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author | Julian Oes <julian@oes.ch> | 2013-06-25 16:30:35 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-06-25 16:30:35 +0200 |
commit | 0ecc9c4bf4f2bf9fe1d99b5cbdf398718d2dccdd (patch) | |
tree | e9ee7c3a5e8c5079cf2224ccf560e864cc0036d9 /src/modules/commander/commander_helper.c | |
parent | 9ce2b62eb57b519348c4b2fcd58af09999e504e7 (diff) | |
download | px4-firmware-0ecc9c4bf4f2bf9fe1d99b5cbdf398718d2dccdd.tar.gz px4-firmware-0ecc9c4bf4f2bf9fe1d99b5cbdf398718d2dccdd.tar.bz2 px4-firmware-0ecc9c4bf4f2bf9fe1d99b5cbdf398718d2dccdd.zip |
Shrinking the main commander file a bit
Diffstat (limited to 'src/modules/commander/commander_helper.c')
-rw-r--r-- | src/modules/commander/commander_helper.c | 129 |
1 files changed, 129 insertions, 0 deletions
diff --git a/src/modules/commander/commander_helper.c b/src/modules/commander/commander_helper.c new file mode 100644 index 000000000..a75b5dec3 --- /dev/null +++ b/src/modules/commander/commander_helper.c @@ -0,0 +1,129 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler <thomasgubler@student.ethz.ch> + * Julian Oes <joes@student.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file commander_helper.c + * Commander helper functions implementations + */ + +#include <stdio.h> +#include <unistd.h> +#include <stdint.h> +#include <stdbool.h> +#include <fcntl.h> + +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/vehicle_control_mode.h> +#include <systemlib/err.h> +#include <drivers/drv_hrt.h> +#include <drivers/drv_tone_alarm.h> + +#include "commander_helper.h" + +bool is_multirotor(const struct vehicle_status_s *current_status) +{ + return ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) || + (current_status->system_type == VEHICLE_TYPE_HEXAROTOR) || + (current_status->system_type == VEHICLE_TYPE_OCTOROTOR) || + (current_status->system_type == VEHICLE_TYPE_TRICOPTER)); +} + +bool is_rotary_wing(const struct vehicle_status_s *current_status) +{ + return is_multirotor(current_status) || (current_status->system_type == VEHICLE_TYPE_HELICOPTER) + || (current_status->system_type == VEHICLE_TYPE_COAXIAL); +} + +static int buzzer; + +int buzzer_init() +{ + buzzer = open("/dev/tone_alarm", O_WRONLY); + + if (buzzer < 0) { + warnx("Buzzer: open fail\n"); + return ERROR; + } + + return OK; +} + +void buzzer_deinit() +{ + close(buzzer); +} + +void tune_error() +{ + ioctl(buzzer, TONE_SET_ALARM, 2); +} + +void tune_positive() +{ + ioctl(buzzer, TONE_SET_ALARM, 3); +} + +void tune_neutral() +{ + ioctl(buzzer, TONE_SET_ALARM, 4); +} + +void tune_negative() +{ + ioctl(buzzer, TONE_SET_ALARM, 5); +} + +int tune_arm() +{ + return ioctl(buzzer, TONE_SET_ALARM, 12); +} + +int tune_critical_bat() +{ + return ioctl(buzzer, TONE_SET_ALARM, 14); +} + +int tune_low_bat() +{ + return ioctl(buzzer, TONE_SET_ALARM, 13); +} + +void tune_stop() +{ + ioctl(buzzer, TONE_SET_ALARM, 0); +} + |