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AP_HAL_ChibiOS: ensure ToneAlarm is not disabled when UAVCAN is available

This commit is contained in:
bugobliterator 2021-05-26 21:12:25 +05:30 committed by Andrew Tridgell
parent b7de9feb56
commit ea1795d6fe
2 changed files with 10 additions and 6 deletions
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14
libraries/AP_HAL_ChibiOS/Util.cpp
View File

@ -29,7 +29,9 @@
#include "sdcard.h"
#include "shared_dma.h"
#include <AP_Common/ExpandingString.h>
#if defined(HAL_PWM_ALARM) || HAL_DSHOT_ALARM || HAL_ENABLE_LIBUAVCAN_DRIVERS
#include <AP_Notify/AP_Notify.h>
#endif
#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
#include <AP_InertialSensor/AP_InertialSensor.h>
#endif
@ -155,7 +157,6 @@ Util::safety_state Util::safety_switch_state(void)
struct Util::ToneAlarmPwmGroup Util::_toneAlarm_pwm_group = HAL_PWM_ALARM;
#endif
#if defined(HAL_PWM_ALARM) || HAL_DSHOT_ALARM
uint8_t Util::_toneAlarm_types = 0;
bool Util::toneAlarm_init(uint8_t types)
@ -165,7 +166,13 @@ bool Util::toneAlarm_init(uint8_t types)
pwmStart(_toneAlarm_pwm_group.pwm_drv, &_toneAlarm_pwm_group.pwm_cfg);
#endif
_toneAlarm_types = types;
#if !defined(HAL_PWM_ALARM) && !HAL_DSHOT_ALARM && !HAL_ENABLE_LIBUAVCAN_DRIVERS
// Nothing to do
return false;
#else
return true;
#endif
}
void Util::toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms)
@ -182,7 +189,7 @@ void Util::toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t dur
#endif // HAL_PWM_ALARM
#if HAL_DSHOT_ALARM
// don't play the motors while flying
if (!(_toneAlarm_types & ALARM_DSHOT) || get_soft_armed() || hal.rcout->get_dshot_esc_type() != RCOutput::DSHOT_ESC_BLHELI) {
if (!(_toneAlarm_types & AP_Notify::Notify_Buzz_DShot) || get_soft_armed() || hal.rcout->get_dshot_esc_type() != RCOutput::DSHOT_ESC_BLHELI) {
return;
}
@ -201,7 +208,6 @@ void Util::toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t dur
}
#endif // HAL_DSHOT_ALARM
}
#endif
/*
set HW RTC in UTC microseconds

2
libraries/AP_HAL_ChibiOS/Util.h
View File

@ -59,11 +59,9 @@ public:
bool get_system_id(char buf[40]) override;
bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) override;
#if defined(HAL_PWM_ALARM) || HAL_DSHOT_ALARM
bool toneAlarm_init(uint8_t types) override;
void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override;
static uint8_t _toneAlarm_types;
#endif
// return true if the reason for the reboot was a watchdog reset
bool was_watchdog_reset() const override;