ardupilot/libraries/AP_Notify/ToneAlarm_ChibiOS.cpp

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/*
ToneAlarm Linux driver
*/
/*
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, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include "ToneAlarm_ChibiOS.h"
#include <AP_HAL_ChibiOS/ToneAlarm.h>
#include "AP_Notify.h"
extern const AP_HAL::HAL& hal;
bool ToneAlarm_ChibiOS::init()
{
// open the tone alarm device
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bool _initialized = hal.util->toneAlarm_init();
if (!_initialized) {
hal.console->printf("AP_Notify: Failed to initialise ToneAlarm");
return false;
}
// set initial boot states. This prevents us issuing a arming
// warning in plane and rover on every boot
flags.armed = AP_Notify::flags.armed;
flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
return true;
}
// play_tune - play one of the pre-defined tunes
bool ToneAlarm_ChibiOS::play_tune(uint8_t tune_number)
{
hal.util->toneAlarm_set_tune(tune_number);
return true;
}
// update - updates led according to timed_updated. Should be called at 50Hz
void ToneAlarm_ChibiOS::update()
{
// exit if buzzer is not enabled
if (pNotify->buzzer_enabled() == false) {
return;
}
// check for arming failure
if (AP_Notify::events.arming_failed) {
play_tune(TONE_ARMING_FAILURE_TUNE);
}
// check if arming status has changed
if (flags.armed != AP_Notify::flags.armed) {
flags.armed = AP_Notify::flags.armed;
if (flags.armed) {
// arming tune
play_tune(TONE_ARMING_WARNING_TUNE);
}else{
// disarming tune
play_tune(TONE_NOTIFY_NEUTRAL_TUNE);
}
}
// notify the user when their mode change was successful
if (AP_Notify::events.user_mode_change) {
if (AP_Notify::flags.armed) {
play_tune(TONE_NOTIFY_MODE_CHANGE_LOUD);
} else {
play_tune(TONE_NOTIFY_MODE_CHANGE_SOFT);
}
}
// check if battery status has changed
if (flags.failsafe_battery != AP_Notify::flags.failsafe_battery) {
flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
if (flags.failsafe_battery) {
// low battery warning tune
play_tune(TONE_BATTERY_WARNING_FAST_TUNE);
}
}
// check parachute release
if (flags.parachute_release != AP_Notify::flags.parachute_release) {
flags.parachute_release = AP_Notify::flags.parachute_release;
if (flags.parachute_release) {
// parachute release warning tune
play_tune(TONE_PARACHUTE_RELEASE_TUNE);
}
}
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS