mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: add ToneAlarm thread
fmuv4 hwdef.dat: remove PWM label from buzzer output pin
add buzzer pin labeled ALARM
remove timer PWM from HAL_PWM_GROUPs
This commit is contained in:
Mark Whitehorn
Andrew Tridgell
parent
d200f30cd7
commit
8b216cf182
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@ -19,6 +19,7 @@
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#include "AP_HAL_ChibiOS.h"
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#include "Scheduler.h"
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#include "Util.h"
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#include <AP_HAL_ChibiOS/UARTDriver.h>
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#include <AP_HAL_ChibiOS/AnalogIn.h>
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@ -36,6 +37,7 @@ using namespace ChibiOS;
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extern const AP_HAL::HAL& hal;
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THD_WORKING_AREA(_timer_thread_wa, 2048);
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THD_WORKING_AREA(_rcin_thread_wa, 512);
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THD_WORKING_AREA(_toneAlarm_thread_wa, 2048);
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THD_WORKING_AREA(_io_thread_wa, 2048);
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THD_WORKING_AREA(_storage_thread_wa, 2048);
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#if HAL_WITH_UAVCAN
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@ -69,6 +71,13 @@ void Scheduler::init()
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_rcin_thread, /* Thread function. */
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this); /* Thread parameter. */
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// the toneAlarm thread runs at a medium priority
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_toneAlarm_thread_ctx = chThdCreateStatic(_toneAlarm_thread_wa,
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sizeof(_toneAlarm_thread_wa),
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APM_TONEALARM_PRIORITY, /* Initial priority. */
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_toneAlarm_thread, /* Thread function. */
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this); /* Thread parameter. */
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// the IO thread runs at lower priority
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_io_thread_ctx = chThdCreateStatic(_io_thread_wa,
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sizeof(_io_thread_wa),
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@ -301,6 +310,21 @@ void Scheduler::_rcin_thread(void *arg)
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}
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}
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void Scheduler::_toneAlarm_thread(void *arg)
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{
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Scheduler *sched = (Scheduler *)arg;
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sched->_toneAlarm_thread_ctx->name = "toneAlarm";
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while (!sched->_hal_initialized) {
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sched->delay_microseconds(10000);
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}
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while (true) {
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sched->delay_microseconds(10000);
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// process tone command
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Util::from(hal.util)->_toneAlarm_timer_tick();
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}
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}
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void Scheduler::_run_io(void)
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{
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if (_in_io_proc) {
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@ -26,6 +26,7 @@
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#define APM_MAIN_PRIORITY 180
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#define APM_TIMER_PRIORITY 178
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#define APM_RCIN_PRIORITY 177
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#define APM_TONEALARM_PRIORITY 61
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#define APM_UART_PRIORITY 60
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#define APM_STORAGE_PRIORITY 59
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#define APM_IO_PRIORITY 58
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@ -111,6 +112,7 @@ private:
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thread_t* _rcin_thread_ctx;
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thread_t* _io_thread_ctx;
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thread_t* _storage_thread_ctx;
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thread_t* _toneAlarm_thread_ctx;
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#if HAL_WITH_UAVCAN
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thread_t* _uavcan_thread_ctx;
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#endif
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@ -119,6 +121,7 @@ private:
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static void _io_thread(void *arg);
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static void _storage_thread(void *arg);
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static void _uart_thread(void *arg);
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static void _toneAlarm_thread(void *arg);
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#if HAL_WITH_UAVCAN
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static void _uavcan_thread(void *arg);
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#endif
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@ -0,0 +1,256 @@
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#include "ToneAlarm.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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using namespace ChibiOS;
