mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-11 02:18:29 -04:00
HAL_ChibiOS: updated to new tonealarm system
This commit is contained in:
Andrew Tridgell
Randy Mackay
parent
ac5ec09f35
commit
b1b6061ad4
@ -41,9 +41,6 @@ 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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#ifdef HAL_PWM_ALARM
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THD_WORKING_AREA(_toneAlarm_thread_wa, 512);
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#endif
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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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@ -80,14 +77,6 @@ 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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#ifdef HAL_PWM_ALARM
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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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#endif
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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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@ -333,23 +322,7 @@ void Scheduler::_rcin_thread(void *arg)
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((RCInput *)hal.rcin)->_timer_tick();
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}
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}
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#ifdef HAL_PWM_ALARM
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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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chRegSetThreadName("toneAlarm");
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while (!sched->_hal_initialized) {
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sched->delay_microseconds(20000);
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}
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while (true) {
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sched->delay_microseconds(20000);
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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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#endif
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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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@ -25,7 +25,6 @@
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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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@ -118,7 +117,6 @@ 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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@ -131,7 +129,6 @@ 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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@ -1,270 +0,0 @@
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#include <AP_HAL/AP_HAL.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#ifdef HAL_PWM_ALARM
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#include "ToneAlarm.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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"modechangeloud:d=4,o=6,b=400:8e",
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"modechangesoft:d=4,o=6,b=400:8e",
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};
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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; //initially 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, pwm_group.chan);
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}
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bool ToneAlarm::play()
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{
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const uint32_t cur_time = AP_HAL::millis();
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if(tune_num != prev_tune_num) {
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stop();
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tune_changed = true;
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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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if(cur_note != 0) {
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// specify alarm timer and channel 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, pwm_group.chan,
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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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// has note duration elapsed?
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if((cur_time - prev_time) > duration) {
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// yes, stop the PWM signal
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stop();
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// was that the last note?
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if(tune[tune_num][tune_pos] == '\0') {
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// this was the last note
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// if this is not a repeating tune, disable playback
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if(!tune_repeat[tune_num]){
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tune_num = -1;
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}
