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AP_HAL_ChibiOS: make ToneAlarm compilation conditional on presence of

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alarm pin
This commit is contained in:
Mark Whitehorn 2018-02-09 20:55:22 -07:00 committed by Andrew Tridgell
parent 9ab5ea87e0
commit 59b2d44323
5 changed files with 26 additions and 9 deletions
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8
libraries/AP_HAL_ChibiOS/Scheduler.cpp
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@ -56,7 +56,7 @@ void Scheduler::init()
_timer_thread, /* Thread function. */ _timer_thread, /* Thread function. */
this); /* Thread parameter. */ this); /* Thread parameter. */
// setup the timer thread - this will call tasks at 1kHz // setup the uavcan thread - this will call tasks at 1kHz
#if HAL_WITH_UAVCAN #if HAL_WITH_UAVCAN
_uavcan_thread_ctx = chThdCreateStatic(_uavcan_thread_wa, _uavcan_thread_ctx = chThdCreateStatic(_uavcan_thread_wa,
sizeof(_uavcan_thread_wa), sizeof(_uavcan_thread_wa),
@ -72,12 +72,13 @@ void Scheduler::init()
this); /* Thread parameter. */ this); /* Thread parameter. */
// the toneAlarm thread runs at a medium priority // the toneAlarm thread runs at a medium priority
#ifdef HAL_PWM_ALARM
_toneAlarm_thread_ctx = chThdCreateStatic(_toneAlarm_thread_wa, _toneAlarm_thread_ctx = chThdCreateStatic(_toneAlarm_thread_wa,
sizeof(_toneAlarm_thread_wa), sizeof(_toneAlarm_thread_wa),
APM_TONEALARM_PRIORITY, /* Initial priority. */ APM_TONEALARM_PRIORITY, /* Initial priority. */
_toneAlarm_thread, /* Thread function. */ _toneAlarm_thread, /* Thread function. */
this); /* Thread parameter. */ this); /* Thread parameter. */
#endif
// the IO thread runs at lower priority // the IO thread runs at lower priority
_io_thread_ctx = chThdCreateStatic(_io_thread_wa, _io_thread_ctx = chThdCreateStatic(_io_thread_wa,
sizeof(_io_thread_wa), sizeof(_io_thread_wa),
@ -309,6 +310,7 @@ void Scheduler::_rcin_thread(void *arg)
((RCInput *)hal.rcin)->_timer_tick(); ((RCInput *)hal.rcin)->_timer_tick();
} }
} }
#ifdef HAL_PWM_ALARM
void Scheduler::_toneAlarm_thread(void *arg) void Scheduler::_toneAlarm_thread(void *arg)
{ {
@ -324,7 +326,7 @@ void Scheduler::_toneAlarm_thread(void *arg)
Util::from(hal.util)->_toneAlarm_timer_tick(); Util::from(hal.util)->_toneAlarm_timer_tick();
} }
} }
#endif
void Scheduler::_run_io(void) void Scheduler::_run_io(void)
{ {
if (_in_io_proc) { if (_in_io_proc) {

6
libraries/AP_HAL_ChibiOS/ToneAlarm.cpp
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@ -1,7 +1,10 @@
#include "ToneAlarm.h"
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_BoardConfig/AP_BoardConfig.h> #include <AP_BoardConfig/AP_BoardConfig.h>
#ifdef HAL_PWM_ALARM
#include "ToneAlarm.h"
using namespace ChibiOS; using namespace ChibiOS;
struct ToneAlarm::pwmGroup ToneAlarm::pwm_group = HAL_PWM_ALARM; struct ToneAlarm::pwmGroup ToneAlarm::pwm_group = HAL_PWM_ALARM;
@ -261,3 +264,4 @@ bool ToneAlarm::init_tune()
return true; return true;
} }
#endif

9
libraries/AP_HAL_ChibiOS/Util.cpp
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@ -32,9 +32,6 @@ extern const AP_HAL::HAL& hal;
using namespace ChibiOS; using namespace ChibiOS;
static int state;
ToneAlarm Util::_toneAlarm;
extern "C" { extern "C" {
size_t mem_available(void); size_t mem_available(void);
void *malloc_ccm(size_t size); void *malloc_ccm(size_t size);
@ -143,6 +140,10 @@ void Util::set_imu_target_temp(int8_t *target)
#endif #endif
} }
#ifdef HAL_PWM_ALARM
static int state;
ToneAlarm Util::_toneAlarm;
bool Util::toneAlarm_init() bool Util::toneAlarm_init()
{ {
return _toneAlarm.init(); return _toneAlarm.init();
@ -175,5 +176,5 @@ void Util::_toneAlarm_timer_tick() {
} }
} }
#endif // HAL_PWM_ALARM
#endif //CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS #endif //CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS

5
libraries/AP_HAL_ChibiOS/Util.h
View File

@ -46,14 +46,19 @@ public:
// IMU temperature control // IMU temperature control
void set_imu_temp(float current); void set_imu_temp(float current);
void set_imu_target_temp(int8_t *target); void set_imu_target_temp(int8_t *target);
#ifdef HAL_PWM_ALARM
bool toneAlarm_init(); bool toneAlarm_init();
void toneAlarm_set_tune(uint8_t tone); void toneAlarm_set_tune(uint8_t tone);
void _toneAlarm_timer_tick(); void _toneAlarm_timer_tick();
static ToneAlarm& get_ToneAlarm() { return _toneAlarm; } static ToneAlarm& get_ToneAlarm() { return _toneAlarm; }
#endif
private: private:
#ifdef HAL_PWM_ALARM
static ToneAlarm _toneAlarm; static ToneAlarm _toneAlarm;
#endif
void* try_alloc_from_ccm_ram(size_t size); void* try_alloc_from_ccm_ram(size_t size);
uint32_t available_memory_in_ccm_ram(void); uint32_t available_memory_in_ccm_ram(void);

7
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -568,7 +568,8 @@ def write_PWM_config(f):
if not is_int(chan_str) or not is_int(timer_str): if not is_int(chan_str) or not is_int(timer_str):
error("Bad timer channel %s" % alarm.label) error("Bad timer channel %s" % alarm.label)
n = int(timer_str) n = int(timer_str)
f.write('\n// Alarm PWM output config\n') f.write('\n')
f.write('// Alarm PWM output config\n')
f.write('#define STM32_PWM_USE_TIM%u TRUE\n' % n) f.write('#define STM32_PWM_USE_TIM%u TRUE\n' % n)
f.write('#define STM32_TIM%u_SUPPRESS_ISR\n' % n) f.write('#define STM32_TIM%u_SUPPRESS_ISR\n' % n)
@ -603,7 +604,11 @@ def write_PWM_config(f):
}\n''' % }\n''' %
(chan-1, pwm_clock, period, chan_mode[0], (chan-1, pwm_clock, period, chan_mode[0],
chan_mode[1], chan_mode[2], chan_mode[3], n)) chan_mode[1], chan_mode[2], chan_mode[3], n))
else:
f.write('\n') f.write('\n')
f.write('// No Alarm output pin defined\n')
f.write('#undef HAL_PWM_ALARM\n')
f.write('\n')
f.write('// PWM timer config\n') f.write('// PWM timer config\n')
for t in sorted(pwm_timers): for t in sorted(pwm_timers):