Method toneAlarm_set_buzzer_tone

libraries/AP_HAL_ChibiOS/Util.cpp:177–211

#endif

void Util::toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms)
{
#if HAL_USE_PWM == TRUE
    if (_toneAlarm_pwm_group.pwm_drv != nullptr) {
        if (is_zero(frequency) || is_zero(volume)) {
            pwmDisableChannel(_toneAlarm_pwm_group.pwm_drv, _toneAlarm_pwm_group.chan);
        } else {
            pwmChangePeriod(_toneAlarm_pwm_group.pwm_drv,
                            roundf(_toneAlarm_pwm_group.pwm_cfg.frequency/frequency));

            pwmEnableChannel(_toneAlarm_pwm_group.pwm_drv, _toneAlarm_pwm_group.chan, roundf(volume*_toneAlarm_pwm_group.pwm_cfg.frequency/frequency)/2);
        }
    }
#endif // HAL_USE_PWM
#if HAL_DSHOT_ALARM_ENABLED
    // don't play the motors while flying
    if (!(_toneAlarm_types & uint8_t(AP_Notify::BuzzerType::DSHOT)) || get_soft_armed() || hal.rcout->get_dshot_esc_type() == RCOutput::DSHOT_ESC_NONE) {
        return;
    }

    if (is_zero(frequency)) {   // silence
        hal.rcout->send_dshot_command(RCOutput::DSHOT_RESET, RCOutput::ALL_CHANNELS, duration_ms);
    } else if (frequency < 1047) { // C
        hal.rcout->send_dshot_command(RCOutput::DSHOT_BEEP1, RCOutput::ALL_CHANNELS, duration_ms);
    } else if (frequency < 1175) {  // D
        hal.rcout->send_dshot_command(RCOutput::DSHOT_BEEP2, RCOutput::ALL_CHANNELS, duration_ms);
    } else if (frequency < 1319) {  // E
        hal.rcout->send_dshot_command(RCOutput::DSHOT_BEEP3, RCOutput::ALL_CHANNELS, duration_ms);
    } else if (frequency < 1397) {  // F
        hal.rcout->send_dshot_command(RCOutput::DSHOT_BEEP4, RCOutput::ALL_CHANNELS, duration_ms);
    } else {  // G+
        hal.rcout->send_dshot_command(RCOutput::DSHOT_BEEP5, RCOutput::ALL_CHANNELS, duration_ms);
    }
#endif // HAL_DSHOT_ALARM_ENABLED
}

/*
  set HW RTC in UTC microseconds