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Added Piezo Support, code from Oliver.

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This commit is contained in:
Jason Short 2011-09-18 17:12:28 -07:00
parent 5bf7898438
commit 4425e72034
5 changed files with 64 additions and 4 deletions
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13
ArduCopter/config.h
View File

@ -182,7 +182,18 @@
# define CURR_AMPS_OFFSET 0.0
#endif
#ifndef HIGH_DISCHARGE
# define HIGH_DISCHARGE 1760
# define HIGH_DISCHARGE 1760
#endif
#ifndef PIEZO
# define PIEZO ENABLED //Enables Piezo Code and beeps once on Startup to verify operation
#endif
#ifndef PIEZO_LOW_VOLTAGE
# define PIEZO_LOW_VOLTAGE ENABLED //Enables Tone on reaching low battery or current alert
#endif
#ifndef PIEZO_ARMING
# define PIEZO_ARMING ENABLED //Two tones on ARM, 1 Tone on disarm
#endif

21
ArduCopter/events.pde
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@ -95,3 +95,24 @@ static void relay_toggle()
PORTL ^= B00000100;
}
#if PIEZO == ENABLED
void piezo_on()
{
digitalWrite(PIEZO_PIN,HIGH);
//PORTF |= B00100000;
}
void piezo_off()
{
digitalWrite(PIEZO_PIN,LOW);
//PORTF &= ~B00100000;
}
void piezo_beep()
{
// Note: This command should not be used in time sensitive loops
piezo_on();
delay(100);
piezo_off();
}
#endif

8
ArduCopter/motors.pde
View File

@ -31,6 +31,11 @@ static void arm_motors()
motor_armed = true;
arming_counter = ARM_DELAY;
#if PIEZO_ARMING == 1
piezo_beep();
piezo_beep();
#endif
// Tune down DCM
// -------------------
#if HIL_MODE != HIL_MODE_ATTITUDE
@ -92,6 +97,9 @@ static void arm_motors()
arming_counter = DISARM_DELAY;
compass.save_offsets();
#if PIEZO_ARMING == 1
piezo_beep();
#endif
// Tune down DCM
// -------------------

21
ArduCopter/sensors.pde
View File

@ -126,11 +126,26 @@ static void read_battery(void)
}
#if BATTERY_EVENT == 1
if(battery_voltage < g.low_voltage)
//if(battery_voltage < g.low_voltage)
// low_battery_event();
if((battery_voltage < g.low_voltage) || (g.battery_monitoring == 4 && current_total > g.pack_capacity)){
low_battery_event();
if(g.battery_monitoring == 4 && current_total > g.pack_capacity)
low_battery_event();
#if PIEZO_LOW_VOLTAGE == 1
// Only Activate if a battery is connected to avoid alarm on USB only
if (battery_voltage1 > 1){
piezo_on();
}else{
piezo_off();
}
#endif
}else{
#if PIEZO_LOW_VOLTAGE == 1
piezo_off();
#endif
}
#endif
}

5
ArduCopter/system.pde
View File

@ -103,6 +103,11 @@ static void init_ardupilot()
pinMode(LE_LED, OUTPUT); // GPS status LED
#endif
#if PIEZO == 1
pinMode(PIEZO_PIN,OUTPUT);
piezo_beep();
#endif
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {