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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/AP_Periph/buzzer.cpp
Views: 1798
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#include "AP_Periph.h"

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#if defined(HAL_PERIPH_ENABLE_NOTIFY) || defined(HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY)

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/*

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  buzzer support

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 */

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#include <dronecan_msgs.h>

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extern const AP_HAL::HAL &hal;

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static uint32_t buzzer_start_ms;

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static uint32_t buzzer_len_ms;

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/*

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  handle BeepCommand

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 */

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void AP_Periph_FW::handle_beep_command(CanardInstance* canard_instance, CanardRxTransfer* transfer)

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{

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    uavcan_equipment_indication_BeepCommand req;

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    if (uavcan_equipment_indication_BeepCommand_decode(transfer, &req)) {

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        return;

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    }

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    static bool initialised;

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    if (!initialised) {

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        initialised = true;

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        hal.rcout->init();

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        // just one buzzer type supported:

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        hal.util->toneAlarm_init(uint8_t(AP_Notify::BuzzerType::BUILTIN));

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    }

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    buzzer_start_ms = AP_HAL::millis();

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    buzzer_len_ms = req.duration*1000;

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#ifdef HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY

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    float volume = constrain_float(periph.g.buzz_volume*0.01f, 0, 1);

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#elif defined(HAL_PERIPH_ENABLE_NOTIFY)

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    float volume = constrain_float(periph.notify.get_buzz_volume()*0.01f, 0, 1);

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#endif

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    hal.util->toneAlarm_set_buzzer_tone(req.frequency, volume, uint32_t(req.duration*1000));

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}

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/*

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  update buzzer

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 */

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void AP_Periph_FW::can_buzzer_update(void)

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{

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    if (buzzer_start_ms != 0) {

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        uint32_t now = AP_HAL::millis();

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        if (now - buzzer_start_ms > buzzer_len_ms) {

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            hal.util->toneAlarm_set_buzzer_tone(0, 0, 0);

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            buzzer_start_ms = 0;

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        }

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    }

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}

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#endif // (HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY) || (HAL_PERIPH_ENABLE_NOTIFY)

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