mirror of https://github.com/ArduPilot/ardupilot
72 lines
2.5 KiB
C++
72 lines
2.5 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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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "NotifyDevice.h"
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class Buzzer: public NotifyDevice
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{
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public:
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/// Constructor
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Buzzer() {}
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/// init - initialise the buzzer
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bool init(void) override;
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/// update - updates buzzer according to timed_updated. Should be called at 50Hz
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void update() override;
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private:
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/// on - turns the buzzer on or off
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void on(bool on_off);
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// Patterns - how many beeps will be played; read from
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// left-to-right, each bit represents 100ms
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static const uint32_t SINGLE_BUZZ = 0b10000000000000000000000000000000UL;
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static const uint32_t DOUBLE_BUZZ = 0b10100000000000000000000000000000UL;
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static const uint32_t ARMING_BUZZ = 0b11111111111111111111111111111100UL; // 3s
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static const uint32_t BARO_BUZZ = 0b10101010100000000000000000000000UL;
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static const uint32_t EKF_BAD = 0b11101101010000000000000000000000UL;
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/// play_pattern - plays the defined buzzer pattern
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void play_pattern(const uint32_t pattern);
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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 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 ekf_bad : 1; // 1 if ekf position has gone bad
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} _flags;
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uint32_t _pattern; // current pattern
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uint8_t _pin;
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uint32_t _pattern_start_time;
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// enforce minumum 100ms interval between patterns:
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const uint16_t _pattern_start_interval_time_ms = 32*100 + 100;
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void update_playing_pattern();
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void update_pattern_to_play();
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};
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