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// reset tune spec index to zero: this is the only place tune_pos is reset
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tune_pos = 0;
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tune_comp = true;
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// indicate tune is complete by returning false
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return false;
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}
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// indicate tune is still playing by returning true
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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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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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tune_changed = false;
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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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#endif
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@ -1,157 +0,0 @@
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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_NOTIFY_MODE_CHANGE_LOUD 11
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#define TONE_NOTIFY_MODE_CHANGE_SOFT 12
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#define TONE_NUMBER_OF_TUNES 13
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#ifdef HAL_PWM_ALARM
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namespace ChibiOS {
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class ToneAlarm {
|
||||
public:
|
||||
ToneAlarm();
|
||||
void set_tune(uint8_t tone);
|
||||
virtual bool init();
|
||||
virtual void stop();
|
||||
virtual bool play();
|
||||
bool is_tune_comp();
|
||||
bool set_note();
|
||||
bool init_tune();
|
||||
|
||||
protected:
|
||||
bool tune_comp;
|
||||
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 {
|
||||
pwmchannel_t chan;
|
||||
PWMConfig pwm_cfg;
|
||||
PWMDriver* pwm_drv;
|
||||
};
|
||||
static pwmGroup pwm_group;
|
||||
};
|
||||
|
||||
}
|
||||
#endif // HAL_PWM_ALARM
|
||||
@ -19,7 +19,6 @@
|
||||
|
||||
#include "Util.h"
|
||||
#include <chheap.h>
|
||||
#include "ToneAlarm.h"
|
||||
#include "RCOutput.h"
|
||||
#include "hwdef/common/stm32_util.h"
|
||||
#include "hwdef/common/flash.h"
|
||||
@ -144,40 +143,26 @@ void Util::set_imu_target_temp(int8_t *target)
|
||||
}
|
||||
|
||||
#ifdef HAL_PWM_ALARM
|
||||
static int state;
|
||||
ToneAlarm Util::_toneAlarm;
|
||||
struct Util::ToneAlarmPwmGroup Util::_toneAlarm_pwm_group = HAL_PWM_ALARM;
|
||||
|
||||
bool Util::toneAlarm_init()
|
||||
{
|
||||
return _toneAlarm.init();
|
||||
_toneAlarm_pwm_group.pwm_cfg.period = 1000;
|
||||
pwmStart(_toneAlarm_pwm_group.pwm_drv, &_toneAlarm_pwm_group.pwm_cfg);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void Util::toneAlarm_set_tune(uint8_t tone)
|
||||
void Util::toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms)
|
||||
{
|
||||
_toneAlarm.set_tune(tone);
|
||||
}
|
||||
if (is_zero(frequency) || is_zero(volume)) {
|
||||
pwmDisableChannel(_toneAlarm_pwm_group.pwm_drv, _toneAlarm_pwm_group.chan);
|
||||
} else {
|
||||
pwmChangePeriod(_toneAlarm_pwm_group.pwm_drv,
|
||||
roundf(_toneAlarm_pwm_group.pwm_cfg.frequency/frequency));
|
||||
|
||||
// (state 0) if init_tune() -> (state 1) complete=false
|
||||
// (state 1) if set_note -> (state 2) -> if play -> (state 3)
|
||||
// play returns true if tune has changed or tune is complete (repeating tunes never complete)
|
||||
// (state 3) -> (state 1)
|
||||
// (on every tick) if (complete) -> (state 0)
|
||||
void Util::_toneAlarm_timer_tick() {
|
||||
if(state == 0) {
|
||||
state = state + _toneAlarm.init_tune();
|
||||
} else if (state == 1) {
|
||||
state = state + _toneAlarm.set_note();
|
||||
pwmEnableChannel(_toneAlarm_pwm_group.pwm_drv, _toneAlarm_pwm_group.chan, roundf(volume*_toneAlarm_pwm_group.pwm_cfg.frequency/frequency)/2);
|
||||
}
|
||||
if (state == 2) {
|
||||
state = state + _toneAlarm.play();
|
||||
} else if (state == 3) {
|
||||
state = 1;
|
||||
}
|
||||
|
||||
if (_toneAlarm.is_tune_comp()) {
|
||||
state = 0;
|
||||
}
|
||||
|
||||
}
|
||||
#endif // HAL_PWM_ALARM
|
||||
|
||||
|
||||
@ -19,7 +19,6 @@
|
||||
#include <AP_HAL/AP_HAL.h>
|
||||
#include "AP_HAL_ChibiOS_Namespace.h"
|
||||
#include "Semaphores.h"
|
||||
#include "ToneAlarm.h"
|
||||
|
||||
class ChibiOS::Util : public AP_HAL::Util {
|
||||
public:
|
||||
@ -48,16 +47,19 @@ public:
|
||||
bool get_system_id(char buf[40]) override;
|
||||
|
||||
#ifdef HAL_PWM_ALARM
|
||||
bool toneAlarm_init();
|
||||
void toneAlarm_set_tune(uint8_t tone);
|
||||
void _toneAlarm_timer_tick();
|
||||
|
||||
static ToneAlarm& get_ToneAlarm() { return _toneAlarm; }
|
||||
bool toneAlarm_init() override;
|
||||
void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override;
|
||||
#endif
|
||||
|
||||
private:
|
||||
#ifdef HAL_PWM_ALARM
|
||||
static ToneAlarm _toneAlarm;
|
||||
struct ToneAlarmPwmGroup {
|
||||
pwmchannel_t chan;
|
||||
PWMConfig pwm_cfg;
|
||||
PWMDriver* pwm_drv;
|
||||
};
|
||||
|
||||
static ToneAlarmPwmGroup _toneAlarm_pwm_group;
|
||||
#endif
|
||||
void* try_alloc_from_ccm_ram(size_t size);
|
||||
uint32_t available_memory_in_ccm_ram(void);
|
||||
|
||||
Loading…
Reference in New Issue
Block a user