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struct ToneAlarm::pwmGroup ToneAlarm::pwm_group = HAL_PWM_ALARM;
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#define isdigit(n) (n >= '0' && n <= '9')
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extern const AP_HAL::HAL& hal;
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static uint16_t notes[] = { 0,
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NOTE_C4, NOTE_CS4, NOTE_D4, NOTE_DS4, NOTE_E4, NOTE_F4, NOTE_FS4, NOTE_G4, NOTE_GS4, NOTE_A4, NOTE_AS4, NOTE_B4,
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NOTE_C5, NOTE_CS5, NOTE_D5, NOTE_DS5, NOTE_E5, NOTE_F5, NOTE_FS5, NOTE_G5, NOTE_GS5, NOTE_A5, NOTE_AS5, NOTE_B5,
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NOTE_C6, NOTE_CS6, NOTE_D6, NOTE_DS6, NOTE_E6, NOTE_F6, NOTE_FS6, NOTE_G6, NOTE_GS6, NOTE_A6, NOTE_AS6, NOTE_B6,
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NOTE_C7, NOTE_CS7, NOTE_D7, NOTE_DS7, NOTE_E7, NOTE_F7, NOTE_FS7, NOTE_G7, NOTE_GS7, NOTE_A7, NOTE_AS7, NOTE_B7
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};
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//List of RTTTL tones
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const char* ToneAlarm::tune[TONE_NUMBER_OF_TUNES] = {
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"Startup:d=8,o=6,b=480:a,d7,c7,a,d7,c7,a,d7,16d7,16c7,16d7,16c7,16d7,16c7,16d7,16c7",
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"Error:d=4,o=6,b=400:8a,8a,8a,p,a,a,a,p",
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"notify_pos:d=4,o=6,b=400:8e,8e,a",
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"notify_neut:d=4,o=6,b=400:8e,e",
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"notify_neg:d=4,o=6,b=400:8e,8c,8e,8c,8e,8c",
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"arming_warn:d=1,o=4,b=75:g",
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"batt_war_slow:d=4,o=6,b=200:8a",
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"batt_war_fast:d=4,o=6,b=512:8a,8a,8a,8a,8a,8a,8a,8a,8a,8a,8a,8a,8a,8a,8a,8a,8a",
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"GPS_war:d=4,o=6,b=512:a,a,a,1f#",
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"Arm_fail:d=4,o=4,b=512:b,a,p",
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"para_rel:d=16,o=6,b=512:a,g,a,g,a,g,a,g"};
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//Tune Repeat true: play rtttl tune in loop, false: play only once
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bool ToneAlarm::tune_repeat[TONE_NUMBER_OF_TUNES] = {false,true,false,false,false,false,true,true,false,false,false};
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ToneAlarm::ToneAlarm()
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{
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tune_num = -1; //initialy no tune to play
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tune_pos = 0;
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}
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bool ToneAlarm::init()
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{
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// start PWM driver
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pwm_group.pwm_cfg.period = 1000;
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pwmStart(pwm_group.pwm_drv, &pwm_group.pwm_cfg);
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tune_num = 0; //play startup tune
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return true;
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}
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void ToneAlarm::set_tune(uint8_t tone)
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{
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tune_num = tone;
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}
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bool ToneAlarm::is_tune_comp()
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{
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return tune_comp;
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}
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void ToneAlarm::stop()
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{
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pwmDisableChannel(pwm_group.pwm_drv, ALARM_CHANNEL);
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}
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bool ToneAlarm::play()
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{
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uint16_t cur_time = AP_HAL::millis();
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if(tune_num != prev_tune_num){
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tune_changed = true;
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return true;
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}
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if(cur_note != 0){
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hal.console->printf("cur_note: %d, duration: %d\n", cur_note, duration);
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// specify buzzer timer and channel with defines in hwdef.dat
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pwmChangePeriod(pwm_group.pwm_drv,
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pwm_group.pwm_cfg.frequency/cur_note);
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pwmEnableChannel(pwm_group.pwm_drv, ALARM_CHANNEL,
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(pwm_group.pwm_cfg.frequency/2)/cur_note);
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cur_note =0;
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prev_time = cur_time;
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}
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if((cur_time - prev_time) > duration){
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stop();
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if(tune[tune_num][tune_pos] == '\0'){
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if(!tune_repeat[tune_num]){
