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83 lines
2.7 KiB
83 lines
2.7 KiB
/* |
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Buzzer 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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#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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# define BUZZER_PIN 32 |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI |
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# define BUZZER_PIN 11 // GPIO P8_32 |
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#else |
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# define BUZZER_PIN 0 // pin undefined on other boards |
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#endif |
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#define BUZZER_ARMING_BUZZ_MS 3000 // arming buzz length in milliseconds (i.e. 3 seconds) |
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#include "NotifyDevice.h" |
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class Buzzer: public NotifyDevice |
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{ |
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public: |
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/// Constructor |
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Buzzer() : |
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_counter(0), |
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_pattern(NONE), |
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_pattern_counter(0), |
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_arming_buzz_start_ms(0) |
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{} |
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/// init - initialise the buzzer |
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bool init(void); |
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/// update - updates buzzer according to timed_updated. Should be called at 50Hz |
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void update(); |
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/// on - turns the buzzer on or off |
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void on(bool on_off); |
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// Patterns - how many beeps will be played |
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enum BuzzerPattern { |
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NONE = 0, |
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SINGLE_BUZZ = 1, |
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DOUBLE_BUZZ = 2, |
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GPS_GLITCH = 3, // not used |
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ARMING_BUZZ = 4, |
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BARO_GLITCH = 5, |
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EKF_BAD = 6 |
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}; |
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/// play_pattern - plays the defined buzzer pattern |
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void play_pattern(BuzzerPattern pattern_id); |
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private: |
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/// buzzer_flag_type - bitmask of current state and ap_notify states we track |
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struct buzzer_flag_type { |
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uint8_t on : 1; // 1 if the buzzer is currently on |
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uint8_t arming : 1; // 1 if we are beginning the arming process |
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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 has triggered |
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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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uint8_t _counter; // reduces 50hz update down to 10hz for internal processing |
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BuzzerPattern _pattern; // current pattern |
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uint8_t _pattern_counter; // used to time on/off of current patter |
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uint32_t _arming_buzz_start_ms; // arming_buzz start time in milliseconds |
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};
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