mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.5 KiB
C++
56 lines
1.5 KiB
C++
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#include "AP_Periph.h"
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#if defined(HAL_PERIPH_ENABLE_NOTIFY) || defined(HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY)
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/*
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buzzer support
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*/
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#include <dronecan_msgs.h>
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extern const AP_HAL::HAL &hal;
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static uint32_t buzzer_start_ms;
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static uint32_t buzzer_len_ms;
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/*
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handle BeepCommand
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*/
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void AP_Periph_FW::handle_beep_command(CanardInstance* canard_instance, CanardRxTransfer* transfer)
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{
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uavcan_equipment_indication_BeepCommand req;
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if (uavcan_equipment_indication_BeepCommand_decode(transfer, &req)) {
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return;
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}
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static bool initialised;
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if (!initialised) {
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initialised = true;
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hal.rcout->init();
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hal.util->toneAlarm_init(AP_Notify::Notify_Buzz_Builtin);
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}
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buzzer_start_ms = AP_HAL::millis();
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buzzer_len_ms = req.duration*1000;
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#ifdef HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY
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float volume = constrain_float(periph.g.buzz_volume/100.0f, 0, 1);
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#elif defined(HAL_PERIPH_ENABLE_NOTIFY)
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float volume = constrain_float(periph.notify.get_buzz_volume()/100.0f, 0, 1);
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#endif
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hal.util->toneAlarm_set_buzzer_tone(req.frequency, volume, uint32_t(req.duration*1000));
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}
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/*
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update buzzer
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*/
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void AP_Periph_FW::can_buzzer_update(void)
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{
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if (buzzer_start_ms != 0) {
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uint32_t now = AP_HAL::millis();
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if (now - buzzer_start_ms > buzzer_len_ms) {
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hal.util->toneAlarm_set_buzzer_tone(0, 0, 0);
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buzzer_start_ms = 0;
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}
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}
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}
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#endif // (HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY) || (HAL_PERIPH_ENABLE_NOTIFY)
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