Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Notify: ensure ToneAlarm is not disabled when UAVCAN is available

This commit is contained in:
bugobliterator 2021-05-26 21:18:48 +05:30 committed by Andrew Tridgell
parent ae80e2dd4d
commit b7de9feb56
4 changed files with 22 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/AP_Notify/AP_Notify.cpp
View File

@ -94,12 +94,17 @@ AP_Notify *AP_Notify::_singleton;
#endif // BUILD_DEFAULT_LED_TYPE
#ifndef BUZZER_ENABLE_DEFAULT
#define BUZZER_ENABLE_DEFAULT 1
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
// Enable Buzzer messages over UAVCAN
#define BUZZER_ENABLE_DEFAULT (Notify_Buzz_Builtin | Notify_Buzz_UAVCAN)
#else
#define BUZZER_ENABLE_DEFAULT Notify_Buzz_Builtin
#endif
#endif
#ifndef BUILD_DEFAULT_BUZZER_TYPE
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && HAL_DSHOT_ALARM
#define BUILD_DEFAULT_BUZZER_TYPE (BUZZER_ENABLE_DEFAULT | (HAL_DSHOT_ALARM << 1))
#define BUILD_DEFAULT_BUZZER_TYPE (BUZZER_ENABLE_DEFAULT | Notify_Buzz_DShot)
#else
#define BUILD_DEFAULT_BUZZER_TYPE BUZZER_ENABLE_DEFAULT
#endif
@ -134,7 +139,7 @@ const AP_Param::GroupInfo AP_Notify::var_info[] = {
// @Param: BUZZ_TYPES
// @DisplayName: Buzzer Driver Types
// @Description: Controls what types of Buzzer will be enabled
// @Bitmask: 0:Built-in buzzer, 1:DShot
// @Bitmask: 0:Built-in buzzer, 1:DShot, 2:UAVCAN
// @User: Advanced
AP_GROUPINFO("BUZZ_TYPES", 1, AP_Notify, _buzzer_type, BUILD_DEFAULT_BUZZER_TYPE),

7
libraries/AP_Notify/AP_Notify.h
View File

@ -76,6 +76,13 @@ public:
Notify_LED_MAX
};
enum Notify_Buzz_Type {
Notify_Buzz_None = 0,
Notify_Buzz_Builtin = (1 << 0), // Built in default Alarm Out
Notify_Buzz_DShot = (1 << 1), // DShot Alarm
Notify_Buzz_UAVCAN = (1 << 2), // UAVCAN Alarm
};
/// notify_flags_type - bitmask of notification flags
struct notify_flags_and_values_type {
bool initialising; // true if initialising and the vehicle should not be moved

3
libraries/AP_Notify/MMLPlayer.cpp
View File

@ -70,7 +70,8 @@ void MMLPlayer::start_note(float duration, float frequency, float volume)
for (uint8_t i = 0; i < can_num_drivers; i++) {
AP_UAVCAN *uavcan = AP_UAVCAN::get_uavcan(i);
if (uavcan != nullptr) {
if (uavcan != nullptr &&
(AP::notify().get_buzzer_types() & AP_Notify::Notify_Buzz_UAVCAN)) {
uavcan->set_buzzer_tone(frequency, _note_duration_us*1.0e-6);
}
}

5
libraries/AP_Notify/ToneAlarm.cpp
View File

@ -105,9 +105,14 @@ bool AP_ToneAlarm::init()
if (pNotify->buzzer_enabled() == false) {
return false;
}
#if ((defined(HAL_PWM_ALARM) || HAL_DSHOT_ALARM) && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS) || \
CONFIG_HAL_BOARD == HAL_BOARD_LINUX || \
CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (!hal.util->toneAlarm_init(pNotify->get_buzzer_types())) {
return false;
}
#endif
// set initial boot states. This prevents us issuing a arming
// warning in plane and rover on every boot