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commander_helper: Modify to use the tunes library

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This commit is contained in:
Simone Guscetti 2017-05-30 14:39:01 +02:00 committed by Daniel Agar
parent 26d2e69ecf
commit 08490b0182
1 changed files with 13 additions and 11 deletions
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24
src/modules/commander/commander_helper.cpp
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@ -56,6 +56,7 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/led_control.h>
#include <uORB/topics/tune_control.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <drivers/drv_hrt.h>
@ -115,6 +116,8 @@ static DevHandle h_leds;
static DevHandle h_buzzer;
static led_control_s led_control = {};
static orb_advert_t led_control_pub = nullptr;
static tune_control_s tune_control = {};
static orb_advert_t tune_control_pub = nullptr;
int buzzer_init()
{
@ -125,25 +128,21 @@ int buzzer_init()
tune_durations[TONE_NOTIFY_NEGATIVE_TUNE] = 900000;
tune_durations[TONE_NOTIFY_NEUTRAL_TUNE] = 500000;
tune_durations[TONE_ARMING_WARNING_TUNE] = 3000000;
DevMgr::getHandle(TONEALARM0_DEVICE_PATH, h_buzzer);
if (!h_buzzer.isValid()) {
PX4_WARN("Buzzer: px4_open fail\n");
return PX4_ERROR;
}
tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
return PX4_OK;
}
void buzzer_deinit()
{
DevMgr::releaseHandle(h_buzzer);
orb_unadvertise(tune_control_pub);
}
void set_tune_override(int tune)
{
h_buzzer.ioctl(TONE_SET_ALARM, tune);
tune_control.tune_id = tune;
tune_control.tune_override = 1;
tune_control.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);
}
void set_tune(int tune)
@ -154,7 +153,10 @@ void set_tune(int tune)
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) {
h_buzzer.ioctl(TONE_SET_ALARM, tune);
tune_control.tune_id = tune;
tune_control.tune_override = 0;
tune_control.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);
}
tune_current = tune;