mirror of https://github.com/ArduPilot/ardupilot
72 lines
2.4 KiB
C++
72 lines
2.4 KiB
C++
/*
|
|
ToneAlarm PX4 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/>.
|
|
*/
|
|
#pragma once
|
|
|
|
#include "NotifyDevice.h"
|
|
|
|
// wait 2 seconds before assuming a tone is done and continuing the continuous tone
|
|
#define AP_NOTIFY_PX4_MAX_TONE_LENGTH_MS 2000
|
|
|
|
class ToneAlarm_PX4: public NotifyDevice
|
|
{
|
|
public:
|
|
/// init - initialised the tone alarm
|
|
bool init(void);
|
|
|
|
/// update - updates led according to timed_updated. Should be called at 50Hz
|
|
void update();
|
|
|
|
private:
|
|
/// play_tune - play one of the pre-defined tunes
|
|
void play_tone(const uint8_t tone_index);
|
|
|
|
// play_string - play tone specified by the provided string of notes
|
|
void play_string(const char *str);
|
|
|
|
// stop_cont_tone - stop playing the currently playing continuous tone
|
|
void stop_cont_tone();
|
|
|
|
// check_cont_tone - check if we should begin playing a continuous tone
|
|
void check_cont_tone();
|
|
|
|
int _tonealarm_fd; // file descriptor for the tone alarm
|
|
|
|
/// tonealarm_type - bitmask of states we track
|
|
struct tonealarm_type {
|
|
uint8_t armed : 1; // 0 = disarmed, 1 = armed
|
|
uint8_t failsafe_battery : 1; // 1 if battery failsafe
|
|
uint8_t parachute_release : 1; // 1 if parachute is being released
|
|
uint8_t pre_arm_check : 1; // 0 = failing checks, 1 = passed
|
|
uint8_t failsafe_radio : 1; // 1 if radio failsafe
|
|
uint8_t vehicle_lost : 1; // 1 if lost copter tone requested
|
|
uint8_t compass_cal_running : 1; // 1 if compass calibration is running
|
|
uint8_t waiting_for_throw : 1; // 1 if waiting for copter throw launch
|
|
} flags;
|
|
|
|
int8_t _cont_tone_playing;
|
|
int8_t _tone_playing;
|
|
uint32_t _tone_beginning_ms;
|
|
|
|
struct Tone {
|
|
const char *str;
|
|
const uint8_t continuous : 1;
|
|
};
|
|
|
|
const static Tone _tones[];
|
|
};
|