mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-07 16:38:30 -04:00
e710799b12
add support for ESC LEDs triggered by dshot commands don't send DShot LED commands when armed make enablement of dshot buzzer and LEDs configurable
470 lines
15 KiB
C++
470 lines
15 KiB
C++
/*
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* AP_ToneAlarm 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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*
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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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*
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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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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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#include "ToneAlarm.h"
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#include "AP_Notify.h"
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#include <string.h>
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#include <stdio.h>
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#include <AP_Filesystem/AP_Filesystem.h>
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extern const AP_HAL::HAL& hal;
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// Tunes follow the syntax of the Microsoft GWBasic/QBasic PLAY
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// statement, with some exceptions and extensions.
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// See https://firmware.ardupilot.org/Tools/ToneTester/
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const AP_ToneAlarm::Tone AP_ToneAlarm::_tones[] {
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#define AP_NOTIFY_TONE_QUIET_NEG_FEEDBACK 0
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{ "MFT200L4<<<B#A#2", false },
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#define AP_NOTIFY_TONE_LOUD_NEG_FEEDBACK 1
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{ "MFT100L4>B#A#2P8B#A#2", false },
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#define AP_NOTIFY_TONE_QUIET_NEU_FEEDBACK 2
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{ "MFT200L4<B#", false },
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#define AP_NOTIFY_TONE_LOUD_NEU_FEEDBACK 3
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{ "MFT100L4>B#", false },
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#define AP_NOTIFY_TONE_QUIET_POS_FEEDBACK 4
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{ "MFT200L4<A#B#", false },
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#define AP_NOTIFY_TONE_LOUD_POS_FEEDBACK 5
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{ "MFT100L4>A#B#", false },
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#define AP_NOTIFY_TONE_LOUD_READY_OR_FINISHED 6
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{ "MFT100L4>G#6A#6B#4", false },
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#define AP_NOTIFY_TONE_QUIET_READY_OR_FINISHED 7
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{ "MFT200L4<G#6A#6B#4", false },
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#define AP_NOTIFY_TONE_LOUD_ATTENTION_NEEDED 8
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{ "MFT100L4>A#A#A#A#", false },
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#define AP_NOTIFY_TONE_QUIET_ARMING_WARNING 9
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{ "MNT75L1O2G", false },
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#define AP_NOTIFY_TONE_LOUD_WP_COMPLETE 10
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{ "MFT200L8G>C3", false },
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#define AP_NOTIFY_TONE_LOUD_LAND_WARNING_CTS 11
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{ "MBT200L2A-G-A-G-A-G-", true },
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#define AP_NOTIFY_TONE_LOUD_VEHICLE_LOST_CTS 12
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{ "MBT200>A#1", true },
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#define AP_NOTIFY_TONE_LOUD_BATTERY_ALERT_CTS 13
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{ "MBNT255>A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8", true },
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#define AP_NOTIFY_TONE_QUIET_CALIBRATING_CTS 14
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{ "MBNT255<C16P2", true },
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#define AP_NOTIFY_TONE_WAITING_FOR_THROW 15
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{ "MBNT90L4O2A#O3DFN0N0N0", true},
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#define AP_NOTIFY_TONE_LOUD_1 16
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{ "MFT100L8>B", false},
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#define AP_NOTIFY_TONE_LOUD_2 17
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{ "MFT100L8>BB", false},
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#define AP_NOTIFY_TONE_LOUD_3 18
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{ "MFT100L8>BBB", false},
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#define AP_NOTIFY_TONE_LOUD_4 19
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{ "MFT100L8>BBBB", false},
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#define AP_NOTIFY_TONE_LOUD_5 20
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{ "MFT100L8>BBBBB", false},
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#define AP_NOTIFY_TONE_LOUD_6 21
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{ "MFT100L8>BBBBBB", false},
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#define AP_NOTIFY_TONE_LOUD_7 22
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{ "MFT100L8>BBBBBBB", false},
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#define AP_NOTIFY_TONE_TUNING_START 23
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{ "MFT100L20>C#D#", false},
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#define AP_NOTIFY_TONE_TUNING_SAVE 24
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{ "MFT100L10DBDB>", false},
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#define AP_NOTIFY_TONE_TUNING_ERROR 25
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{ "MFT100L10>BBBBBBBB", false},
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#define AP_NOTIFY_TONE_LEAK_DETECTED 26
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{ "MBT255L8>A+AA-", true},
