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130 lines
3.5 KiB
C
130 lines
3.5 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
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* Julian Oes <joes@student.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file commander_helper.c
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* Commander helper functions implementations
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*/
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#include <stdio.h>
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#include <unistd.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <fcntl.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_tone_alarm.h>
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#include "commander_helper.h"
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bool is_multirotor(const struct vehicle_status_s *current_status)
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{
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return ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
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(current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
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(current_status->system_type == VEHICLE_TYPE_OCTOROTOR) ||
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(current_status->system_type == VEHICLE_TYPE_TRICOPTER));
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}
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bool is_rotary_wing(const struct vehicle_status_s *current_status)
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{
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return is_multirotor(current_status) || (current_status->system_type == VEHICLE_TYPE_HELICOPTER)
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|| (current_status->system_type == VEHICLE_TYPE_COAXIAL);
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}
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static int buzzer;
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int buzzer_init()
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{
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buzzer = open("/dev/tone_alarm", O_WRONLY);
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if (buzzer < 0) {
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warnx("Buzzer: open fail\n");
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return ERROR;
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}
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return OK;
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}
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void buzzer_deinit()
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{
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close(buzzer);
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}
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void tune_error()
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{
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ioctl(buzzer, TONE_SET_ALARM, 2);
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}
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void tune_positive()
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{
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ioctl(buzzer, TONE_SET_ALARM, 3);
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}
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void tune_neutral()
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{
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ioctl(buzzer, TONE_SET_ALARM, 4);
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}
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void tune_negative()
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{
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ioctl(buzzer, TONE_SET_ALARM, 5);
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}
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int tune_arm()
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{
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return ioctl(buzzer, TONE_SET_ALARM, 12);
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}
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int tune_critical_bat()
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{
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return ioctl(buzzer, TONE_SET_ALARM, 14);
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}
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int tune_low_bat()
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{
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return ioctl(buzzer, TONE_SET_ALARM, 13);
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}
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void tune_stop()
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{
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ioctl(buzzer, TONE_SET_ALARM, 0);
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}
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