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author | Stefan Rado <px4@sradonia.net> | 2014-03-22 11:13:54 +0100 |
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committer | Stefan Rado <px4@sradonia.net> | 2014-03-22 11:13:54 +0100 |
commit | 1a98589f3a5f38dcbe65213e9c914e594241532a (patch) | |
tree | eaedb8d8257b8469dc65c4354bafbd2b73826a6d /src/modules/commander/commander_helper.cpp | |
parent | ec78fcf2b9e75c6ca9ab6cd0772ee2b7beef4300 (diff) | |
parent | a1fad76f2b40aaa41817510e1a6748b111041f8f (diff) | |
download | px4-firmware-1a98589f3a5f38dcbe65213e9c914e594241532a.tar.gz px4-firmware-1a98589f3a5f38dcbe65213e9c914e594241532a.tar.bz2 px4-firmware-1a98589f3a5f38dcbe65213e9c914e594241532a.zip |
Merge remote-tracking branch 'remotes/origin/master' into param_tool
Diffstat (limited to 'src/modules/commander/commander_helper.cpp')
-rw-r--r-- | src/modules/commander/commander_helper.cpp | 91 |
1 files changed, 53 insertions, 38 deletions
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index 033e7dc88..fe6c9bfaa 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -45,6 +45,7 @@ #include <stdbool.h> #include <fcntl.h> #include <math.h> +#include <string.h> #include <uORB/uORB.h> #include <uORB/topics/vehicle_status.h> @@ -81,11 +82,22 @@ bool is_rotary_wing(const struct vehicle_status_s *current_status) || (current_status->system_type == VEHICLE_TYPE_COAXIAL); } -static int buzzer; -static hrt_abstime blink_msg_end; +static int buzzer = -1; +static hrt_abstime blink_msg_end = 0; // end time for currently blinking LED message, 0 if no blink message +static hrt_abstime tune_end = 0; // end time of currently played tune, 0 for repeating tunes or silence +static int tune_current = TONE_STOP_TUNE; // currently playing tune, can be interrupted after tune_end +static unsigned int tune_durations[TONE_NUMBER_OF_TUNES]; int buzzer_init() { + tune_end = 0; + tune_current = 0; + memset(tune_durations, 0, sizeof(tune_durations)); + tune_durations[TONE_NOTIFY_POSITIVE_TUNE] = 800000; + tune_durations[TONE_NOTIFY_NEGATIVE_TUNE] = 900000; + tune_durations[TONE_NOTIFY_NEUTRAL_TUNE] = 500000; + tune_durations[TONE_ARMING_WARNING_TUNE] = 3000000; + buzzer = open(TONEALARM_DEVICE_PATH, O_WRONLY); if (buzzer < 0) { @@ -101,58 +113,60 @@ void buzzer_deinit() close(buzzer); } -void tune_error() -{ - ioctl(buzzer, TONE_SET_ALARM, TONE_ERROR_TUNE); +void set_tune(int tune) { + unsigned int new_tune_duration = tune_durations[tune]; + /* don't interrupt currently playing non-repeating tune by repeating */ + if (tune_end == 0 || new_tune_duration != 0 || hrt_absolute_time() > tune_end) { + /* allow interrupting current non-repeating tune by the same tune */ + if (tune != tune_current || new_tune_duration != 0) { + ioctl(buzzer, TONE_SET_ALARM, tune); + } + tune_current = tune; + if (new_tune_duration != 0) { + tune_end = hrt_absolute_time() + new_tune_duration; + } else { + tune_end = 0; + } + } } -void tune_positive() +/** + * Blink green LED and play positive tune (if use_buzzer == true). + */ +void tune_positive(bool use_buzzer) { blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME; rgbled_set_color(RGBLED_COLOR_GREEN); rgbled_set_mode(RGBLED_MODE_BLINK_FAST); - ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_POSITIVE_TUNE); + if (use_buzzer) { + set_tune(TONE_NOTIFY_POSITIVE_TUNE); + } } -void tune_neutral() +/** + * Blink white LED and play neutral tune (if use_buzzer == true). + */ +void tune_neutral(bool use_buzzer) { blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME; rgbled_set_color(RGBLED_COLOR_WHITE); rgbled_set_mode(RGBLED_MODE_BLINK_FAST); - ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEUTRAL_TUNE); -} - -void tune_negative() -{ - led_negative(); - ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEGATIVE_TUNE); + if (use_buzzer) { + set_tune(TONE_NOTIFY_NEUTRAL_TUNE); + } } -void led_negative() +/** + * Blink red LED and play negative tune (if use_buzzer == true). + */ +void tune_negative(bool use_buzzer) { blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME; rgbled_set_color(RGBLED_COLOR_RED); rgbled_set_mode(RGBLED_MODE_BLINK_FAST); -} - -int tune_arm() -{ - return ioctl(buzzer, TONE_SET_ALARM, TONE_ARMING_WARNING_TUNE); -} - -int tune_low_bat() -{ - return ioctl(buzzer, TONE_SET_ALARM, TONE_BATTERY_WARNING_SLOW_TUNE); -} - -int tune_critical_bat() -{ - return ioctl(buzzer, TONE_SET_ALARM, TONE_BATTERY_WARNING_FAST_TUNE); -} - -void tune_stop() -{ - ioctl(buzzer, TONE_SET_ALARM, TONE_STOP_TUNE); + if (use_buzzer) { + set_tune(TONE_NOTIFY_NEGATIVE_TUNE); + } } int blink_msg_state() @@ -161,6 +175,7 @@ int blink_msg_state() return 0; } else if (hrt_absolute_time() > blink_msg_end) { + blink_msg_end = 0; return 2; } else { @@ -168,8 +183,8 @@ int blink_msg_state() } } -static int leds; -static int rgbleds; +static int leds = -1; +static int rgbleds = -1; int led_init() { |