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AP_HAL_Linux: added tonealarm support for raspilot

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raspilot 2015-08-18 12:37:15 +10:00 committed by Andrew Tridgell
parent a6736d8e61
commit 7d329205ec
1 changed files with 31 additions and 12 deletions
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21
libraries/AP_HAL_Linux/ToneAlarmDriver.cpp
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@ -13,6 +13,11 @@
using namespace Linux; using namespace Linux;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
#include "GPIO.h"
#define RASPILOT_TONE_PIN RPI_GPIO_18
#endif
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
static uint16_t notes[] = { 0, static uint16_t notes[] = { 0,
NOTE_C4, NOTE_CS4, NOTE_D4, NOTE_DS4, NOTE_E4, NOTE_F4, NOTE_FS4, NOTE_G4, NOTE_GS4, NOTE_A4, NOTE_AS4, NOTE_B4, NOTE_C4, NOTE_CS4, NOTE_D4, NOTE_DS4, NOTE_E4, NOTE_F4, NOTE_FS4, NOTE_G4, NOTE_GS4, NOTE_A4, NOTE_AS4, NOTE_B4,
@ -50,10 +55,16 @@ ToneAlarm::ToneAlarm()
bool ToneAlarm::init() bool ToneAlarm::init()
{ {
tune_num = 0; //play startup tune tune_num = 0; //play startup tune
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
hal.gpio->pinMode(RASPILOT_TONE_PIN, HAL_GPIO_ALT, 5);
#else
if((period_fd == -1) || (duty_fd == -1) || (run_fd == -1)){ if((period_fd == -1) || (duty_fd == -1) || (run_fd == -1)){
hal.console->printf("ToneAlarm: Error!! please check if PWM overlays are loaded correctly"); hal.console->printf("ToneAlarm: Error!! please check if PWM overlays are loaded correctly");
return false; return false;
} }
#endif
return true; return true;
} }
@ -69,7 +80,11 @@ bool ToneAlarm::is_tune_comp()
void ToneAlarm::stop() void ToneAlarm::stop()
{ {
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
hal.gpio->setPWMDuty(RASPILOT_TONE_PIN, 0);
#else
dprintf(run_fd,"0"); dprintf(run_fd,"0");
#endif
} }
bool ToneAlarm::play() bool ToneAlarm::play()
@ -80,10 +95,15 @@ bool ToneAlarm::play()
return true; return true;
} }
if(cur_note != 0){ if(cur_note != 0){
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
hal.gpio->setPWMPeriod(RASPILOT_TONE_PIN, 1000000/cur_note);
hal.gpio->setPWMDuty(RASPILOT_TONE_PIN, 50);
#else
dprintf(run_fd,"0"); dprintf(run_fd,"0");
dprintf(period_fd,"%u",1000000000/cur_note); dprintf(period_fd,"%u",1000000000/cur_note);
dprintf(duty_fd,"%u",500000000/cur_note); dprintf(duty_fd,"%u",500000000/cur_note);
dprintf(run_fd,"1"); dprintf(run_fd,"1");
#endif
cur_note =0; cur_note =0;
prev_time = cur_time; prev_time = cur_time;
} }
@ -189,7 +209,6 @@ bool ToneAlarm::set_note(){
cur_note = 0; cur_note = 0;
return true; return true;
} }
} }
bool ToneAlarm::init_tune(){ bool ToneAlarm::init_tune(){