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AP_HAL_PX4: implement new tonealarm interface

This commit is contained in:
Jonathan Challinger 2018-07-25 09:50:02 -07:00 committed by Andrew Tridgell
parent f4fc9249f7
commit 4e48923c64
2 changed files with 29 additions and 0 deletions
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24
libraries/AP_HAL_PX4/Util.cpp
View File

@ -15,6 +15,7 @@
#include <drivers/drv_gpio.h>
#include <AP_Math/AP_Math.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <drivers/drv_tone_alarm.h>
extern const AP_HAL::HAL& hal;
@ -278,5 +279,28 @@ bool PX4Util::flash_bootloader()
return false;
}
bool PX4Util::toneAlarm_init() {
_tonealarm_fd = open(TONEALARM0_DEVICE_PATH, O_WRONLY);
if (_tonealarm_fd == -1) {
hal.console->printf("ToneAlarm_PX4: Unable to open " TONEALARM0_DEVICE_PATH);
return false;
}
return true;
}
void PX4Util::toneAlarm_set_buzzer_tone(float frequency, float volume) {
if (is_zero(frequency) || is_zero(volume)) {
write(_tonealarm_fd, "MFP", 4);
} else {
unsigned note = constrain_float(roundf(17.3123404906676f*logf(frequency) - 71.3763165622959f), 4, 87); // constraint based on comment in PX4 tonealarm driver - "note value in the range C1 to B7"
char tune[20];
snprintf(tune, sizeof(tune), "MFMLT32L1N%u", note);
tune[sizeof(tune)-1] = '\0';
write(_tonealarm_fd, tune, strlen(tune)+1);
}
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4

5
libraries/AP_HAL_PX4/Util.h
View File

@ -61,6 +61,9 @@ public:
void free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type) override;
bool flash_bootloader() override;
bool toneAlarm_init() override;
void toneAlarm_set_buzzer_tone(float frequency, float volume) override;
private:
int _safety_handle;
@ -74,4 +77,6 @@ private:
uint32_t last_update_ms;
int fd = -1;
} _heater;
int _tonealarm_fd;
};