mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-10 18:08:30 -04:00
129 lines
3.8 KiB
C++
129 lines
3.8 KiB
C++
/*
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ToneAlarm Linux 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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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#include "ToneAlarm_ChibiOS.h"
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#include <AP_HAL_ChibiOS/ToneAlarm.h>
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#include <AP_Math/AP_Math.h>
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#include "AP_Notify.h"
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extern const AP_HAL::HAL& hal;
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bool ToneAlarm_ChibiOS::init()
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{
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// open the tone alarm device
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bool _initialized = hal.util->toneAlarm_init();
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if (!_initialized) {
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hal.console->printf("AP_Notify: Failed to initialise ToneAlarm");
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return false;
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}
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// set initial boot states. This prevents us issuing a arming
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// warning in plane and rover on every boot
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flags.armed = AP_Notify::flags.armed;
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flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
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return true;
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}
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// play_tune - play one of the pre-defined tunes
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bool ToneAlarm_ChibiOS::play_tune(uint8_t tune_number)
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{
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hal.util->toneAlarm_set_tune(tune_number);
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return true;
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}
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// update - updates led according to timed_updated. Should be called at 50Hz
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void ToneAlarm_ChibiOS::update()
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{
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// exit if buzzer is not enabled
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if (pNotify->buzzer_enabled() == false) {
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return;
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}
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// check for arming failure
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if (AP_Notify::events.arming_failed) {
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play_tune(TONE_ARMING_FAILURE_TUNE);
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}
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// check if arming status has changed
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if (flags.armed != AP_Notify::flags.armed) {
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flags.armed = AP_Notify::flags.armed;
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if (flags.armed) {
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// arming tune
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play_tune(TONE_ARMING_WARNING_TUNE);
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}else{
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// disarming tune
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play_tune(TONE_NOTIFY_NEUTRAL_TUNE);
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}
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}
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// notify the user when their mode change was successful
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if (AP_Notify::events.user_mode_change) {
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if (AP_Notify::flags.armed) {
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play_tune(TONE_NOTIFY_MODE_CHANGE_LOUD);
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} else {
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play_tune(TONE_NOTIFY_MODE_CHANGE_SOFT);
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}
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}
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// check if battery status has changed
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if (flags.failsafe_battery != AP_Notify::flags.failsafe_battery) {
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flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
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if (flags.failsafe_battery) {
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// low battery warning tune
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play_tune(TONE_BATTERY_WARNING_FAST_TUNE);
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}
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}
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// check parachute release
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if (flags.parachute_release != AP_Notify::flags.parachute_release) {
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flags.parachute_release = AP_Notify::flags.parachute_release;
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if (flags.parachute_release) {
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// parachute release warning tune
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play_tune(TONE_PARACHUTE_RELEASE_TUNE);
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}
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}
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}
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/*
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handle a PLAY_TUNE message
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*/
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void ToneAlarm_ChibiOS::handle_play_tune(mavlink_message_t *msg)
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{
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// decode mavlink message
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mavlink_play_tune_t packet;
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mavlink_msg_play_tune_decode(msg, &packet);
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char str[100];
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strncpy(str, packet.tune, MIN(sizeof(packet.tune), sizeof(str)-1));
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str[sizeof(str)-1] = 0;
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uint8_t len = strlen(str);
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uint8_t len2 = strnlen(packet.tune2, sizeof(packet.tune2));
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len2 = MIN((sizeof(str)-1)-len, len2);
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strncpy(str+len, packet.tune2, len2);
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str[sizeof(str)-1] = 0;
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hal.util->toneAlarm_set_tune_string(str);
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}
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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