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Fixed beep duration

This commit is contained in:
Pavel Kirienko 2016-08-07 13:08:11 +03:00 committed by Lorenz Meier
parent 36efc8c83e
commit 64d7946cdc
2 changed files with 7 additions and 7 deletions
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12
src/modules/uavcan/uavcan_servers.cpp
View File

@ -504,7 +504,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
_esc_enumeration_active = command_id;
_esc_enumeration_index = 0;
_esc_count = 0;
beep(_esc_enumeration_active ? 500.0F : 1000.0F, 0.2F);
beep(_esc_enumeration_active ? 500.0F : 1000.0F);
uavcan::protocol::enumeration::Begin::Request req;
// TODO: Incorrect implementation; the parameter name field should be left empty.
// Leaving it as-is to avoid breaking compatibility with non-compliant nodes.
@ -754,11 +754,11 @@ uint8_t UavcanServers::get_next_dirty_node_id(uint8_t base)
return base;
}
void UavcanServers::beep(float frequency, float duration)
void UavcanServers::beep(float frequency)
{
uavcan::equipment::indication::BeepCommand cmd;
cmd.frequency = frequency;
cmd.duration = duration;
cmd.duration = 0.1F; // We don't want to incapacitate ESC for longer time that this
(void)_beep_pub.broadcast(cmd);
}
@ -855,13 +855,13 @@ void UavcanServers::cb_enumeration_save(const uavcan::ServiceCallResult<uavcan::
{
if (!result.isSuccessful()) {
warnx("UAVCAN ESC enumeration: save request for node %hhu timed out.", result.getCallID().server_node_id.get());
beep(100.0F, 0.5F);
beep(100.0F);
} else if (!result.getResponse().ok) {
warnx("UAVCAN ESC enumeration: save request for node %hhu rejected", result.getCallID().server_node_id.get());
beep(100.0F, 0.5F);
beep(100.0F);
} else {
warnx("UAVCAN ESC enumeration: save request for node %hhu completed OK.", result.getCallID().server_node_id.get());
beep(2000.0F, 0.2F);
beep(2000.0F);
}
warnx("UAVCAN ESC enumeration: completed %hhu of %hhu", _esc_enumeration_index, _esc_count);

2
src/modules/uavcan/uavcan_servers.hpp
View File

@ -179,7 +179,7 @@ private:
void clear_node_params_dirty(uint8_t node_id) { _param_dirty_bitmap[node_id >> 5] &= ~(1 << (node_id & 31)); }
bool are_node_params_dirty(uint8_t node_id) const { return bool((_param_dirty_bitmap[node_id >> 5] >> (node_id & 31)) & 1); }
void beep(float frequency, float duration);
void beep(float frequency);
bool _mutex_inited;
volatile bool _check_fw;