mirror of https://github.com/ArduPilot/ardupilot
88 lines
3.0 KiB
C++
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__
|