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#define AP_NOTIFY_TONE_QUIET_SHUTDOWN 27
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{ "MFMST200L32O3ceP32cdP32ceP32c<c>c<cccP8L32>c>c<P32<c<c", false },
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#define AP_NOTIFY_TONE_QUIET_NOT_READY_OR_NOT_FINISHED 28
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{ "MFT200L4<B#4A#6G#6", false },
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#define AP_NOTIFY_TONE_STARTUP 29
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{ "MFT240L8O4aO5dcO4aO5dcO4aO5dcL16dcdcdcdc", false },
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#define AP_NOTIFY_TONE_NO_SDCARD 30
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{ "MNBGG", false },
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#define AP_NOTIFY_TONE_EKF_ALERT 31
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{ "MBNT255>A#8A#8A#8A#8P8A#8A#8A#8A#8P8A#8A#8A#8A#8P8A#8A#8A#8A#8", true },
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};
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bool AP_ToneAlarm::init()
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{
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if (pNotify->buzzer_enabled() == false) {
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return false;
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}
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if (!hal.util->toneAlarm_init(pNotify->get_buzzer_types())) {
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return false;
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}
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// set initial boot states. This prevents us issuing a arming
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// warning in plane and rover on every boot
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flags.armed = AP_Notify::flags.armed;
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flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
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flags.pre_arm_check = 1;
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_cont_tone_playing = -1;
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hal.scheduler->register_timer_process(FUNCTOR_BIND(this, &AP_ToneAlarm::_timer_task, void));
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#if HAVE_FILESYSTEM_SUPPORT && CONFIG_HAL_BOARD != HAL_BOARD_LINUX
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// if we don't have a SDcard then play a failure tone instead of
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// normal startup tone. This gives the user a chance to fix it
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// before they try to arm. We don't do this on Linux as Linux
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// flight controllers don't usually have removable storage
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struct stat st;
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if (AP::FS().stat(HAL_BOARD_STORAGE_DIRECTORY, &st) != 0) {
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play_tone(AP_NOTIFY_TONE_NO_SDCARD);
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return true;
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}
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#endif
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#ifndef HAL_BUILD_AP_PERIPH
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play_tone(AP_NOTIFY_TONE_STARTUP);
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#endif
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return true;
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}
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// play_tune - play one of the pre-defined tunes
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void AP_ToneAlarm::play_tone(const uint8_t tone_index)
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{
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uint32_t tnow_ms = AP_HAL::millis();
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const Tone &tone_requested = _tones[tone_index];
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if (tone_requested.continuous) {
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_cont_tone_playing = tone_index;
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}
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_tone_playing = tone_index;
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_tone_beginning_ms = tnow_ms;
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play_tune(tone_requested.str);
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}
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void AP_ToneAlarm::_timer_task()
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{
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WITH_SEMAPHORE(_sem);
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_mml_player.update();
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}
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void AP_ToneAlarm::play_tune(const char *str)
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{
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WITH_SEMAPHORE(_sem);
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_mml_player.stop();
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strncpy(_tone_buf, str, AP_NOTIFY_TONEALARM_TONE_BUF_SIZE);
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_tone_buf[AP_NOTIFY_TONEALARM_TONE_BUF_SIZE-1] = 0;
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_mml_player.play(_tone_buf);
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}
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void AP_ToneAlarm::stop_cont_tone()
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{
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if (_cont_tone_playing == _tone_playing) {
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play_tune("");
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_tone_playing = -1;
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}
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_cont_tone_playing = -1;
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}
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void AP_ToneAlarm::check_cont_tone()
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{
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uint32_t tnow_ms = AP_HAL::millis();
