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74 lines
2.5 KiB
74 lines
2.5 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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#pragma once |
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#include "NotifyDevice.h" |
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// wait 2 seconds before assuming a tone is done and continuing the continuous tone |
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#define AP_NOTIFY_PX4_MAX_TONE_LENGTH_MS 2000 |
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class ToneAlarm_PX4: public NotifyDevice |
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{ |
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public: |
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/// init - initialised the tone alarm |
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bool init(void); |
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/// update - updates led according to timed_updated. Should be called at 50Hz |
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void update(); |
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// handle a PLAY_TUNE message |
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void handle_play_tune(mavlink_message_t *msg); |
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private: |
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/// play_tune - play one of the pre-defined tunes |
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void play_tone(const uint8_t tone_index); |
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// play_string - play tone specified by the provided string of notes |
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void play_string(const char *str); |
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// stop_cont_tone - stop playing the currently playing continuous tone |
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void stop_cont_tone(); |
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// check_cont_tone - check if we should begin playing a continuous tone |
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void check_cont_tone(); |
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int _tonealarm_fd; // file descriptor for the tone alarm |
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/// tonealarm_type - bitmask of states we track |
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struct tonealarm_type { |
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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 |
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uint8_t parachute_release : 1; // 1 if parachute is being released |
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uint8_t pre_arm_check : 1; // 0 = failing checks, 1 = passed |
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uint8_t failsafe_radio : 1; // 1 if radio failsafe |
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uint8_t vehicle_lost : 1; // 1 if lost copter tone requested |
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uint8_t compass_cal_running : 1; // 1 if compass calibration is running |
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uint8_t waiting_for_throw : 1; // 1 if waiting for copter throw launch |
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} flags; |
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int8_t _cont_tone_playing; |
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int8_t _tone_playing; |
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uint32_t _tone_beginning_ms; |
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struct Tone { |
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const char *str; |
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const uint8_t continuous : 1; |
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}; |
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const static Tone _tones[]; |
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};
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