HAL_PX4: updated to new tonealarm system

This commit is contained in:
Andrew Tridgell 2018-08-01 20:16:19 +10:00
parent d9435261ce
commit 7f58c0a63d
4 changed files with 37 additions and 15 deletions

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@ -47,11 +47,6 @@ void PX4GPIO::init()
#endif #endif
#endif #endif
#if !defined(CONFIG_ARCH_BOARD_AEROFC_V1) #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); _gpio_fmu_fd = open(PX4FMU_DEVICE_PATH, 0);
if (_gpio_fmu_fd == -1) { if (_gpio_fmu_fd == -1) {
AP_HAL::panic("Unable to open GPIO"); AP_HAL::panic("Unable to open GPIO");
@ -193,15 +188,6 @@ void PX4GPIO::write(uint8_t pin, uint8_t value)
break; break;
#endif #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 #ifdef GPIO_EXT_1
case PX4_GPIO_EXT_FMU_RELAY1_PIN: case PX4_GPIO_EXT_FMU_RELAY1_PIN:
ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, GPIO_EXT_1); ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, GPIO_EXT_1);

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@ -55,7 +55,6 @@ public:
private: private:
int _led_fd = -1; int _led_fd = -1;
int _tone_alarm_fd = -1;
int _gpio_fmu_fd = -1; int _gpio_fmu_fd = -1;
int _gpio_io_fd = -1; int _gpio_io_fd = -1;
bool _usb_connected = false; bool _usb_connected = false;

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@ -15,6 +15,7 @@
#include <drivers/drv_gpio.h> #include <drivers/drv_gpio.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <AP_BoardConfig/AP_BoardConfig.h> #include <AP_BoardConfig/AP_BoardConfig.h>
#include <drivers/drv_tone_alarm.h>
extern const AP_HAL::HAL& hal; 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" { extern "C" {
int bl_update_main(int argc, char *argv[]); int bl_update_main(int argc, char *argv[]);
int tone_alarm_main(int argc, char *argv[]);
}; };
bool PX4Util::flash_bootloader() bool PX4Util::flash_bootloader()
@ -278,5 +280,35 @@ bool PX4Util::flash_bootloader()
return false; 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 #endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4

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@ -62,6 +62,9 @@ public:
bool flash_bootloader() override; bool flash_bootloader() override;
bool toneAlarm_init() override;
void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override;
private: private:
int _safety_handle; int _safety_handle;
PX4::NSHShellStream _shell_stream; PX4::NSHShellStream _shell_stream;
@ -74,4 +77,6 @@ private:
uint32_t last_update_ms; uint32_t last_update_ms;
int fd = -1; int fd = -1;
} _heater; } _heater;
int _tonealarm_fd = -1;
}; };