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// if we are supposed to be playing a continuous tone,
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// and it was interrupted, and the interrupting tone has timed out,
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// resume the continuous tone
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if (_cont_tone_playing != -1 && _tone_playing != _cont_tone_playing && tnow_ms-_tone_beginning_ms > AP_NOTIFY_TONEALARM_MAX_TONE_LENGTH_MS) {
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play_tone(_cont_tone_playing);
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}
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}
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// update - updates led according to timed_updated. Should be called at 50Hz
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void AP_ToneAlarm::update()
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{
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// exit if buzzer is not enabled
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if (pNotify->buzzer_enabled() == false) {
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return;
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}
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check_cont_tone();
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if (AP_Notify::flags.powering_off) {
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if (!flags.powering_off) {
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play_tone(AP_NOTIFY_TONE_QUIET_SHUTDOWN);
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}
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flags.powering_off = AP_Notify::flags.powering_off;
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return;
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}
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if (AP_Notify::flags.compass_cal_running != flags.compass_cal_running) {
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if (AP_Notify::flags.compass_cal_running) {
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play_tone(AP_NOTIFY_TONE_QUIET_CALIBRATING_CTS);
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play_tone(AP_NOTIFY_TONE_QUIET_POS_FEEDBACK);
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} else {
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if (_cont_tone_playing == AP_NOTIFY_TONE_QUIET_CALIBRATING_CTS) {
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stop_cont_tone();
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}
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}
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}
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flags.compass_cal_running = AP_Notify::flags.compass_cal_running;
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if (AP_Notify::events.compass_cal_canceled) {
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play_tone(AP_NOTIFY_TONE_QUIET_NEU_FEEDBACK);
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return;
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}
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if (AP_Notify::events.initiated_compass_cal) {
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play_tone(AP_NOTIFY_TONE_QUIET_NEU_FEEDBACK);
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return;
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}
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if (AP_Notify::events.compass_cal_saved ||
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AP_Notify::events.temp_cal_saved) {
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play_tone(AP_NOTIFY_TONE_QUIET_READY_OR_FINISHED);
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return;
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}
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if (AP_Notify::events.compass_cal_failed ||
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AP_Notify::events.temp_cal_failed) {
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play_tone(AP_NOTIFY_TONE_QUIET_NEG_FEEDBACK);
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return;
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}
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if (AP_Notify::events.initiated_temp_cal) {
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play_tone(AP_NOTIFY_TONE_QUIET_NEU_FEEDBACK);
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return;
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}
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if (AP_Notify::flags.temp_cal_running != flags.temp_cal_running) {
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if (AP_Notify::flags.temp_cal_running) {
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play_tone(AP_NOTIFY_TONE_QUIET_CALIBRATING_CTS);
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play_tone(AP_NOTIFY_TONE_QUIET_POS_FEEDBACK);
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} else {
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if (_cont_tone_playing == AP_NOTIFY_TONE_QUIET_CALIBRATING_CTS) {
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stop_cont_tone();
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}
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}
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}
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flags.temp_cal_running = AP_Notify::flags.temp_cal_running;
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// don't play other tones if cal is running
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if (AP_Notify::flags.compass_cal_running ||
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AP_Notify::flags.temp_cal_running) {
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return;
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}
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// notify the user when autotune or mission completes
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if (AP_Notify::flags.armed && (AP_Notify::events.autotune_complete || AP_Notify::events.mission_complete)) {
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play_tone(AP_NOTIFY_TONE_LOUD_READY_OR_FINISHED);
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}
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//notify the user when autotune fails
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if (AP_Notify::flags.armed && (AP_Notify::events.autotune_failed)) {
