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83 lines
3.0 KiB
83 lines
3.0 KiB
/* |
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* ToneAlarm 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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* |
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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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* |
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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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#include "MMLPlayer.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_TONEALARM_MAX_TONE_LENGTH_MS 2000 |
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#define AP_NOTIFY_TONEALARM_TONE_BUF_SIZE 100 |
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class AP_ToneAlarm: public NotifyDevice { |
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public: |
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/// init - initialised the tone alarm |
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bool init(void) override; |
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/// update - updates led according to timed_updated. Should be called at 50Hz |
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void update() override; |
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// handle a PLAY_TUNE message |
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void handle_play_tune(const mavlink_message_t &msg) override; |
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// play_tune - play tone specified by the provided string of notes |
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void play_tune(const char *tune) override; |
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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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// 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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// timer task - runs at 1khz |
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void _timer_task(); |
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/// tonealarm_type - bitmask of states we track |
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struct tonealarm_type { |
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uint16_t armed : 1; // 0 = disarmed, 1 = armed |
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uint16_t failsafe_battery : 1; // 1 if battery failsafe |
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uint16_t parachute_release : 1; // 1 if parachute is being released |
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uint16_t pre_arm_check : 1; // 0 = failing checks, 1 = passed |
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uint16_t failsafe_radio : 1; // 1 if radio failsafe |
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uint16_t vehicle_lost : 1; // 1 if lost copter tone requested |
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uint16_t compass_cal_running : 1; // 1 if compass calibration is running |
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uint16_t waiting_for_throw : 1; // 1 if waiting for copter throw launch |
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uint16_t leak_detected : 1; // 1 if leak detected |
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uint16_t powering_off : 1; // 1 if smart battery is powering off |
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} flags; |
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bool _have_played_ready_tone : 1; |
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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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HAL_Semaphore _sem; |
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MMLPlayer _mml_player; |
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char _tone_buf[AP_NOTIFY_TONEALARM_TONE_BUF_SIZE]; |
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};
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