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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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43
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,
@ -21,8 +26,8 @@ NOTE_C6, NOTE_CS6, NOTE_D6, NOTE_DS6, NOTE_E6, NOTE_F6, NOTE_FS6, NOTE_G6, NOTE_
NOTE_C7, NOTE_CS7, NOTE_D7, NOTE_DS7, NOTE_E7, NOTE_F7, NOTE_FS7, NOTE_G7, NOTE_GS7, NOTE_A7, NOTE_AS7, NOTE_B7 NOTE_C7, NOTE_CS7, NOTE_D7, NOTE_DS7, NOTE_E7, NOTE_F7, NOTE_FS7, NOTE_G7, NOTE_GS7, NOTE_A7, NOTE_AS7, NOTE_B7
}; };
//List of RTTTL tones //List of RTTTL tones
const char* ToneAlarm::tune[TONE_NUMBER_OF_TUNES] = { const char* ToneAlarm::tune[TONE_NUMBER_OF_TUNES] = {
"Startup:d=8,o=6,b=480:a,d7,c7,a,d7,c7,a,d7,16d7,16c7,16d7,16c7,16d7,16c7,16d7,16c7", "Startup:d=8,o=6,b=480:a,d7,c7,a,d7,c7,a,d7,16d7,16c7,16d7,16c7,16d7,16c7,16d7,16c7",
"Error:d=4,o=6,b=400:8a,8a,8a,p,a,a,a,p", "Error:d=4,o=6,b=400:8a,8a,8a,p,a,a,a,p",
"notify_pos:d=4,o=6,b=400:8e,8e,a", "notify_pos:d=4,o=6,b=400:8e,8e,a",
@ -42,7 +47,7 @@ ToneAlarm::ToneAlarm()
period_fd = open("/sys/devices/ocp.3/pwm_test_P8_36.12/period",O_WRONLY); period_fd = open("/sys/devices/ocp.3/pwm_test_P8_36.12/period",O_WRONLY);
duty_fd = open("/sys/devices/ocp.3/pwm_test_P8_36.12/duty",O_WRONLY); duty_fd = open("/sys/devices/ocp.3/pwm_test_P8_36.12/duty",O_WRONLY);
run_fd = open("/sys/devices/ocp.3/pwm_test_P8_36.12/run",O_WRONLY); run_fd = open("/sys/devices/ocp.3/pwm_test_P8_36.12/run",O_WRONLY);
tune_num = -1; //initialy no tune to play tune_num = -1; //initialy no tune to play
tune_pos = 0; tune_pos = 0;
} }
@ -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;
} }
@ -116,7 +136,7 @@ bool ToneAlarm::set_note(){
duration = wholenote / num; duration = wholenote / num;
} else{ } else{
duration = wholenote / 4; // we will need to check if we are a dotted note after duration = wholenote / 4; // we will need to check if we are a dotted note after
} }
// now get the note // now get the note
note = 0; note = 0;
@ -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(){
@ -202,7 +221,7 @@ bool ToneAlarm::init_tune(){
if(tune_num <0 || tune_num > TONE_NUMBER_OF_TUNES){ if(tune_num <0 || tune_num > TONE_NUMBER_OF_TUNES){
return false; return false;
} }
tune_comp = false; tune_comp = false;
while(tune[tune_num][tune_pos] != ':'){ while(tune[tune_num][tune_pos] != ':'){
if(tune[tune_num][tune_pos] == '\0'){ if(tune[tune_num][tune_pos] == '\0'){
@ -210,18 +229,18 @@ bool ToneAlarm::init_tune(){
} }
tune_pos++; tune_pos++;
} }
tune_pos++; tune_pos++;
if(tune[tune_num][tune_pos] == 'd'){ if(tune[tune_num][tune_pos] == 'd'){
tune_pos+=2; tune_pos+=2;
num = 0; num = 0;
while(isdigit(tune[tune_num][tune_pos])){ while(isdigit(tune[tune_num][tune_pos])){
num = (num * 10) + (tune[tune_num][tune_pos++] - '0'); num = (num * 10) + (tune[tune_num][tune_pos++] - '0');
} }
if(num > 0){ if(num > 0){
default_dur = num; default_dur = num;
} }
tune_pos++; // skip comma tune_pos++; // skip comma
} }