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tune_num = -1;
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}
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tune_pos = 0;
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tune_comp = true;
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return false;
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}
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return true;
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}
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return false;
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}
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bool ToneAlarm::set_note()
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{
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// first, get note duration, if available
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uint16_t scale,note,num =0;
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duration = 0;
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while(isdigit(tune[tune_num][tune_pos])){ //this is a safe while loop as it can't go further than
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//the length of the rtttl tone string
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num = (num * 10) + (tune[tune_num][tune_pos++] - '0');
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}
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if(num){
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duration = wholenote / num;
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} else{
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duration = wholenote / 4; // we will need to check if we are a dotted note after
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}
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// now get the note
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note = 0;
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switch(tune[tune_num][tune_pos]){
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case 'c':
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note = 1;
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break;
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case 'd':
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note = 3;
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break;
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case 'e':
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note = 5;
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break;
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case 'f':
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note = 6;
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break;
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case 'g':
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note = 8;
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break;
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case 'a':
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note = 10;
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break;
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case 'b':
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note = 12;
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break;
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case 'p':
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default:
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note = 0;
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}
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tune_pos++;
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// now, get optional '#' sharp
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if(tune[tune_num][tune_pos] == '#'){
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note++;
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tune_pos++;
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}
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// now, get optional '.' dotted note
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if(tune[tune_num][tune_pos] == '.'){
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duration += duration/2;
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tune_pos++;
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}
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// now, get scale
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if(isdigit(tune[tune_num][tune_pos])){
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scale = tune[tune_num][tune_pos] - '0';
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tune_pos++;
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} else{
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scale = default_oct;
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}
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scale += OCTAVE_OFFSET;
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if(tune[tune_num][tune_pos] == ','){
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tune_pos++; // skip comma for next note (or we may be at the end)
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}
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// now play the note
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if(note){
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if(tune_changed == true){
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tune_pos =0;
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tune_changed = false;
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}
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cur_note = notes[(scale - 4) * 12 + note];
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return true;
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} else{
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cur_note = 0;
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return true;
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}
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}
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bool ToneAlarm::init_tune()
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{
