mirror of https://github.com/ArduPilot/ardupilot
83 lines
1.9 KiB
C++
83 lines
1.9 KiB
C++
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/*
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Copyright (C) 2016 Mathieu Othacehe. All rights reserved.
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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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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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#include <AP_HAL_Linux/RCOutput_Bebop.h>
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#include <AP_HAL_Linux/RCOutput_Disco.h>
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#include "ToneAlarm_Disco.h"
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extern const AP_HAL::HAL &hal;
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using namespace Linux;
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ToneAlarm_Disco::ToneAlarm_Disco()
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{
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// initialy no tune to play
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tune_num = -1;
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tune_pos = 0;
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}
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bool ToneAlarm_Disco::init()
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{
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// play startup tune
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tune_num = 0;
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bebop_out = RCOutput_Disco::from(hal.rcout);
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return true;
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}
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void ToneAlarm_Disco::stop()
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{
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bebop_out->play_note(0, 0, 0);
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}
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bool ToneAlarm_Disco::play()
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{
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uint32_t cur_time = AP_HAL::millis();
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if (tune_num != prev_tune_num){
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tune_changed = true;
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return true;
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}
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if (cur_note != 0){
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bebop_out->play_note(TONEALARM_PWM_POWER, cur_note, duration);
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cur_note = 0;
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prev_time = cur_time;
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}
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if ((cur_time - prev_time) > duration){
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stop();
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if (tune[tune_num][tune_pos] == '\0'){
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if (!tune_repeat[tune_num]){
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tune_num = -1;
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}
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tune_pos = 0;
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tune_comp = true;
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return false;
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}
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return true;
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}
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return false;
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}
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#endif
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