ardupilot/libraries/AP_Notify/Buzzer.h

72 lines
2.4 KiB
C++

/*
Buzzer 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 <AP_HAL/AP_HAL.h>
#define BUZZER_ARMING_BUZZ_MS 3000 // arming buzz length in milliseconds (i.e. 3 seconds)
#include "NotifyDevice.h"
class Buzzer: public NotifyDevice
{
public:
/// Constructor
Buzzer() {}
/// init - initialise the buzzer
bool init(void) override;
/// update - updates buzzer according to timed_updated. Should be called at 50Hz
void update() override;
/// on - turns the buzzer on or off
void on(bool on_off);
// Patterns - how many beeps will be played
enum BuzzerPattern {
NONE = 0,
SINGLE_BUZZ = 1,
DOUBLE_BUZZ = 2,
GPS_GLITCH = 3, // not used
ARMING_BUZZ = 4,
BARO_GLITCH = 5,
EKF_BAD = 6
};
/// play_pattern - plays the defined buzzer pattern
void play_pattern(BuzzerPattern pattern_id);
private:
/// buzzer_flag_type - bitmask of current state and ap_notify states we track
struct buzzer_flag_type {
uint8_t on : 1; // 1 if the buzzer is currently on
uint8_t arming : 1; // 1 if we are beginning the arming process
uint8_t armed : 1; // 0 = disarmed, 1 = armed
uint8_t failsafe_battery : 1; // 1 if battery failsafe has triggered
uint8_t ekf_bad : 1; // 1 if ekf position has gone bad
} _flags;
uint8_t _counter; // reduces 50hz update down to 10hz for internal processing
BuzzerPattern _pattern; // current pattern
uint8_t _pattern_counter; // used to time on/off of current patter
uint32_t _arming_buzz_start_ms; // arming_buzz start time in milliseconds
uint8_t _pin;
};