/* Buzzer 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 . */ #pragma once #include #if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN # define BUZZER_PIN 32 #else # define BUZZER_PIN 0 // pin undefined on other boards #endif #define BUZZER_ARMING_BUZZ_MS 3000 // arming buzz length in milliseconds (i.e. 3 seconds) #include "NotifyDevice.h" class Buzzer: public NotifyDevice { public: /// Constructor Buzzer() : _counter(0), _pattern(NONE), _pattern_counter(0), _arming_buzz_start_ms(0) {} /// init - initialise the buzzer bool init(void); /// update - updates buzzer according to timed_updated. Should be called at 50Hz void update(); /// on - turns the buzzer on or off void on(bool on_off); enum BuzzerPattern { NONE = 0, SINGLE_BUZZ = 1, DOUBLE_BUZZ = 2, GPS_GLITCH = 3, // not used ARMING_BUZZ = 4, BARO_GLITCH = 5, EKF_BAD = 6 }; /// play_pattern - plays the defined buzzer pattern void play_pattern(BuzzerPattern pattern_id); private: /// buzzer_flag_type - bitmask of current state and ap_notify states we track struct buzzer_flag_type { uint8_t on : 1; // 1 if the buzzer is currently on uint8_t arming : 1; // 1 if we are beginning the arming process uint8_t armed : 1; // 0 = disarmed, 1 = armed uint8_t failsafe_battery : 1; // 1 if battery failsafe has triggered uint8_t ekf_bad : 1; // 1 if ekf position has gone bad } _flags; uint8_t _counter; // reduces 50hz update down to 10hz for internal processing BuzzerPattern _pattern; // current pattern uint8_t _pattern_counter; // used to time on/off of current patter uint32_t _arming_buzz_start_ms; // arming_buzz start time in milliseconds };