mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.5 KiB
C++
56 lines
1.5 KiB
C++
#include "AP_Periph.h"
|
|
|
|
#if defined(HAL_PERIPH_ENABLE_NOTIFY) || defined(HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY)
|
|
|
|
/*
|
|
buzzer support
|
|
*/
|
|
|
|
#include <dronecan_msgs.h>
|
|
|
|
extern const AP_HAL::HAL &hal;
|
|
|
|
static uint32_t buzzer_start_ms;
|
|
static uint32_t buzzer_len_ms;
|
|
|
|
/*
|
|
handle BeepCommand
|
|
*/
|
|
void AP_Periph_FW::handle_beep_command(CanardInstance* canard_instance, CanardRxTransfer* transfer)
|
|
{
|
|
uavcan_equipment_indication_BeepCommand req;
|
|
if (uavcan_equipment_indication_BeepCommand_decode(transfer, &req)) {
|
|
return;
|
|
}
|
|
static bool initialised;
|
|
if (!initialised) {
|
|
initialised = true;
|
|
hal.rcout->init();
|
|
hal.util->toneAlarm_init(AP_Notify::Notify_Buzz_Builtin);
|
|
}
|
|
buzzer_start_ms = AP_HAL::millis();
|
|
buzzer_len_ms = req.duration*1000;
|
|
#ifdef HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY
|
|
float volume = constrain_float(periph.g.buzz_volume/100.0f, 0, 1);
|
|
#elif defined(HAL_PERIPH_ENABLE_NOTIFY)
|
|
float volume = constrain_float(periph.notify.get_buzz_volume()/100.0f, 0, 1);
|
|
#endif
|
|
hal.util->toneAlarm_set_buzzer_tone(req.frequency, volume, uint32_t(req.duration*1000));
|
|
}
|
|
|
|
/*
|
|
update buzzer
|
|
*/
|
|
void AP_Periph_FW::can_buzzer_update(void)
|
|
{
|
|
if (buzzer_start_ms != 0) {
|
|
uint32_t now = AP_HAL::millis();
|
|
if (now - buzzer_start_ms > buzzer_len_ms) {
|
|
hal.util->toneAlarm_set_buzzer_tone(0, 0, 0);
|
|
buzzer_start_ms = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif // (HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY) || (HAL_PERIPH_ENABLE_NOTIFY)
|