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Code Issues Releases Activity

OP-322 Implement Audible alarm via PWM - handle new "PWM Alarm Buzzer" channel type

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3028 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
FredericG 2011-03-12 09:02:02 +00:00 committed by FredericG
parent 5bb3662820
commit c3732bad93
1 changed files with 29 additions and 0 deletions
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29
flight/Modules/Actuator/actuator.c
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@ -185,6 +185,7 @@ static void actuatorTask(void* parameters)
if(nMixers < 2) //Nothing can fly with less than two mixers.
{
AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_WARNING);
setFailsafe(); // So that channels like PWM buzzer keep working
continue;
}
@ -431,6 +432,9 @@ static void actuator_update_rate(UAVObjEvent * ev)
}
}
#define ALARM_SEQ 0b11110110110000 // pause, short, short, short, long
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
static bool set_channel(uint8_t mixer_channel, uint16_t value) {
return true;
@ -442,6 +446,31 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) {
ActuatorSettingsGet(&settings);
switch(settings.ChannelType[mixer_channel]) {
case ACTUATORSETTINGS_CHANNELTYPE_PWMALARMBUZZER: {
// This is for buzzers that take a PWM input
bool buzz = false;
static portTickType lastSysTime = 0;
static uint32_t alarm_seq_state = 0;
portTickType thisSysTime = xTaskGetTickCount();
portTickType dT = 0;
// For now, only look at the battery alarm, because functions like AlarmsHasCritical() can block for some time; to be discussed
if (AlarmsGet(SYSTEMALARMS_ALARM_BATTERY) > SYSTEMALARMS_ALARM_WARNING) {
if(thisSysTime > lastSysTime)
dT = thisSysTime - lastSysTime;
buzz = (alarm_seq_state&1); // Buzz when the LS bit is 1
if (dT > 80) {
// Go to next bit in alarm_seq_state
alarm_seq_state >>= 1;
if (alarm_seq_state == 0)
alarm_seq_state = ALARM_SEQ; // All done, re-init alarm_seq_state
lastSysTime = thisSysTime;
}
}
PIOS_Servo_Set( settings.ChannelAddr[mixer_channel],
buzz?settings.ChannelMax[mixer_channel]:settings.ChannelMin[mixer_channel]);
return true;
}
case ACTUATORSETTINGS_CHANNELTYPE_PWM:
PIOS_Servo_Set(settings.ChannelAddr[mixer_channel], value);
return true;