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play_tone(AP_NOTIFY_TONE_LOUD_NEG_FEEDBACK);
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}
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// notify the user when a waypoint completes
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if (AP_Notify::events.waypoint_complete) {
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play_tone(AP_NOTIFY_TONE_LOUD_WP_COMPLETE);
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}
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// notify the user when their mode change was successful
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if (AP_Notify::events.user_mode_change) {
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if (AP_Notify::flags.armed) {
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play_tone(AP_NOTIFY_TONE_LOUD_NEU_FEEDBACK);
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} else {
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play_tone(AP_NOTIFY_TONE_QUIET_NEU_FEEDBACK);
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}
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}
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// notify the user when their mode change failed
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if (AP_Notify::events.user_mode_change_failed) {
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if (AP_Notify::flags.armed) {
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play_tone(AP_NOTIFY_TONE_LOUD_NEG_FEEDBACK);
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} else {
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play_tone(AP_NOTIFY_TONE_QUIET_NEG_FEEDBACK);
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}
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}
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// failsafe initiated mode change
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if (AP_Notify::events.failsafe_mode_change) {
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play_tone(AP_NOTIFY_TONE_LOUD_ATTENTION_NEEDED);
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}
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// notify the user when arming fails
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if (AP_Notify::events.arming_failed) {
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play_tone(AP_NOTIFY_TONE_QUIET_NEG_FEEDBACK);
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}
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// notify the user when RC contact is lost
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if (flags.failsafe_radio != AP_Notify::flags.failsafe_radio) {
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flags.failsafe_radio = AP_Notify::flags.failsafe_radio;
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if (flags.failsafe_radio) {
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// armed case handled by events.failsafe_mode_change
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if (!AP_Notify::flags.armed) {
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play_tone(AP_NOTIFY_TONE_QUIET_NEG_FEEDBACK);
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}
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} else {
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if (AP_Notify::flags.armed) {
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play_tone(AP_NOTIFY_TONE_LOUD_POS_FEEDBACK);
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} else {
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play_tone(AP_NOTIFY_TONE_QUIET_POS_FEEDBACK);
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}
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}
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}
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// notify the user when GCS failsafe is triggered
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if (flags.failsafe_gcs != AP_Notify::flags.failsafe_gcs) {
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flags.failsafe_gcs = AP_Notify::flags.failsafe_gcs;
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if (flags.failsafe_gcs) {
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// armed case handled by events.failsafe_mode_change
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if (!AP_Notify::flags.armed) {
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play_tone(AP_NOTIFY_TONE_QUIET_NEG_FEEDBACK);
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}
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} else {
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if (AP_Notify::flags.armed) {
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play_tone(AP_NOTIFY_TONE_LOUD_POS_FEEDBACK);
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} else {
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play_tone(AP_NOTIFY_TONE_QUIET_POS_FEEDBACK);
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}
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}
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}
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// notify the user when pre_arm checks are passing
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if (flags.pre_arm_check != AP_Notify::flags.pre_arm_check) {
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flags.pre_arm_check = AP_Notify::flags.pre_arm_check;
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if (flags.pre_arm_check) {
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play_tone(AP_NOTIFY_TONE_QUIET_READY_OR_FINISHED);
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_have_played_ready_tone = true;
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} else {
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// only play sad tone if we've ever played happy tone:
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if (_have_played_ready_tone) {
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play_tone(AP_NOTIFY_TONE_QUIET_NOT_READY_OR_NOT_FINISHED);
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}
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}
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}
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// check if arming status has changed
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if (flags.armed != AP_Notify::flags.armed) {
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flags.armed = AP_Notify::flags.armed;
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if (flags.armed) {
