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Notify: APM2 arming buzzer to long tone 

Arming tone is a solid 3 second tone so it is consistent with Pixhawk
arming tone
This commit is contained in:
Randy Mackay 2014-07-25 13:05:45 +09:00
parent 37b357f282
commit 46e5fa2c0b
2 changed files with 27 additions and 4 deletions
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18
libraries/AP_Notify/Buzzer.cpp
View File

@ -110,6 +110,20 @@ void Buzzer::update()
break; break;
} }
return; return;
case ARMING_BUZZ:
// record start time
if (_pattern_counter == 1) {
_arming_buzz_start_ms = hal.scheduler->millis();
on(true);
} else {
// turn off buzzer after 3 seconds
if (hal.scheduler->millis() - _arming_buzz_start_ms >= BUZZER_ARMING_BUZZ_MS) {
_arming_buzz_start_ms = 0;
on(false);
_pattern = NONE;
}
}
return;
default: default:
// do nothing // do nothing
break; break;
@ -121,7 +135,7 @@ void Buzzer::update()
_flags.armed = AP_Notify::flags.armed; _flags.armed = AP_Notify::flags.armed;
if (_flags.armed) { if (_flags.armed) {
// double buzz when armed // double buzz when armed
play_pattern(DOUBLE_BUZZ); play_pattern(ARMING_BUZZ);
}else{ }else{
// single buzz when disarmed // single buzz when disarmed
play_pattern(SINGLE_BUZZ); play_pattern(SINGLE_BUZZ);
@ -175,4 +189,4 @@ void Buzzer::play_pattern(BuzzerPattern pattern_id)
{ {
_pattern = pattern_id; _pattern = pattern_id;
_pattern_counter = 0; _pattern_counter = 0;
} }

13
libraries/AP_Notify/Buzzer.h
View File

@ -28,11 +28,18 @@
# define BUZZER_PIN 0 // pin undefined on other boards # define BUZZER_PIN 0 // pin undefined on other boards
#endif #endif
#define BUZZER_ARMING_BUZZ_MS 3000 // arming buzz length in milliseconds (i.e. 3 seconds)
class Buzzer class Buzzer
{ {
public: public:
/// Constructor /// Constructor
Buzzer() : _counter(0), _pattern(NONE), _pattern_counter(0) {} Buzzer() :
_counter(0),
_pattern(NONE),
_pattern_counter(0),
_arming_buzz_start_ms(0)
{}
/// init - initialise the buzzer /// init - initialise the buzzer
void init(void); void init(void);
@ -47,7 +54,8 @@ public:
NONE = 0, NONE = 0,
SINGLE_BUZZ = 1, SINGLE_BUZZ = 1,
DOUBLE_BUZZ = 2, DOUBLE_BUZZ = 2,
GPS_GLITCH = 3 GPS_GLITCH = 3,
ARMING_BUZZ = 4
}; };
/// play_pattern - plays the defined buzzer pattern /// play_pattern - plays the defined buzzer pattern
@ -68,6 +76,7 @@ private:
uint8_t _counter; // reduces 50hz update down to 10hz for internal processing uint8_t _counter; // reduces 50hz update down to 10hz for internal processing
BuzzerPattern _pattern; // current pattern BuzzerPattern _pattern; // current pattern
uint8_t _pattern_counter; // used to time on/off of current patter uint8_t _pattern_counter; // used to time on/off of current patter
uint32_t _arming_buzz_start_ms; // arming_buzz start time in milliseconds
}; };
#endif // __BUZZER_H__ #endif // __BUZZER_H__