Disco: add buzzer support

Use ToneAlarm class to handle Disco buzzer.

libraries/AP_HAL_Linux/RCOutput_Bebop.cpp

@@ -283,6 +283,40 @@ void RCOutput_Bebop::_play_sound(uint8_t sound)
     _dev->get_semaphore()->give();
 }
 
+/*
+ * pwm is the pwm power used for the note.
+ *  It has to be >= 3, otherwise it refers to a predefined song
+ * (see _play_sound function)
+ * period is in us and duration in ms.
+ */
+void RCOutput_Bebop::play_note(uint8_t pwm,
+                               uint16_t period_us,
+                               uint16_t duration_ms)
+{
+    struct PACKED {
+        uint8_t header;
+        uint8_t pwm;
+        be16_t period;
+        be16_t duration;
+    } msg;
+
+    if (pwm < 3) {
+        return;
+    }
+
+    msg.header = BEBOP_BLDC_PLAY_SOUND;
+    msg.pwm = pwm;
+    msg.period = htobe16(period_us);
+    msg.duration = htobe16(duration_ms);
+
+    if (!_dev->get_semaphore()->take(0)) {
+        return;
+    }
+
+    _dev->transfer((uint8_t *)&msg, sizeof(msg), nullptr, 0);
+    _dev->get_semaphore()->give();
+}
+
 uint16_t RCOutput_Bebop::_period_us_to_rpm(uint16_t period_us)
 {
     period_us = constrain_int16(period_us, _min_pwm, _max_pwm);

libraries/AP_HAL_Linux/RCOutput_Bebop.h

@@ -73,6 +73,7 @@ public:
     void     read(uint16_t* period_us, uint8_t len) override;
     void     set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override;
     int      read_obs_data(BebopBLDC_ObsData &data);
+    void     play_note(uint8_t pwm, uint16_t period_us, uint16_t duration_ms);
 
 private:
     AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;

libraries/AP_HAL_Linux/ToneAlarm_Disco.cpp

@@ -0,0 +1,82 @@
+/*
+   Copyright (C) 2016 Mathieu Othacehe. All rights reserved.
+
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <AP_HAL/AP_HAL.h>
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+#include <AP_HAL_Linux/RCOutput_Bebop.h>
+#include <AP_HAL_Linux/RCOutput_Disco.h>
+#include "ToneAlarm_Disco.h"
+
+extern const AP_HAL::HAL &hal;
+
+using namespace Linux;
+
+ToneAlarm_Disco::ToneAlarm_Disco()
+{
+    // initialy no tune to play
+    tune_num = -1;
+    tune_pos = 0;
+}
+
+bool ToneAlarm_Disco::init()
+{
+    // play startup tune
+    tune_num = 0;
+
+    bebop_out = RCOutput_Disco::from(hal.rcout);
+
+    return true;
+}
+
+void ToneAlarm_Disco::stop()
+{
+    bebop_out->play_note(0, 0, 0);
+}
+
+bool ToneAlarm_Disco::play()
+{
+    uint32_t cur_time = AP_HAL::millis();
+
+    if (tune_num != prev_tune_num){
+        tune_changed = true;
+        return true;
+    }
+
+    if (cur_note != 0){
+        bebop_out->play_note(TONEALARM_PWM_POWER, cur_note, duration);
+        cur_note = 0;
+        prev_time = cur_time;
+    }
+
+    if ((cur_time - prev_time) > duration){
+        stop();
+        if (tune[tune_num][tune_pos] == '\0'){
+            if (!tune_repeat[tune_num]){
+                tune_num = -1;
+            }
+
+            tune_pos = 0;
+            tune_comp = true;
+            return false;
+        }
+        return true;
+    }
+
+    return false;
+}
+
+#endif

libraries/AP_HAL_Linux/ToneAlarm_Disco.h

@@ -0,0 +1,24 @@
+#pragma once
+
+#include "AP_HAL_Linux.h"
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+#include <AP_HAL_Linux/RCOutput_Bebop.h>
+#include "ToneAlarm.h"
+
+namespace Linux {
+
+#define TONEALARM_PWM_POWER 20
+
+class ToneAlarm_Disco : public ToneAlarm {
+public:
+    ToneAlarm_Disco();
+    bool init() override;
+    void stop() override;
+    bool play() override;
+
+private:
+    RCOutput_Bebop *bebop_out;
+};
+
+}
+#endif

libraries/AP_HAL_Linux/Util.cpp

@@ -11,6 +11,7 @@
 
 #include "Heat_Pwm.h"
 #include "ToneAlarm_Raspilot.h"
+#include "ToneAlarm_Disco.h"
 #include "Util.h"
 
 using namespace Linux;
@@ -20,6 +21,8 @@ extern const AP_HAL::HAL& hal;
 static int state;
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
 ToneAlarm_Raspilot Util::_toneAlarm;
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+ToneAlarm_Disco Util::_toneAlarm;
 #else
 ToneAlarm Util::_toneAlarm;
 #endif

libraries/AP_HAL_Linux/Util.h

@@ -7,6 +7,8 @@
 #include "Perf.h"
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
 #include "ToneAlarm_Raspilot.h"
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+#include "ToneAlarm_Disco.h"
 #endif
 #include "ToneAlarm.h"
 #include "Semaphores.h"
@@ -99,6 +101,8 @@ public:
 private:
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
     static ToneAlarm_Raspilot _toneAlarm;
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+    static ToneAlarm_Disco _toneAlarm;
 #else
     static ToneAlarm _toneAlarm;
 #endif

libraries/AP_Notify/AP_Notify.cpp

@@ -127,7 +127,8 @@ struct AP_Notify::notify_events_type AP_Notify::events;
         NotifyDevice *AP_Notify::_devices[] = {&boardled, &bhled};
     #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
         DiscoLED discoled;
-        NotifyDevice *AP_Notify::_devices[] = {&discoled};
+        ToneAlarm_Linux tonealarm;
+        NotifyDevice *AP_Notify::_devices[] = {&discoled, &tonealarm};
     #else
         AP_BoardLED boardled;
         ToshibaLED_I2C toshibaled;