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uint16_t num;
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default_dur = 4;
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default_oct = 6;
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bpm = 63;
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prev_tune_num = tune_num;
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if(tune_num <0 || tune_num > TONE_NUMBER_OF_TUNES){
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return false;
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}
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tune_comp = false;
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while(tune[tune_num][tune_pos] != ':'){
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if(tune[tune_num][tune_pos] == '\0'){
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return false;
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}
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tune_pos++;
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}
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tune_pos++;
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if(tune[tune_num][tune_pos] == 'd'){
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tune_pos+=2;
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num = 0;
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while(isdigit(tune[tune_num][tune_pos])){
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num = (num * 10) + (tune[tune_num][tune_pos++] - '0');
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}
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if(num > 0){
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default_dur = num;
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}
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tune_pos++; // skip comma
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}
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// get default octave
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if(tune[tune_num][tune_pos] == 'o')
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{
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tune_pos+=2; // skip "o="
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num = tune[tune_num][tune_pos++] - '0';
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if(num >= 3 && num <=7){
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default_oct = num;
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}
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tune_pos++; // skip comma
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}
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// get BPM
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if(tune[tune_num][tune_pos] == 'b'){
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tune_pos+=2; // skip "b="
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num = 0;
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while(isdigit(tune[tune_num][tune_pos])){
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num = (num * 10) + (tune[tune_num][tune_pos++] - '0');
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}
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bpm = num;
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tune_pos++; // skip colon
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}
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// BPM usually expresses the number of quarter notes per minute
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wholenote = (60 * 1000L / bpm) * 4; // this is the time for whole note (in milliseconds)
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return true;
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}
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@ -0,0 +1,150 @@
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#pragma once
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#include "AP_HAL_ChibiOS.h"
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#include "ch.h"
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#include "hal.h"
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#define OCTAVE_OFFSET 0
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#define NOTE_B0 31
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#define NOTE_C1 33
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#define NOTE_CS1 35
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#define NOTE_D1 37
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#define NOTE_DS1 39
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#define NOTE_E1 41
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#define NOTE_F1 44
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#define NOTE_FS1 46
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#define NOTE_G1 49
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#define NOTE_GS1 52
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#define NOTE_A1 55
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#define NOTE_AS1 58
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#define NOTE_B1 62
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#define NOTE_C2 65
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#define NOTE_CS2 69
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#define NOTE_D2 73
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#define NOTE_DS2 78
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#define NOTE_E2 82
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#define NOTE_F2 87
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#define NOTE_FS2 93
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#define NOTE_G2 98
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#define NOTE_GS2 104
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#define NOTE_A2 110
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#define NOTE_AS2 117
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#define NOTE_B2 123
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#define NOTE_C3 131
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#define NOTE_CS3 139
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#define NOTE_D3 147
