AP_Periph: added BUZZER_VOLUME parameter

Tools/AP_Periph/Parameters.cpp

@@ -26,6 +26,10 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     // can node baudrate
     GSCALAR(can_baudrate,     "CAN_BAUDRATE", 1000000),
     
+#ifdef HAL_PERIPH_ENABLE_BUZZER
+    GSCALAR(buzz_volume,     "BUZZER_VOLUME", 100),
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_GPS
     // GPS driver
     // @Group: GPS_
@@ -45,7 +49,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     // @Path: ../libraries/AP_Baro/AP_Baro.cpp
     GOBJECT(baro, "BARO_", AP_Baro),
 #endif
-    
+
     AP_VAREND
 };
 

Tools/AP_Periph/Parameters.h

@@ -17,11 +17,15 @@ public:
         k_param_can_node,
         k_param_can_baudrate,
         k_param_baro,
+        k_param_buzz_volume,
     };
 
     AP_Int16 format_version;
     AP_Int16 can_node;
     AP_Int32 can_baudrate;
+#ifdef HAL_PERIPH_ENABLE_BUZZER
+    AP_Int8 buzz_volume;
+#endif
 
     Parameters() {}
 };

Tools/AP_Periph/can.cpp

@@ -371,7 +371,8 @@ static void handle_beep_command(CanardInstance* ins, CanardRxTransfer* transfer)
     fix_float16(req.duration);
     buzzer_start_ms = AP_HAL::millis();
     buzzer_len_ms = req.duration*1000;
-    hal.util->toneAlarm_set_buzzer_tone(req.frequency, 1, uint32_t(req.duration*1000));
+    float volume = constrain_float(periph.g.buzz_volume/100.0, 0, 1);
+    hal.util->toneAlarm_set_buzzer_tone(req.frequency, volume, uint32_t(req.duration*1000));
 }
 
 /*