From 7f58c0a63db6ece7b24b28f8d0f7f093973e3b19 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 1 Aug 2018 20:16:19 +1000
Subject: [PATCH] HAL_PX4: updated to new tonealarm system

---
 libraries/AP_HAL_PX4/GPIO.cpp | 14 --------------
 libraries/AP_HAL_PX4/GPIO.h   |  1 -
 libraries/AP_HAL_PX4/Util.cpp | 32 ++++++++++++++++++++++++++++++++
 libraries/AP_HAL_PX4/Util.h   |  5 +++++
 4 files changed, 37 insertions(+), 15 deletions(-)

diff --git a/libraries/AP_HAL_PX4/GPIO.cpp b/libraries/AP_HAL_PX4/GPIO.cpp
index 56756505ca..ccfd9cb6fa 100644
--- a/libraries/AP_HAL_PX4/GPIO.cpp
+++ b/libraries/AP_HAL_PX4/GPIO.cpp
@@ -47,11 +47,6 @@ void PX4GPIO::init()
 #endif
 #endif
 #if !defined(CONFIG_ARCH_BOARD_AEROFC_V1)
-    _tone_alarm_fd = open(TONEALARM0_DEVICE_PATH, O_WRONLY);
-    if (_tone_alarm_fd == -1) {
-        AP_HAL::panic("Unable to open " TONEALARM0_DEVICE_PATH);
-    }
-
     _gpio_fmu_fd = open(PX4FMU_DEVICE_PATH, 0);
     if (_gpio_fmu_fd == -1) {
         AP_HAL::panic("Unable to open GPIO");
@@ -193,15 +188,6 @@ void PX4GPIO::write(uint8_t pin, uint8_t value)
             break;
 #endif
 
-        case PX4_GPIO_PIEZO_PIN:    // Piezo beeper 
-            if (value == LOW) { // this is inverted 
-                ioctl(_tone_alarm_fd, TONE_SET_ALARM, 3);    // Alarm on !! 
-                //::write(_tone_alarm_fd, &user_tune, sizeof(user_tune));
-            } else { 
-                ioctl(_tone_alarm_fd, TONE_SET_ALARM, 0);    // Alarm off !! 
-            }
-            break;
-
 #ifdef GPIO_EXT_1
         case PX4_GPIO_EXT_FMU_RELAY1_PIN:
             ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, GPIO_EXT_1);
diff --git a/libraries/AP_HAL_PX4/GPIO.h b/libraries/AP_HAL_PX4/GPIO.h
index 9a752b2edb..9f54da3835 100644
--- a/libraries/AP_HAL_PX4/GPIO.h
+++ b/libraries/AP_HAL_PX4/GPIO.h
@@ -55,7 +55,6 @@ public:
 
 private:
     int _led_fd = -1;
-    int _tone_alarm_fd = -1;
     int _gpio_fmu_fd = -1;
     int _gpio_io_fd = -1;
     bool _usb_connected = false;
diff --git a/libraries/AP_HAL_PX4/Util.cpp b/libraries/AP_HAL_PX4/Util.cpp
index b07ecea056..580cf61afe 100644
--- a/libraries/AP_HAL_PX4/Util.cpp
+++ b/libraries/AP_HAL_PX4/Util.cpp
@@ -15,6 +15,7 @@
 #include <drivers/drv_gpio.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
+#include <drivers/drv_tone_alarm.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -265,6 +266,7 @@ void PX4Util::free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_ty
 
 extern "C" {
     int bl_update_main(int argc, char *argv[]);
+    int tone_alarm_main(int argc, char *argv[]);
 };
 
 bool PX4Util::flash_bootloader()
@@ -278,5 +280,35 @@ bool PX4Util::flash_bootloader()
     return false;
 }
 
+bool PX4Util::toneAlarm_init()
+{
+    if (!AP_BoardConfig::px4_start_driver(tone_alarm_main, "tone_alarm", "start")) {
+        hal.console->printf("Failed to start tone_alarm\n");
+        return false;
+    }
+    _tonealarm_fd = open(TONEALARM0_DEVICE_PATH, O_WRONLY);
+    if (_tonealarm_fd == -1) {
+        hal.console->printf("ToneAlarm_PX4: Unable to open " TONEALARM0_DEVICE_PATH);
+        return false;
+    }
+    return true;
+}
+
+void PX4Util::toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms)
+{
+    if (_tonealarm_fd == -1) {
+        return;
+    }
+    if (is_zero(frequency) || is_zero(volume)) {
+        write(_tonealarm_fd, "MFP", 4);
+    } else {
+        unsigned note = constrain_float(roundf(17.3123404906676f*logf(frequency) - 71.3763165622959f), 4, 87); // constraint based on comment in PX4 tonealarm driver - "note value in the range C1 to B7"
+        char tune[20];
+        snprintf(tune, sizeof(tune), "MFMLT32L1N%u", note);
+        tune[sizeof(tune)-1] = '\0';
+        write(_tonealarm_fd, tune, strlen(tune)+1);
+    }
+}
+
 
 #endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
diff --git a/libraries/AP_HAL_PX4/Util.h b/libraries/AP_HAL_PX4/Util.h
index aa3845e0c0..0425419276 100644
--- a/libraries/AP_HAL_PX4/Util.h
+++ b/libraries/AP_HAL_PX4/Util.h
@@ -61,6 +61,9 @@ public:
     void free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type) override;
 
     bool flash_bootloader() override;
+
+    bool toneAlarm_init() override;
+    void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override;
     
 private:
     int _safety_handle;
@@ -74,4 +77,6 @@ private:
         uint32_t last_update_ms;
         int fd = -1;
     } _heater;
+
+    int _tonealarm_fd = -1;
 };