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82 lines
1.9 KiB
82 lines
1.9 KiB
/* |
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Copyright (C) 2016 Mathieu Othacehe. All rights reserved. |
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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/AP_HAL.h> |
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO |
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#include <AP_HAL_Linux/RCOutput_Bebop.h> |
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#include <AP_HAL_Linux/RCOutput_Disco.h> |
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#include "ToneAlarm_Disco.h" |
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extern const AP_HAL::HAL &hal; |
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using namespace Linux; |
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ToneAlarm_Disco::ToneAlarm_Disco() |
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{ |
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// initialy no tune to play |
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tune_num = -1; |
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tune_pos = 0; |
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} |
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bool ToneAlarm_Disco::init() |
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{ |
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// play startup tune |
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tune_num = 0; |
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bebop_out = RCOutput_Disco::from(hal.rcout); |
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return true; |
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} |
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void ToneAlarm_Disco::stop() |
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{ |
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bebop_out->play_note(0, 0, 0); |
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} |
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bool ToneAlarm_Disco::play() |
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{ |
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uint32_t cur_time = AP_HAL::millis(); |
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if (tune_num != prev_tune_num){ |
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tune_changed = true; |
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return true; |
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} |
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if (cur_note != 0){ |
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bebop_out->play_note(TONEALARM_PWM_POWER, cur_note, duration); |
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cur_note = 0; |
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prev_time = cur_time; |
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} |
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if ((cur_time - prev_time) > duration){ |
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stop(); |
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if (tune[tune_num][tune_pos] == '\0'){ |
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if (!tune_repeat[tune_num]){ |
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tune_num = -1; |
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} |
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tune_pos = 0; |
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tune_comp = true; |
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return false; |
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} |
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return true; |
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} |
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return false; |
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} |
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#endif
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