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https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
AP_Notify: add Buzzer
This commit is contained in:
Randy Mackay
parent
d1cf9f949f
commit
1f0fb3f06b
@ -30,6 +30,7 @@ void AP_Notify::init(void)
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
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externalled.init();
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buzzer.init();
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#endif
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}
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@ -44,5 +45,6 @@ void AP_Notify::update(void)
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
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externalled.update();
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buzzer.update();
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#endif
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}
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@ -25,6 +25,7 @@
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#include <ToshibaLED_PX4.h>
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#include <ToneAlarm_PX4.h>
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#include <ExternalLED.h>
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#include <Buzzer.h>
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class AP_Notify
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{
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@ -62,6 +63,7 @@ private:
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
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ToshibaLED_I2C toshibaled;
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ExternalLED externalled;
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Buzzer buzzer;
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#else
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ToshibaLED_I2C toshibaled;
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#endif
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169
libraries/AP_Notify/Buzzer.cpp
Normal file
169
libraries/AP_Notify/Buzzer.cpp
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@ -0,0 +1,169 @@
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/*
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Buzzer driver
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*/
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/*
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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.h>
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#include "Buzzer.h"
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#include "AP_Notify.h"
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extern const AP_HAL::HAL& hal;
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bool Buzzer::init()
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{
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// setup the pin and ensure it's off
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hal.gpio->pinMode(BUZZER_PIN, GPIO_OUTPUT);
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on(false);
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// set initial boot states. This prevents us issueing a arming
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// warning in plane and rover on every boot
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_flags.armed = AP_Notify::flags.armed;
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_flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
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return true;
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}
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// update - updates led according to timed_updated. Should be called at 50Hz
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void Buzzer::update()
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{
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// reduce 50hz call down to 10hz
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_counter++;
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if (_counter < 5) {
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return;
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}
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_counter = 0;
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// complete currently played pattern
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if (_pattern != NONE) {
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_pattern_counter++;
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switch (_pattern) {
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case SINGLE_BUZZ:
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// buzz for 10th of a second
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if (_pattern_counter == 1) {
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on(true);
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}else{
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on(false);
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_pattern = NONE;
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}
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return;
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case DOUBLE_BUZZ:
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// buzz for 10th of a second
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switch (_pattern_counter) {
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case 1:
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on(true);
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break;
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case 2:
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on(false);
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break;
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case 3:
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on(true);
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break;
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case 4:
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default:
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on(false);
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_pattern = NONE;
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break;
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}
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return;
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case GPS_GLITCH:
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// play bethoven's 5th type buzz (three fast, one long)
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switch (_pattern_counter) {
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case 1:
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case 3:
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case 5:
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case 7:
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on(true);
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break;
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case 2:
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case 4:
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case 6:
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on(false);
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break;
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case 17:
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on(false);
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_pattern = NONE;
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break;
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default:
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// do nothing
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break;
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}
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return;
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default:
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// do nothing
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break;
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}
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}
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// check if armed status has changed
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if (_flags.armed != AP_Notify::flags.armed) {
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_flags.armed = AP_Notify::flags.armed;
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if (_flags.armed) {
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// double buzz when armed
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play_pattern(DOUBLE_BUZZ);
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}else{
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// single buzz when disarmed
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play_pattern(SINGLE_BUZZ);
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}
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return;
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}
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// check gps glitch
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if (_flags.gps_glitching != AP_Notify::flags.gps_glitching) {
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_flags.gps_glitching = AP_Notify::flags.gps_glitching;
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if (_flags.gps_glitching) {
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// gps glitch warning buzz
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play_pattern(GPS_GLITCH);
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}
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return;
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}
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// check gps failsafe
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if (_flags.failsafe_gps != AP_Notify::flags.failsafe_gps) {
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_flags.failsafe_gps = AP_Notify::flags.failsafe_gps;
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if (_flags.failsafe_gps) {
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// gps glitch warning buzz
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play_pattern(GPS_GLITCH);
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}
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return;
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}
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// if battery failsafe constantly single buzz
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if (AP_Notify::flags.failsafe_battery) {
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play_pattern(SINGLE_BUZZ);
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}
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}
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// on - turns the buzzer on or off
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void Buzzer::on(bool turn_on)
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{
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// return immediately if nothing to do
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if (_flags.on == turn_on) {
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return;
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}
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// update state
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_flags.on = turn_on;
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// pull pin high or low
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hal.gpio->write(BUZZER_PIN, _flags.on);
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}
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/// play_pattern - plays the defined buzzer pattern
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void Buzzer::play_pattern(BuzzerPattern pattern_id)
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{
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_pattern = pattern_id;
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_pattern_counter = 0;
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}
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69
libraries/AP_Notify/Buzzer.h
Normal file
69
libraries/AP_Notify/Buzzer.h
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@ -0,0 +1,69 @@
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/*
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Buzzer driver
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*/
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/*
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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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#ifndef __BUZZER_H__
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#define __BUZZER_H__
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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# define BUZZER_PIN 63 // pin 63 on APM1
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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# define BUZZER_PIN 59 // pin 59 on APM2
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#endif
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class Buzzer
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{
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public:
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/// Constructor
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Buzzer() : _counter(0), _pattern(NONE), _pattern_counter(0) {}
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/// init - initialise the buzzer
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bool init(void);
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/// update - updates buzzer according to timed_updated. Should be called at 50Hz
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void update();
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/// on - turns the buzzer on or off
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void on(bool on_off);
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enum BuzzerPattern {
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NONE = 0,
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SINGLE_BUZZ = 1,
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DOUBLE_BUZZ = 2,
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GPS_GLITCH = 3
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};
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/// play_pattern - plays the defined buzzer pattern
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void play_pattern(BuzzerPattern pattern_id);
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private:
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/// buzzer_flag_type - bitmask of current state and ap_notify states we track
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struct buzzer_flag_type {
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uint8_t on : 1; // 1 if the buzzer is currently on
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uint8_t gps_glitching : 1; // 1 if gps position is not good
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uint8_t arming : 1; // 1 if we are beginning the arming process
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uint8_t armed : 1; // 0 = disarmed, 1 = armed
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uint8_t failsafe_battery : 1; // 1 if battery failsafe has triggered
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uint8_t failsafe_gps : 1; // 1 if gps failsafe
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} _flags;
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uint8_t _counter; // reduces 50hz update down to 10hz for internal processing
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BuzzerPattern _pattern; // current pattern
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uint8_t _pattern_counter; // used to time on/off of current patter
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};
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#endif // __BUZZER_H__
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