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51 lines
1.8 KiB
51 lines
1.8 KiB
/* |
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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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#ifndef __TONE_ALARM_PX4_H__ |
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#define __TONE_ALARM_PX4_H__ |
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#include "ToneAlarm_PX4.h" |
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class ToneAlarm_PX4 |
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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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private: |
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/// play_tune - play one of the pre-defined tunes |
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bool play_tune(const uint8_t tune_number); |
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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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uint8_t armed : 1; // 0 = disarmed, 1 = armed |
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uint8_t failsafe_battery : 1; // 1 if battery failsafe |
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uint8_t gps_glitching : 1; // 1 if gps position is not good |
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uint8_t failsafe_gps : 1; // 1 if gps failsafe |
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uint8_t baro_glitching : 1; // 1 if baro alt is glitching |
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uint8_t arming_failed : 1; // 0 = failing checks, 1 = passed |
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uint8_t parachute_release : 1; // 1 if parachute is being released |
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uint8_t ekf_bad : 1; // 1 if ekf position has gone bad |
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} flags; |
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}; |
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#endif // __TONE_ALARM_PX4_H__
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