ardupilot/libraries/AP_Notify/Buzzer.h

88 lines
3.0 KiB
C++

/*
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 <http://www.gnu.org/licenses/>.
*/
#ifndef __BUZZER_H__
#define __BUZZER_H__
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
# define BUZZER_PIN 63 // pin 63 on APM1
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
# define BUZZER_PIN 59 // pin 59 on APM2
#elif 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)
class Buzzer
{
public:
/// Constructor
Buzzer() :
_counter(0),
_pattern(NONE),
_pattern_counter(0),
_arming_buzz_start_ms(0)
{}
/// init - initialise the buzzer
void 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,
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 gps_glitching : 1; // 1 if gps position is not good
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 failsafe_gps : 1; // 1 if gps failsafe
uint8_t baro_glitching : 1; // 1 if baro alt is glitching
uint8_t arming_failed : 1; // 0 = failing checks, 1 = passed
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
};
#endif // __BUZZER_H__