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125 lines
3.7 KiB
125 lines
3.7 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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#include <AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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#include "ToneAlarm_PX4.h" |
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#include "AP_Notify.h" |
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#include <sys/types.h> |
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#include <sys/stat.h> |
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#include <fcntl.h> |
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#include <unistd.h> |
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#include <drivers/drv_tone_alarm.h> |
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#include <stdio.h> |
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#include <errno.h> |
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extern const AP_HAL::HAL& hal; |
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bool ToneAlarm_PX4::init() |
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{ |
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// open the tone alarm device |
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_tonealarm_fd = open(TONEALARM_DEVICE_PATH, 0); |
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if (_tonealarm_fd == -1) { |
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hal.console->printf("Unable to open " TONEALARM_DEVICE_PATH); |
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return false; |
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} |
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// set initial boot states. This prevents us issueing a arming |
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// warning in plane and rover on every boot |
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flags.armed = AP_Notify::flags.armed; |
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flags.failsafe_battery = AP_Notify::flags.failsafe_battery; |
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return true; |
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} |
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// play_tune - play one of the pre-defined tunes |
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bool ToneAlarm_PX4::play_tune(const uint8_t tune_number) |
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{ |
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int ret = ioctl(_tonealarm_fd, TONE_SET_ALARM, tune_number); |
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return (ret == 0); |
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} |
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// update - updates led according to timed_updated. Should be called at 50Hz |
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void ToneAlarm_PX4::update() |
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{ |
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// exit immediately if we haven't initialised successfully |
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if (_tonealarm_fd == -1) { |
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return; |
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} |
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// check for arming failure |
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if(flags.arming_failed != AP_Notify::flags.arming_failed) { |
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flags.arming_failed = AP_Notify::flags.arming_failed; |
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if(flags.arming_failed) { |
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play_tune(TONE_ARMING_FAILURE_TUNE); |
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} |
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} |
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// check if arming status has changed |
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if (flags.armed != AP_Notify::flags.armed) { |
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flags.armed = AP_Notify::flags.armed; |
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if (flags.armed) { |
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// arming tune |
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play_tune(TONE_ARMING_WARNING_TUNE); |
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}else{ |
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// disarming tune |
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play_tune(TONE_NOTIFY_NEUTRAL_TUNE); |
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} |
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} |
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// check if battery status has changed |
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if (flags.failsafe_battery != AP_Notify::flags.failsafe_battery) { |
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flags.failsafe_battery = AP_Notify::flags.failsafe_battery; |
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if (flags.failsafe_battery) { |
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// low battery warning tune |
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play_tune(TONE_BATTERY_WARNING_FAST_TUNE); |
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} |
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} |
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// check gps glitch |
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if (flags.gps_glitching != AP_Notify::flags.gps_glitching) { |
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flags.gps_glitching = AP_Notify::flags.gps_glitching; |
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if (flags.gps_glitching) { |
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// gps glitch warning tune |
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play_tune(TONE_GPS_WARNING_TUNE); |
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} |
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} |
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// check gps failsafe |
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if (flags.failsafe_gps != AP_Notify::flags.failsafe_gps) { |
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flags.failsafe_gps = AP_Notify::flags.failsafe_gps; |
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if (flags.failsafe_gps) { |
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// gps glitch warning tune |
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play_tune(TONE_GPS_WARNING_TUNE); |
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} |
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} |
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// check parachute release |
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if (flags.parachute_release != AP_Notify::flags.parachute_release) { |
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flags.parachute_release = AP_Notify::flags.parachute_release; |
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if (flags.parachute_release) { |
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// parachute release warning tune |
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play_tune(TONE_PARACHUTE_RELEASE_TUNE); |
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} |
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} |
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} |
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
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