ardupilot/libraries/AP_Notify/ToneAlarm_Linux.cpp

126 lines
3.6 KiB
C++
Raw Normal View History

/*
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.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include "ToneAlarm_Linux.h"
#include "AP_Notify.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include "../AP_HAL_Linux/Util.h"
#include <stdio.h>
#include <errno.h>
extern const AP_HAL::HAL& hal;
bool ToneAlarm_Linux::init()
{
// open the tone alarm device
err = hal.util->toneAlarm_init();
if (err) {
hal.console->printf("AP_Notify: Failed to initialise ToneAlarm");
return false;
}
// set initial boot states. This prevents us issueing 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_Linux::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_Linux::update()
{
// exit immediately if we haven't initialised successfully
if (err == -1) {
return;
}
// check for arming failure
if(flags.arming_failed != AP_Notify::flags.arming_failed) {
flags.arming_failed = AP_Notify::flags.arming_failed;
if(flags.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);
}
}
// 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 gps glitch
if (flags.gps_glitching != AP_Notify::flags.gps_glitching) {
flags.gps_glitching = AP_Notify::flags.gps_glitching;
if (flags.gps_glitching) {
// gps glitch warning tune
play_tune(TONE_GPS_WARNING_TUNE);
}
}
// check gps failsafe
if (flags.failsafe_gps != AP_Notify::flags.failsafe_gps) {
flags.failsafe_gps = AP_Notify::flags.failsafe_gps;
if (flags.failsafe_gps) {
// gps glitch warning tune
play_tune(TONE_GPS_WARNING_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_PX4