef AP_NOTIFY_NAVIGATOR_LED_ENABLED
+#define AP_NOTIFY_NAVIGATOR_LED_ENABLED 0
+#endif
+
 #ifndef AP_NOTIFY_GPIO_LED_3_ENABLED
 #define AP_NOTIFY_GPIO_LED_3_ENABLED 0
 #endif
@@ -51,6 +59,22 @@
 #define AP_NOTIFY_GPIO_LED_RGB_ENABLED 0
 #endif
 
+#ifndef AP_NOTIFY_RCOUTPUTRGBLEDINVERTED_LED_ENABLED
+#define AP_NOTIFY_RCOUTPUTRGBLEDINVERTED_LED_ENABLED 0
+#endif
+
+#ifndef AP_NOTIFY_RCOUTPUTRGBLEDOFF_LED_ENABLED
+#define AP_NOTIFY_RCOUTPUTRGBLEDOFF_LED_ENABLED 0
+#endif
+
+#ifndef AP_NOTIFY_RCOUTPUTRGBLED_LED_ENABLED
+#define AP_NOTIFY_RCOUTPUTRGBLED_LED_ENABLED AP_NOTIFY_RCOUTPUTRGBLEDINVERTED_LED_ENABLED || AP_NOTIFY_RCOUTPUTRGBLEDOFF_LED_ENABLED
+#endif
+
+#ifndef AP_NOTIFY_SYSFS_LED_ENABLED
+#define AP_NOTIFY_SYSFS_LED_ENABLED 0
+#endif
+
 #ifndef AP_NOTIFY_IS31FL3195_ENABLED
 #define AP_NOTIFY_IS31FL3195_ENABLED 1
 #endif

diff --git a/libraries/AP_Notify/DiscoLED.cpp b/libraries/AP_Notify/DiscoLED.cpp
@@ -14,9 +14,13 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
+
+#include "AP_Notify_config.h"
+
+#if AP_NOTIFY_DISCO_LED_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 #include "DiscoLED.h"
 
 #include <AP_HAL_Linux/Led_Sysfs.h>
@@ -92,4 +96,4 @@ bool DiscoLED::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
 
     return true;
 }
-#endif
+#endif  // AP_NOTIFY_DISCO_LED_ENABLED
diff --git a/libraries/AP_Notify/DiscoLED.h b/libraries/AP_Notify/DiscoLED.h
@@ -16,9 +16,12 @@
 */
 #pragma once
 
+#include "AP_Notify_config.h"
+
+#if AP_NOTIFY_DISCO_LED_ENABLED
+
 #include <AP_HAL/AP_HAL_Boards.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 #include <AP_HAL_Linux/Led_Sysfs.h>
 #include <AP_HAL_Linux/PWM_Sysfs.h>
 
@@ -53,4 +56,4 @@ class DiscoLED: public RGBLed
 
     enum led_backend backend;
 };
-#endif
+#endif  // AP_NOTIFY_DISCO_LED_ENABLED
diff --git a/libraries/AP_Notify/Led_Sysfs.cpp b/libraries/AP_Notify/Led_Sysfs.cpp
@@ -14,12 +14,11 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
-#include <AP_HAL/AP_HAL.h>
+#include "AP_Notify_config.h"
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-#include "Led_Sysfs.h"
+#if AP_NOTIFY_SYSFS_LED_ENABLED
 
-#include <AP_HAL_Linux/Led_Sysfs.h>
+#include "Led_Sysfs.h"
 
 Led_Sysfs::Led_Sysfs(const char *red, const char *green, const char *blue,
                     uint8_t off_brightness, uint8_t low_brightness, uint8_t medium_brightness, uint8_t high_brightness):
@@ -47,4 +46,4 @@ bool Led_Sysfs::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
 
     return true;
 }
-#endif
+#endif  // AP_NOTIFY_SYSFS_LED_ENABLED
diff --git a/libraries/AP_Notify/Led_Sysfs.h b/libraries/AP_Notify/Led_Sysfs.h
@@ -16,9 +16,10 @@
 */
 #pragma once
 
-#include <AP_HAL/AP_HAL_Boards.h>
+#include "AP_Notify_config.h"
+
+#if AP_NOTIFY_SYSFS_LED_ENABLED
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 #include <AP_HAL_Linux/Led_Sysfs.h>
 
 #include "RGBLed.h"
@@ -39,4 +40,4 @@ class Led_Sysfs: public RGBLed
     Linux::Led_Sysfs green_led;
     Linux::Led_Sysfs blue_led;
 };
-#endif
+#endif  // AP_NOTIFY_SYSFS_LED_ENABLED
diff --git a/libraries/AP_Notify/NavigatorLED.cpp b/libraries/AP_Notify/NavigatorLED.cpp
@@ -19,6 +19,10 @@
 // not used. The data is sent to the neopixel in 24 'SPI bytes', where each
 // spi byte is formatted to appear as a single bit of data to the neopixel.
 