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#define NOTE_DS3 156
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#define NOTE_E3 165
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#define NOTE_F3 175
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#define NOTE_FS3 185
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#define NOTE_G3 196
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#define NOTE_GS3 208
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#define NOTE_A3 220
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#define NOTE_AS3 233
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#define NOTE_B3 247
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#define NOTE_C4 262
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#define NOTE_CS4 277
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#define NOTE_D4 294
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#define NOTE_DS4 311
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#define NOTE_E4 330
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#define NOTE_F4 349
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#define NOTE_FS4 370
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#define NOTE_G4 392
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#define NOTE_GS4 415
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#define NOTE_A4 440
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#define NOTE_AS4 466
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#define NOTE_B4 494
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#define NOTE_C5 523
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#define NOTE_CS5 554
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#define NOTE_D5 587
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#define NOTE_DS5 622
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#define NOTE_E5 659
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#define NOTE_F5 698
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#define NOTE_FS5 740
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#define NOTE_G5 784
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#define NOTE_GS5 831
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#define NOTE_A5 880
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#define NOTE_AS5 932
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#define NOTE_B5 988
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#define NOTE_C6 1047
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#define NOTE_CS6 1109
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#define NOTE_D6 1175
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#define NOTE_DS6 1245
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#define NOTE_E6 1319
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#define NOTE_F6 1397
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#define NOTE_FS6 1480
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#define NOTE_G6 1568
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#define NOTE_GS6 1661
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#define NOTE_A6 1760
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#define NOTE_AS6 1865
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#define NOTE_B6 1976
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#define NOTE_C7 2093
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#define NOTE_CS7 2217
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#define NOTE_D7 2349
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#define NOTE_DS7 2489
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#define NOTE_E7 2637
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#define NOTE_F7 2794
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#define NOTE_FS7 2960
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#define NOTE_G7 3136
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#define NOTE_GS7 3322
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#define NOTE_A7 3520
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#define NOTE_AS7 3729
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#define NOTE_B7 3951
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#define NOTE_C8 4186
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#define NOTE_CS8 4435
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#define NOTE_D8 4699
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#define NOTE_DS8 4978
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#define TONE_STARTUP_TUNE 0
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#define TONE_ERROR_TUNE 1
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#define TONE_NOTIFY_POSITIVE_TUNE 2
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#define TONE_NOTIFY_NEUTRAL_TUNE 3
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#define TONE_NOTIFY_NEGATIVE_TUNE 4
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#define TONE_ARMING_WARNING_TUNE 5
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#define TONE_BATTERY_WARNING_SLOW_TUNE 6
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#define TONE_BATTERY_WARNING_FAST_TUNE 7
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#define TONE_GPS_WARNING_TUNE 8
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#define TONE_ARMING_FAILURE_TUNE 9
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#define TONE_PARACHUTE_RELEASE_TUNE 10
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#define TONE_NUMBER_OF_TUNES 11
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namespace ChibiOS {
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class ToneAlarm {
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public:
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ToneAlarm();
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void set_tune(uint8_t tone);
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virtual bool init();
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virtual void stop();
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virtual bool play();
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bool is_tune_comp();
