mirror of https://github.com/ArduPilot/ardupilot
90 lines
2.9 KiB
C++
90 lines
2.9 KiB
C++
/*
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Buzzer driver
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*/
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#ifndef BUZZER_PIN
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// better to define it in hal
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#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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# define BUZZER_PIN 32
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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# define BUZZER_PIN 11 // GPIO P8_32
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
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# define BUZZER_PIN 28 // GPIO P2_8
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// #else
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// # define BUZZER_PIN -1 // pin undefined on other boards
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#endif
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#endif
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#define BUZZER_ARMING_BUZZ_MS 3000 // arming buzz length in milliseconds (i.e. 3 seconds)
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#include "NotifyDevice.h"
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class Buzzer: public NotifyDevice
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{
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public:
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/// Constructor
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Buzzer() :
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_counter(0),
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_pattern(NONE),
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_pattern_counter(0),
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_arming_buzz_start_ms(0)
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{}
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/// init - initialise the buzzer
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bool init(void);
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/// update - updates buzzer according to timed_updated. Should be called at 50Hz
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void update();
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/// on - turns the buzzer on or off
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void on(bool on_off);
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// Patterns - how many beeps will be played
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enum BuzzerPattern {
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NONE = 0,
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SINGLE_BUZZ = 1,
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DOUBLE_BUZZ = 2,
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GPS_GLITCH = 3, // not used
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ARMING_BUZZ = 4,
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BARO_GLITCH = 5,
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EKF_BAD = 6
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};
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/// play_pattern - plays the defined buzzer pattern
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void play_pattern(BuzzerPattern pattern_id);
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private:
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/// buzzer_flag_type - bitmask of current state and ap_notify states we track
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struct buzzer_flag_type {
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uint8_t on : 1; // 1 if the buzzer is currently on
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uint8_t arming : 1; // 1 if we are beginning the arming process
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uint8_t armed : 1; // 0 = disarmed, 1 = armed
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uint8_t failsafe_battery : 1; // 1 if battery failsafe has triggered
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uint8_t ekf_bad : 1; // 1 if ekf position has gone bad
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} _flags;
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uint8_t _counter; // reduces 50hz update down to 10hz for internal processing
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BuzzerPattern _pattern; // current pattern
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uint8_t _pattern_counter; // used to time on/off of current patter
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uint32_t _arming_buzz_start_ms; // arming_buzz start time in milliseconds
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uint8_t _pin;
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};
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