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AP_HAL_ChibiOS: add support for alternate alarm PWM group 

account for inverted alarms and build on boards without PWM
enable alarm based on pwm
shutdown alarm channel if using a different one
This commit is contained in:
Andy Piper 2022-02-12 21:55:17 +00:00 committed by Andrew Tridgell
parent f840315aa4
commit b6022ca5d4
4 changed files with 48 additions and 11 deletions
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13
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -22,6 +22,7 @@
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_HAL/utility/RingBuffer.h>
#include "GPIO.h"
#include "Util.h"
#include "hwdef/common/stm32_util.h"
#include "hwdef/common/watchdog.h"
#include <AP_InternalError/AP_InternalError.h>
@ -80,6 +81,18 @@ void RCOutput::init()
uint8_t chan = group.chan[j];
if (SRV_Channels::is_GPIO(chan+chan_offset)) {
group.chan[j] = CHAN_DISABLED;
} else if (SRV_Channels::is_alarm(chan+chan_offset)
|| SRV_Channels::is_alarm_inverted(chan+chan_offset)) {
// alarm takes the whole timer
group.ch_mask = 0;
group.current_mode = MODE_PWM_NONE;
for (uint8_t k = 0; k < 4; k++) {
group.chan[k] = CHAN_DISABLED;
group.pwm_cfg.channels[k].mode = PWM_OUTPUT_DISABLED;
}
ChibiOS::Util::from(hal.util)->toneAlarm_init(group.pwm_cfg, group.pwm_drv, j,
SRV_Channels::is_alarm(chan+chan_offset));
break;
}
#endif
if (group.chan[j] != CHAN_DISABLED) {

40
libraries/AP_HAL_ChibiOS/Util.cpp
View File

@ -29,7 +29,7 @@
#include <AP_Common/ExpandingString.h>
#include "sdcard.h"
#include "shared_dma.h"
#if defined(HAL_PWM_ALARM) || HAL_DSHOT_ALARM || HAL_CANMANAGER_ENABLED
#if defined(HAL_PWM_ALARM) || HAL_DSHOT_ALARM || HAL_CANMANAGER_ENABLED || HAL_USE_PWM == TRUE
#include <AP_Notify/AP_Notify.h>
#endif
#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
@ -158,6 +158,8 @@ Util::safety_state Util::safety_switch_state(void)
#ifdef HAL_PWM_ALARM
struct Util::ToneAlarmPwmGroup Util::_toneAlarm_pwm_group = HAL_PWM_ALARM;
#elif HAL_USE_PWM == TRUE
struct Util::ToneAlarmPwmGroup Util::_toneAlarm_pwm_group = {};
#endif
uint8_t Util::_toneAlarm_types = 0;
@ -170,7 +172,7 @@ bool Util::toneAlarm_init(uint8_t types)
#endif
_toneAlarm_types = types;
#if !defined(HAL_PWM_ALARM) && !HAL_DSHOT_ALARM && !HAL_CANMANAGER_ENABLED
#if HAL_USE_PWM != TRUE && !HAL_DSHOT_ALARM && !HAL_CANMANAGER_ENABLED
// Nothing to do
return false;
#else
@ -178,18 +180,36 @@ bool Util::toneAlarm_init(uint8_t types)
#endif
}
void Util::toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms)
#if HAL_USE_PWM == TRUE
bool Util::toneAlarm_init(const PWMConfig& pwm_cfg, PWMDriver* pwm_drv, pwmchannel_t chan, bool active_high)
{
#ifdef HAL_PWM_ALARM
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));
pwmStop(_toneAlarm_pwm_group.pwm_drv);
#endif
_toneAlarm_pwm_group.pwm_cfg = pwm_cfg;
_toneAlarm_pwm_group.pwm_drv = pwm_drv;
_toneAlarm_pwm_group.pwm_cfg.period = 1000;
_toneAlarm_pwm_group.pwm_cfg.channels[chan].mode = active_high ? PWM_OUTPUT_ACTIVE_HIGH : PWM_OUTPUT_ACTIVE_LOW;
_toneAlarm_pwm_group.chan = chan;
pwmStart(_toneAlarm_pwm_group.pwm_drv, &_toneAlarm_pwm_group.pwm_cfg);
return true;
}
#endif
pwmEnableChannel(_toneAlarm_pwm_group.pwm_drv, _toneAlarm_pwm_group.chan, roundf(volume*_toneAlarm_pwm_group.pwm_cfg.frequency/frequency)/2);
void Util::toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms)
{
#if HAL_USE_PWM == TRUE
if (_toneAlarm_pwm_group.pwm_drv != nullptr) {
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));
pwmEnableChannel(_toneAlarm_pwm_group.pwm_drv, _toneAlarm_pwm_group.chan, roundf(volume*_toneAlarm_pwm_group.pwm_cfg.frequency/frequency)/2);
}
}
#endif // HAL_PWM_ALARM
#endif // HAL_USE_PWM
#if HAL_DSHOT_ALARM
// don't play the motors while flying
if (!(_toneAlarm_types & AP_Notify::Notify_Buzz_DShot) || get_soft_armed() || hal.rcout->get_dshot_esc_type() != RCOutput::DSHOT_ESC_BLHELI) {

5
libraries/AP_HAL_ChibiOS/Util.h
View File

@ -60,6 +60,9 @@ public:
bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) override;
bool toneAlarm_init(uint8_t types) override;
#if HAL_USE_PWM == TRUE
bool toneAlarm_init(const PWMConfig& pwm_cfg, PWMDriver* pwm_drv, pwmchannel_t chan, bool active_high);
#endif
void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override;
static uint8_t _toneAlarm_types;
@ -104,7 +107,7 @@ public:
void set_soft_armed(const bool b) override;
private:
#ifdef HAL_PWM_ALARM
#if HAL_USE_PWM == TRUE
struct ToneAlarmPwmGroup {
pwmchannel_t chan;
PWMConfig pwm_cfg;

1
libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Mini/hwdef.dat
View File

@ -38,6 +38,7 @@ PC13 BUZZER OUTPUT LOW PULLDOWN GPIO(80)
define HAL_BUZZER_PIN 80
define HAL_BUZZER_ON 1
define HAL_BUZZER_OFF 0
define HAL_PWM_ALT_ALARM
# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1