mirror of https://github.com/ArduPilot/ardupilot
77 lines
2.7 KiB
C++
77 lines
2.7 KiB
C++
/*
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ToneAlarm PX4 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 "NotifyDevice.h"
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// wait 2 seconds before assuming a tone is done and continuing the continuous tone
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#define AP_NOTIFY_PX4_MAX_TONE_LENGTH_MS 2000
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class ToneAlarm_PX4: public NotifyDevice
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{
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public:
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/// init - initialised the tone alarm
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bool init(void);
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/// update - updates led according to timed_updated. Should be called at 50Hz
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void update();
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// handle a PLAY_TUNE message
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void handle_play_tune(mavlink_message_t *msg);
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private:
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/// play_tune - play one of the pre-defined tunes
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void play_tone(const uint8_t tone_index);
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// play_string - play tone specified by the provided string of notes
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void play_string(const char *str);
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// stop_cont_tone - stop playing the currently playing continuous tone
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void stop_cont_tone();
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// check_cont_tone - check if we should begin playing a continuous tone
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void check_cont_tone();
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int _tonealarm_fd; // file descriptor for the tone alarm
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/// tonealarm_type - bitmask of states we track
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struct tonealarm_type {
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uint16_t armed : 1; // 0 = disarmed, 1 = armed
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uint16_t failsafe_battery : 1; // 1 if battery failsafe
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uint16_t parachute_release : 1; // 1 if parachute is being released
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uint16_t pre_arm_check : 1; // 0 = failing checks, 1 = passed
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uint16_t failsafe_radio : 1; // 1 if radio failsafe
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uint16_t vehicle_lost : 1; // 1 if lost copter tone requested
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uint16_t compass_cal_running : 1; // 1 if compass calibration is running
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uint16_t waiting_for_throw : 1; // 1 if waiting for copter throw launch
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uint16_t leak_detected : 1; // 1 if leak detected
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uint16_t powering_off : 1; // 1 if smart battery is powering off
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} flags;
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int8_t _cont_tone_playing;
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int8_t _tone_playing;
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uint32_t _tone_beginning_ms;
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struct Tone {
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const char *str;
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const uint8_t continuous : 1;
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};
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const static Tone _tones[];
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};
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