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Fixed beep duration

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This commit is contained in:
Pavel Kirienko
2016-08-18 17:14:53 +02:00
committed by Lorenz Meier
parent 36efc8c83e
commit 64d7946cdc
2 changed files with 7 additions and 7 deletions
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src/modules/uavcan/uavcan_servers.cpp
+6 -6
View File
@@ -504,7 +504,7 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
_esc_enumeration_active = command_id; _esc_enumeration_active = command_id;
_esc_enumeration_index = 0; _esc_enumeration_index = 0;
_esc_count = 0; _esc_count = 0;
beep(_esc_enumeration_active ? 500.0F : 1000.0F, 0.2F); beep(_esc_enumeration_active ? 500.0F : 1000.0F);
uavcan::protocol::enumeration::Begin::Request req; uavcan::protocol::enumeration::Begin::Request req;
// TODO: Incorrect implementation; the parameter name field should be left empty. // TODO: Incorrect implementation; the parameter name field should be left empty.
// Leaving it as-is to avoid breaking compatibility with non-compliant nodes. // Leaving it as-is to avoid breaking compatibility with non-compliant nodes.
@@ -754,11 +754,11 @@ uint8_t UavcanServers::get_next_dirty_node_id(uint8_t base)
return base; return base;
} }
void UavcanServers::beep(float frequency, float duration) void UavcanServers::beep(float frequency)
{ {
uavcan::equipment::indication::BeepCommand cmd; uavcan::equipment::indication::BeepCommand cmd;
cmd.frequency = frequency; cmd.frequency = frequency;
cmd.duration = duration; cmd.duration = 0.1F; // We don't want to incapacitate ESC for longer time that this
(void)_beep_pub.broadcast(cmd); (void)_beep_pub.broadcast(cmd);
} }
@@ -855,13 +855,13 @@ void UavcanServers::cb_enumeration_save(const uavcan::ServiceCallResult<uavcan::
{ {
if (!result.isSuccessful()) { if (!result.isSuccessful()) {
warnx("UAVCAN ESC enumeration: save request for node %hhu timed out.", result.getCallID().server_node_id.get()); warnx("UAVCAN ESC enumeration: save request for node %hhu timed out.", result.getCallID().server_node_id.get());
beep(100.0F, 0.5F); beep(100.0F);
} else if (!result.getResponse().ok) { } else if (!result.getResponse().ok) {
warnx("UAVCAN ESC enumeration: save request for node %hhu rejected", result.getCallID().server_node_id.get()); warnx("UAVCAN ESC enumeration: save request for node %hhu rejected", result.getCallID().server_node_id.get());
beep(100.0F, 0.5F); beep(100.0F);
} else { } else {
warnx("UAVCAN ESC enumeration: save request for node %hhu completed OK.", result.getCallID().server_node_id.get()); warnx("UAVCAN ESC enumeration: save request for node %hhu completed OK.", result.getCallID().server_node_id.get());
beep(2000.0F, 0.2F); beep(2000.0F);
} }
warnx("UAVCAN ESC enumeration: completed %hhu of %hhu", _esc_enumeration_index, _esc_count); warnx("UAVCAN ESC enumeration: completed %hhu of %hhu", _esc_enumeration_index, _esc_count);
src/modules/uavcan/uavcan_servers.hpp
+1 -1
View File
@@ -179,7 +179,7 @@ private:
void clear_node_params_dirty(uint8_t node_id) { _param_dirty_bitmap[node_id >> 5] &= ~(1 << (node_id & 31)); } 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); } 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); void beep(float frequency);
bool _mutex_inited; bool _mutex_inited;
volatile bool _check_fw; volatile bool _check_fw;