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ardupilot/libraries/AP_Notify/ToneAlarm.cpp

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