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bool set_note();
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bool init_tune();
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protected:
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bool tune_comp;
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static const char *tune[TONE_NUMBER_OF_TUNES];
|
||||
static bool tune_repeat[TONE_NUMBER_OF_TUNES];
|
||||
bool tune_changed;
|
||||
uint8_t default_oct;
|
||||
uint8_t default_dur;
|
||||
uint16_t bpm;
|
||||
uint16_t wholenote;
|
||||
uint16_t cur_note;
|
||||
uint16_t duration;
|
||||
int32_t prev_tune_num;
|
||||
uint32_t prev_time;
|
||||
int8_t tune_num;
|
||||
uint8_t tune_pos;
|
||||
|
||||
private:
|
||||
struct pwmGroup {
|
||||
PWMConfig pwm_cfg;
|
||||
PWMDriver* pwm_drv;
|
||||
};
|
||||
static pwmGroup pwm_group;
|
||||
};
|
||||
|
||||
}
|
||||
|
|
@ -20,6 +20,7 @@
|
|||
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
|
||||
#include "Util.h"
|
||||
#include <chheap.h>
|
||||
#include "ToneAlarm.h"
|
||||
|
||||
#if HAL_WITH_IO_MCU
|
||||
#include <AP_BoardConfig/AP_BoardConfig.h>
|
||||
|
|
@ -27,8 +28,13 @@
|
|||
extern AP_IOMCU iomcu;
|
||||
#endif
|
||||
|
||||
extern const AP_HAL::HAL& hal;
|
||||
|
||||
using namespace ChibiOS;
|
||||
|
||||
static int state;
|
||||
ToneAlarm Util::_toneAlarm;
|
||||
|
||||
extern "C" {
|
||||
size_t mem_available(void);
|
||||
void *malloc_ccm(size_t size);
|
||||
|
|
@ -137,4 +143,33 @@ void Util::set_imu_target_temp(int8_t *target)
|
|||
#endif
|
||||
}
|
||||
|
||||
bool Util::toneAlarm_init()
|
||||
{
|
||||
return _toneAlarm.init();
|
||||
}
|
||||
|
||||
void Util::toneAlarm_set_tune(uint8_t tone)
|
||||
{
|
||||
_toneAlarm.set_tune(tone);
|
||||
hal.console->printf("set_tune: %d\n", tone);
|
||||
}
|
||||
|
||||
void Util::_toneAlarm_timer_tick() {
|
||||
if(state == 0) {
|
||||
state = state + _toneAlarm.init_tune();
|
||||
} else if (state == 1) {
|
||||
state = state + _toneAlarm.set_note();
|
||||
}
|
||||
if (state == 2) {
|
||||
state = state + _toneAlarm.play();
|
||||
} else if (state == 3) {
|
||||
state = 1;
|
||||
}
|
||||
|
||||
if (_toneAlarm.is_tune_comp()) {
|
||||
state = 0;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#endif //CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
|
||||
|
|
|
|||
|
|
@ -19,12 +19,17 @@
|
|||
#include <AP_HAL/AP_HAL.h>
|
||||
#include "AP_HAL_ChibiOS_Namespace.h"
|
||||
#include "Semaphores.h"
|
||||
#include "ToneAlarm.h"
|
||||
|
||||
// this checks an address is in main memory and 16 bit aligned
|
||||
#define IS_DMA_SAFE(addr) ((uint32_t(addr) & 0xF0000001) == 0x20000000)
|
||||
|
||||
class ChibiOS::Util : public AP_HAL::Util {
|
||||
public:
|
||||
static Util *from(AP_HAL::Util *util) {
|
||||
return static_cast<Util*>(util);
|
||||
}
|
||||
|
||||
bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; }
|
||||
AP_HAL::Semaphore *new_semaphore(void) override { return new ChibiOS::Semaphore; }
|
||||
uint32_t available_memory() override;
|
||||
|
|
@ -41,8 +46,12 @@ public:
|
|||
// IMU temperature control
|
||||
void set_imu_temp(float current);
|
||||
void set_imu_target_temp(int8_t *target);
|
||||
bool toneAlarm_init();
|
||||
void toneAlarm_set_tune(uint8_t tone);
|
||||
void _toneAlarm_timer_tick();
|
||||
|
||||
private:
|
||||
static ToneAlarm _toneAlarm;
|
||||
void* try_alloc_from_ccm_ram(size_t size);
|
||||
uint32_t available_memory_in_ccm_ram(void);
|
||||
|
||||
|
|
|
|||
|
|
@ -13,6 +13,12 @@ OSCILLATOR_HZ 24000000
|
|||
# board voltage
|
||||
STM32_VDD 330U
|
||||
|
||||
# ChibiOS system timer
|
||||
STM32_ST_USE_TIMER 5
|
||||
|
||||
# ArduPilot highres timer
|
||||
HRT_TIMER 6
|
||||
|
||||
# flash size
|
||||
FLASH_SIZE_KB 2048
|
||||
|
||||
|
|
@ -50,7 +56,9 @@ PA12 OTG_FS_DP OTG1
|
|||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
# PA15 ALARM
|
||||
# PWM output for buzzer
|
||||
PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
|
||||
|
||||
PB0 INPUT PULLUP # RC Input PPM
|
||||
PB1 LED_GREEN OUTPUT GPIO(0)
|
||||
PB2 BOOT1 INPUT
|
||||
|
|
|
|||
|
|
@ -532,6 +532,8 @@ def write_PWM_config(f):
|
|||
if p.type.startswith('TIM'):
|
||||
if p.has_extra('RCIN'):
|
||||
rc_in = p
|
||||
elif p.has_extra('ALARM'):
|
||||
alarm = p
|
||||
else:
|
||||
if p.extra_value('PWM', type=int) is not None:
|
||||
pwm_out.append(p)
|
||||
|
|
@ -557,6 +559,51 @@ def write_PWM_config(f):
|
|||
'#define RCIN_ICU_CHANNEL ICU_CHANNEL_%u\n' % int(chan_str))
|
||||
f.write('#define STM32_RCIN_DMA_CHANNEL %u' % dma_chan)
|
||||
f.write('\n')
|
||||
if alarm is not None:
|
||||
n_str = alarm.label[3]
|
||||
if not is_int(n_str):
|
||||
error("Bad timer number for ALARM PWM %s" % p)
|
||||
n = int(n_str)
|
||||
# could probably also use timers 10-14 on STM32
|
||||
if (n < 1):
|
||||
error("Bad timer number %u for ALARM PWM %s" % (chan, p))
|
||||
|
||||
f.write('// Alarm PWM output config\n')
|
||||
f.write('#define STM32_PWM_USE_TIM%u TRUE\n' % n)
|
||||
f.write('#define STM32_TIM%u_SUPPRESS_ISR\n' % n)
|
||||
|
||||
chan_mode = [
|
||||
'PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED',
|
||||
'PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED'
|
||||
]
|
||||
chan_str = alarm.label[7]
|
||||
if not is_int(chan_str):
|
||||
error("Bad channel for ALARM PWM %s" % p)
|
||||
chan = int(chan_str)
|
||||
if chan not in [1, 2, 3, 4]:
|
||||
error("Bad channel number %u for ALARM PWM %s" % (chan, p))
|
||||
chan_mode[chan - 1] = 'PWM_OUTPUT_ACTIVE_HIGH'
|
||||
f.write('#define ALARM_CHANNEL %u\n' % (chan-1));
|
||||
|
||||
pwm_clock = 1000000
|
||||
period = 1000
|
||||
|
||||
f.write('''#define HAL_PWM_ALARM { \\
|
||||
{ \\
|
||||
%u, /* PWM clock frequency. */ \\
|
||||
%u, /* Initial PWM period 20ms. */ \\
|
||||
NULL, /* no callback */ \\
|
||||
{ \\
|
||||
/* Channel Config */ \\
|
||||
{%s, NULL}, \\
|
||||
{%s, NULL}, \\
|
||||
{%s, NULL}, \\
|
||||
{%s, NULL} \\
|
||||
}, 0, 0}, &PWMD%u}\n''' %
|
||||
(pwm_clock, period, chan_mode[0],
|
||||
chan_mode[1], chan_mode[2], chan_mode[3], n))
|
||||
f.write('\n')
|
||||
|
||||
f.write('// PWM timer config\n')
|
||||
for t in sorted(pwm_timers):
|
||||
n = int(t[3])
|
||||
|
|
|
|||
Loading…
Reference in New Issue