mirror of https://github.com/ArduPilot/ardupilot
72 lines
2.4 KiB
C++
72 lines
2.4 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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#ifndef __BUZZER_H__
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#define __BUZZER_H__
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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# define BUZZER_PIN 63 // pin 63 on APM1
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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# define BUZZER_PIN 59 // pin 59 on APM2
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#else
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# define BUZZER_PIN 0 // pin undefined on other boards
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#endif
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class Buzzer
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{
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public:
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/// Constructor
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Buzzer() : _counter(0), _pattern(NONE), _pattern_counter(0) {}
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/// init - initialise the buzzer
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void 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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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
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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 gps_glitching : 1; // 1 if gps position is not good
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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 failsafe_gps : 1; // 1 if gps failsafe
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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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};
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#endif // __BUZZER_H__
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