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// arming tune
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play_tone(AP_NOTIFY_TONE_QUIET_ARMING_WARNING);
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} else {
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// disarming tune
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play_tone(AP_NOTIFY_TONE_QUIET_NEU_FEEDBACK);
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if (!flags.leak_detected) {
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stop_cont_tone();
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}
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}
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}
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// check if battery status has changed
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if (flags.failsafe_battery != AP_Notify::flags.failsafe_battery) {
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flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
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if (flags.failsafe_battery) {
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// battery warning tune
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play_tone(AP_NOTIFY_TONE_LOUD_BATTERY_ALERT_CTS);
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}
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}
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// check parachute release
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if (flags.parachute_release != AP_Notify::flags.parachute_release) {
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flags.parachute_release = AP_Notify::flags.parachute_release;
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if (flags.parachute_release) {
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// parachute release warning tune
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play_tone(AP_NOTIFY_TONE_LOUD_ATTENTION_NEEDED);
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}
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}
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// lost vehicle tone
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if (flags.vehicle_lost != AP_Notify::flags.vehicle_lost) {
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flags.vehicle_lost = AP_Notify::flags.vehicle_lost;
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if (flags.vehicle_lost) {
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play_tone(AP_NOTIFY_TONE_LOUD_VEHICLE_LOST_CTS);
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} else {
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stop_cont_tone();
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}
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}
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// waiting to be thrown vehicle tone
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if (flags.waiting_for_throw != AP_Notify::flags.waiting_for_throw) {
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flags.waiting_for_throw = AP_Notify::flags.waiting_for_throw;
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if (flags.waiting_for_throw) {
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play_tone(AP_NOTIFY_TONE_WAITING_FOR_THROW);
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} else {
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stop_cont_tone();
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}
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}
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if (flags.leak_detected != AP_Notify::flags.leak_detected) {
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flags.leak_detected = AP_Notify::flags.leak_detected;
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if (flags.leak_detected) {
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play_tone(AP_NOTIFY_TONE_LEAK_DETECTED);
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} else {
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stop_cont_tone();
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}
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}
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if (AP_Notify::events.tune_started) {
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play_tone(AP_NOTIFY_TONE_TUNING_START);
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AP_Notify::events.tune_started = 0;
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}
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if (AP_Notify::events.tune_next) {
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// signify which parameter in the set is starting
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play_tone(AP_NOTIFY_TONE_LOUD_1 + (AP_Notify::events.tune_next-1));
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AP_Notify::events.tune_next = 0;
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}
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if (AP_Notify::events.tune_save) {
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play_tone(AP_NOTIFY_TONE_TUNING_SAVE);
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AP_Notify::events.tune_save = 0;
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}
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if (AP_Notify::events.tune_error) {
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play_tone(AP_NOTIFY_TONE_TUNING_ERROR);
|
|
AP_Notify::events.tune_error = 0;
|
|
}
|
|
|
|
// notify the user when ekf failsafe is triggered
|
|
if (flags.failsafe_ekf != AP_Notify::flags.failsafe_ekf) {
|
|
flags.failsafe_ekf = AP_Notify::flags.failsafe_ekf;
|
|
if (flags.failsafe_ekf) {
|
|
play_tone(AP_NOTIFY_TONE_EKF_ALERT);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
/*
|
|
* handle a PLAY_TUNE message
|
|
*/
|
|
void AP_ToneAlarm::handle_play_tune(const mavlink_message_t &msg)
|
|
{
|
|
// decode mavlink message
|
|
mavlink_play_tune_t packet;
|
|
|
|
mavlink_msg_play_tune_decode(&msg, &packet);
|
|
|
|
WITH_SEMAPHORE(_sem);
|
|
|
|
_mml_player.stop();
|
|
|
|
strncpy(_tone_buf, packet.tune, MIN(sizeof(packet.tune), sizeof(_tone_buf)-1));
|
|
_tone_buf[sizeof(_tone_buf)-1] = 0;
|
|
uint8_t len = strlen(_tone_buf);
|
|
uint8_t len2 = strnlen(packet.tune2, sizeof(packet.tune2));
|
|
len2 = MIN((sizeof(_tone_buf)-1)-len, len2);
|
|
strncpy(_tone_buf+len, packet.tune2, len2);
|
|
_tone_buf[sizeof(_tone_buf)-1] = 0;
|
|
_mml_player.play(_tone_buf);
|
|
}
|