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Switched to a more convenient audio tune

sbg
Lorenz Meier 12 years ago
parent
3a26708203
commit
9e8a02b928
1 changed files with 13 additions and 8 deletions
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  1. 21
      apps/commander/commander.c

21
apps/commander/commander.c
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@ -137,6 +137,7 @@ int commander_thread_main(int argc, char *argv[]);
static int buzzer_init(void); static int buzzer_init(void);
static void buzzer_deinit(void); static void buzzer_deinit(void);
static void tune_confirm();
static int led_init(void); static int led_init(void);
static void led_deinit(void); static void led_deinit(void);
static int led_toggle(int led); static int led_toggle(int led);
@ -257,6 +258,10 @@ int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, u
return 0; return 0;
} }
void tune_confirm() {
ioctl(buzzer, TONE_SET_ALARM, 3);
}
static const char *parameter_file = "/eeprom/parameters"; static const char *parameter_file = "/eeprom/parameters";
static int pm_save_eeprom(bool only_unsaved) static int pm_save_eeprom(bool only_unsaved)
@ -364,7 +369,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
char buf[50]; char buf[50];
sprintf(buf, "[commander] Please rotate around %c", axislabels[axis_index]); sprintf(buf, "[commander] Please rotate around %c", axislabels[axis_index]);
mavlink_log_info(mavlink_fd, buf); mavlink_log_info(mavlink_fd, buf);
ioctl(buzzer, TONE_SET_ALARM, 2); tune_confirm();
axis_deadline += calibration_interval / 3; axis_deadline += calibration_interval / 3;
} }
@ -838,10 +843,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[commander] CMD starting gyro calibration"); mavlink_log_info(mavlink_fd, "[commander] CMD starting gyro calibration");
ioctl(buzzer, TONE_SET_ALARM, 2); tune_confirm();
do_gyro_calibration(status_pub, &current_status); do_gyro_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "[commander] CMD finished gyro calibration"); mavlink_log_info(mavlink_fd, "[commander] CMD finished gyro calibration");
ioctl(buzzer, TONE_SET_ALARM, 2); tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY); do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} else { } else {
@ -858,10 +863,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[commander] CMD starting mag calibration"); mavlink_log_info(mavlink_fd, "[commander] CMD starting mag calibration");
ioctl(buzzer, TONE_SET_ALARM, 2); tune_confirm();
do_mag_calibration(status_pub, &current_status); do_mag_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "[commander] CMD finished mag calibration"); mavlink_log_info(mavlink_fd, "[commander] CMD finished mag calibration");
ioctl(buzzer, TONE_SET_ALARM, 2); tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY); do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} else { } else {
@ -878,9 +883,9 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[commander] CMD starting accel calibration"); mavlink_log_info(mavlink_fd, "[commander] CMD starting accel calibration");
ioctl(buzzer, TONE_SET_ALARM, 2); tune_confirm();
do_accel_calibration(status_pub, &current_status); do_accel_calibration(status_pub, &current_status);
ioctl(buzzer, TONE_SET_ALARM, 2); tune_confirm();
mavlink_log_info(mavlink_fd, "[commander] CMD finished accel calibration"); mavlink_log_info(mavlink_fd, "[commander] CMD finished accel calibration");
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY); do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
@ -1273,7 +1278,7 @@ int commander_thread_main(int argc, char *argv[])
} else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 0)) { } else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 0)) {
/* For less than 20%, start be slightly annoying at 1 Hz */ /* For less than 20%, start be slightly annoying at 1 Hz */
ioctl(buzzer, TONE_SET_ALARM, 0); ioctl(buzzer, TONE_SET_ALARM, 0);
ioctl(buzzer, TONE_SET_ALARM, 2); tune_confirm();
} else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 2)) { } else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 2)) {
ioctl(buzzer, TONE_SET_ALARM, 0); ioctl(buzzer, TONE_SET_ALARM, 0);

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