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Better beeping during ESC enumeration

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This commit is contained in:
Pavel Kirienko
2016-08-18 17:14:53 +02:00
committed by Lorenz Meier
parent e27d3f4e13
commit 42031ab572
2 changed files with 14 additions and 10 deletions
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src/modules/uavcan/uavcan_servers.cpp
+12 -10
View File
@@ -504,6 +504,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
_esc_enumeration_active = command_id;
_esc_enumeration_index = 0;
_esc_count = 0;
beep(_esc_enumeration_active ? 500.0F : 1000.0F, 0.5F);
uavcan::protocol::enumeration::Begin::Request req;
req.parameter_name = "esc_index";
req.timeout_sec = _esc_enumeration_active ? 65535 : 0;
@@ -751,6 +752,14 @@ uint8_t UavcanServers::get_next_dirty_node_id(uint8_t base)
return base;
}
void UavcanServers::beep(float frequency, float duration)
{
uavcan::equipment::indication::BeepCommand cmd;
cmd.frequency = 500.0f;
cmd.duration = 0.5f;
(void)_beep_pub.broadcast(cmd);
}
void UavcanServers::cb_enumeration_begin(const uavcan::ServiceCallResult<uavcan::protocol::enumeration::Begin> &result)
{
uint8_t next_id = get_next_active_node_id(result.getCallID().server_node_id.get());
@@ -840,24 +849,17 @@ void UavcanServers::cb_enumeration_getset(const uavcan::ServiceCallResult<uavcan
void UavcanServers::cb_enumeration_save(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &result)
{
uavcan::equipment::indication::BeepCommand beep;
if (!result.isSuccessful()) {
warnx("UAVCAN ESC enumeration: save request for node %hhu timed out.", result.getCallID().server_node_id.get());
beep.frequency = 880.0f;
beep.duration = 1.0f;
beep(100.0F, 1.0F);
} else if (!result.getResponse().ok) {
warnx("UAVCAN ESC enumeration: save request for node %hhu rejected", result.getCallID().server_node_id.get());
beep.frequency = 880.0f;
beep.duration = 1.0f;
beep(100.0F, 1.0F);
} else {
warnx("UAVCAN ESC enumeration: save request for node %hhu completed OK.", result.getCallID().server_node_id.get());
beep.frequency = 440.0f;
beep.duration = 0.25f;
beep(2000.0F, 0.25F);
}
(void)_beep_pub.broadcast(beep);
warnx("UAVCAN ESC enumeration: completed %hhu of %hhu", _esc_enumeration_index, _esc_count);
if (_esc_enumeration_index == uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize - 1 ||
src/modules/uavcan/uavcan_servers.hpp
+2
View File
@@ -179,6 +179,8 @@ private:
void clear_node_params_dirty(uint8_t node_id) { _param_dirty_bitmap[node_id >> 5] &= ~(1 << (node_id & 31)); }
bool are_node_params_dirty(uint8_t node_id) const { return bool((_param_dirty_bitmap[node_id >> 5] >> (node_id & 31)) & 1); }
void beep(float frequency, float duration);
bool _mutex_inited;
volatile bool _check_fw;