+#include "AP_Notify_config.h"
+
+#if AP_NOTIFY_NAVIGATOR_LED_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include "AP_Notify/AP_Notify.h"
 #include "NavigatorLED.h"
@@ -79,3 +83,5 @@ void NavigatorLED::_setup_data(uint8_t red, uint8_t green, uint8_t blue)
         _data[16 + i] = (blue & (1<<(7-i))) ? LED_T1 : LED_T0;
     }
 }
+
+#endif  // AP_NOTIFY_NAVIGATOR_LED_ENABLED
diff --git a/libraries/AP_Notify/NavigatorLED.h b/libraries/AP_Notify/NavigatorLED.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_Notify_config.h"
+
+#if AP_NOTIFY_NAVIGATOR_LED_ENABLED
+
 #include "RGBLed.h"
 #include <AP_Common/AP_Common.h>
 
@@ -30,3 +34,5 @@ class NavigatorLED: public RGBLed {
     void _setup_data(uint8_t red, uint8_t green, uint8_t blue);
     AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev;
 };
+
+#endif  // AP_NOTIFY_NAVIGATOR_LED_ENABLED
diff --git a/libraries/AP_Notify/RCOutputRGBLed.cpp b/libraries/AP_Notify/RCOutputRGBLed.cpp
@@ -15,6 +15,10 @@
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_Notify_config.h"
+
+#if AP_NOTIFY_RCOUTPUTRGBLED_LED_ENABLED
+
 #include "RCOutputRGBLed.h"
 
 #include <AP_Math/AP_Math.h>
@@ -58,10 +62,12 @@ uint16_t RCOutputRGBLed::get_duty_cycle_for_color(const uint8_t color, const uin
     return  usec_period * color / _led_bright;
 }
 
+#if AP_NOTIFY_RCOUTPUTRGBLEDINVERTED_LED_ENABLED
 uint16_t RCOutputRGBLedInverted::get_duty_cycle_for_color(const uint8_t color, const uint16_t usec_period) const
 {
     return  usec_period * (255 - color) / _led_bright;
 }
+#endif  // AP_NOTIFY_RCOUTPUTRGBLEDINVERTED_LED_ENABLED
 
 
 bool RCOutputRGBLed::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
@@ -91,3 +97,4 @@ bool RCOutputRGBLed::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
 
     return true;
 }
+#endif  // AP_NOTIFY_RCOUTPUTRGBLED_LED_ENABLED
diff --git a/libraries/AP_Notify/RCOutputRGBLed.h b/libraries/AP_Notify/RCOutputRGBLed.h
@@ -2,6 +2,7 @@
 
 #include "RGBLed.h"
 
+#if AP_NOTIFY_RCOUTPUTRGBLED_LED_ENABLED
 class RCOutputRGBLed: public RGBLed {
 public:
     RCOutputRGBLed(uint8_t red_channel, uint8_t green_channel,
@@ -20,7 +21,9 @@ class RCOutputRGBLed: public RGBLed {
     uint8_t _green_channel;
     uint8_t _blue_channel;
 };
+#endif  // AP_NOTIFY_RCOUTPUTRGBLED_LED_ENABLED
 
+#if AP_NOTIFY_RCOUTPUTRGBLEDINVERTED_LED_ENABLED
 class RCOutputRGBLedInverted : public RCOutputRGBLed {
 public:
     RCOutputRGBLedInverted(uint8_t red_channel, uint8_t green_channel, uint8_t blue_channel)
@@ -29,7 +32,9 @@ class RCOutputRGBLedInverted : public RCOutputRGBLed {
 protected:
     virtual uint16_t get_duty_cycle_for_color(const uint8_t color, const uint16_t usec_period) const override;
 };
+#endif  // AP_NOTIFY_RCOUTPUTRGBLEDINVERTED_LED_ENABLED
 
+#if AP_NOTIFY_RCOUTPUTRGBLEDOFF_LED_ENABLED
 class RCOutputRGBLedOff : public RCOutputRGBLed {
 public:
     RCOutputRGBLedOff(uint8_t red_channel, uint8_t green_channel,
@@ -45,3 +50,4 @@ class RCOutputRGBLedOff : public RCOutputRGBLed {
         return RCOutputRGBLed::hw_set_rgb(_led_off, _led_off, _led_off);
     }
 };
+#endif  // AP_NOTIFY_RCOUTPUTRGBLEDOFF_LED_ENABLED