From 75696997ccf5d841d1090b76e70a174e79373d7f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 31 Aug 2019 13:37:07 +1000
Subject: [PATCH] HAL_ChibiOS: added buzzer support to CUAV_GPS

---
 libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat    | 12 +++++++++++-
 .../AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py    |  2 +-
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
index 591e322a72..4556f75d2f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
@@ -17,6 +17,8 @@ APJ_BOARD_ID 1001
 # setup build for a peripheral firmware
 env AP_PERIPH 1
 
+STM32_ST_USE_TIMER 5
+
 # crystal frequency
 OSCILLATOR_HZ 16000000
 
@@ -83,6 +85,12 @@ COMPASS IST8310 I2C:0:0x0E false ROTATION_NONE
 # BMP388 baro
 BARO BMP388 I2C:0:0x76
 
+# PWM output for buzzer
+PB10 TIM2_CH3 TIM2 GPIO(77) LOW ALARM
+
+# safety LED, active low
+PB1 SAFE_LED OUTPUT HIGH
+
 define HAL_BARO_ALLOW_INIT_NO_BARO
 
 define HAL_USE_ADC FALSE
@@ -139,9 +147,11 @@ define AP_PARAM_MAX_EMBEDDED_PARAM 0
 define GPS_MAX_RECEIVERS 1
 define GPS_MAX_INSTANCES 1
 
-# GPS+MAG+BARO
+# GPS+MAG+BARO+Buzzer
 define HAL_PERIPH_ENABLE_GPS
 define HAL_PERIPH_ENABLE_MAG
 define HAL_PERIPH_ENABLE_BARO
+define HAL_PERIPH_ENABLE_BUZZER
+
 
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index eb5dd6776e..9c2fc73fae 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -1102,7 +1102,7 @@ def write_PWM_config(f):
                 if p.type not in pwm_timers:
                     pwm_timers.append(p.type)
 
-    if not pwm_out:
+    if not pwm_out and not alarm:
         print("No PWM output defined")
         f.write('''
 #ifndef HAL_USE_PWM