ardupilot/libraries/AP_Notify/Buzzer.cpp

220 lines
6.1 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/>.
*/
#include "Buzzer.h"
#include <AP_HAL/AP_HAL.h>
#include "AP_Notify.h"
extern const AP_HAL::HAL& hal;
bool Buzzer::init()
{
// return immediately if disabled
if (!AP_Notify::flags.external_leds) {
return false;
}
// setup the pin and ensure it's off
hal.gpio->pinMode(BUZZER_PIN, HAL_GPIO_OUTPUT);
on(false);
// 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;
return true;
}
// update - updates led according to timed_updated. Should be called at 50Hz
void Buzzer::update()
{
// return immediately if disabled
if (!AP_Notify::flags.external_leds) {
return;
}
// check for arming failed event
if (AP_Notify::events.arming_failed) {
// arming failed buzz
play_pattern(SINGLE_BUZZ);
}
// reduce 50hz call down to 10hz
_counter++;
if (_counter < 5) {
return;
}
_counter = 0;
// complete currently played pattern
if (_pattern != NONE) {
_pattern_counter++;
switch (_pattern) {
case SINGLE_BUZZ:
// buzz for 10th of a second
if (_pattern_counter == 1) {
on(true);
}else{
on(false);
_pattern = NONE;
}
return;
case DOUBLE_BUZZ:
// buzz for 10th of a second
switch (_pattern_counter) {
case 1:
on(true);
break;
case 2:
on(false);
break;
case 3:
on(true);
break;
case 4:
default:
on(false);
_pattern = NONE;
break;
}
return;
case ARMING_BUZZ:
// record start time
if (_pattern_counter == 1) {
_arming_buzz_start_ms = AP_HAL::millis();
on(true);
} else {
// turn off buzzer after 3 seconds
if (AP_HAL::millis() - _arming_buzz_start_ms >= BUZZER_ARMING_BUZZ_MS) {
_arming_buzz_start_ms = 0;
on(false);
_pattern = NONE;
}
}
return;
case BARO_GLITCH:
// four fast tones
switch (_pattern_counter) {
case 1:
case 3:
case 5:
case 7:
case 9:
on(true);
break;
case 2:
case 4:
case 6:
case 8:
on(false);
break;
case 10:
on(false);
_pattern = NONE;
break;
default:
// do nothing
break;
}
return;
case EKF_BAD:
// four tones getting shorter)
switch (_pattern_counter) {
case 1:
case 5:
case 8:
case 10:
on(true);
break;
case 4:
case 7:
case 9:
on(false);
break;
case 11:
on(false);
_pattern = NONE;
break;
default:
// do nothing
break;
}
return;
default:
// do nothing
break;
}
}
// check if armed status has changed
if (_flags.armed != AP_Notify::flags.armed) {
_flags.armed = AP_Notify::flags.armed;
if (_flags.armed) {
// double buzz when armed
play_pattern(ARMING_BUZZ);
}else{
// single buzz when disarmed
play_pattern(SINGLE_BUZZ);
}
return;
}
// check ekf bad
if (_flags.ekf_bad != AP_Notify::flags.ekf_bad) {
_flags.ekf_bad = AP_Notify::flags.ekf_bad;
if (_flags.ekf_bad) {
// ekf bad warning buzz
play_pattern(EKF_BAD);
}
return;
}
// if vehicle lost was enabled, starting beep
if (AP_Notify::flags.vehicle_lost) {
play_pattern(DOUBLE_BUZZ);
}
// if battery failsafe constantly single buzz
if (AP_Notify::flags.failsafe_battery) {
play_pattern(SINGLE_BUZZ);
}
}
// on - turns the buzzer on or off
void Buzzer::on(bool turn_on)
{
// return immediately if nothing to do
if (_flags.on == turn_on) {
return;
}
// update state
_flags.on = turn_on;
// pull pin high or low
hal.gpio->write(BUZZER_PIN, _flags.on);
}
/// play_pattern - plays the defined buzzer pattern
void Buzzer::play_pattern(BuzzerPattern pattern_id)
{
_pattern = pattern_id;
_pattern_counter = 0;
}