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AP_HAL_ChibiOS: pull ALARM_CHANNEL into pwmGroup 

and improve formatting of HAL_PWM_ALARM in hwdef.h
This commit is contained in:
Mark Whitehorn 2018-02-01 08:25:03 -07:00 committed by Andrew Tridgell
parent 8b216cf182
commit fb142422f6
6 changed files with 76 additions and 58 deletions
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6
libraries/AP_HAL_ChibiOS/Scheduler.cpp
View File

@ -37,7 +37,7 @@ using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
THD_WORKING_AREA(_timer_thread_wa, 2048);
THD_WORKING_AREA(_rcin_thread_wa, 512);
THD_WORKING_AREA(_toneAlarm_thread_wa, 2048);
THD_WORKING_AREA(_toneAlarm_thread_wa, 512);
THD_WORKING_AREA(_io_thread_wa, 2048);
THD_WORKING_AREA(_storage_thread_wa, 2048);
#if HAL_WITH_UAVCAN
@ -315,10 +315,10 @@ void Scheduler::_toneAlarm_thread(void *arg)
Scheduler *sched = (Scheduler *)arg;
sched->_toneAlarm_thread_ctx->name = "toneAlarm";
while (!sched->_hal_initialized) {
sched->delay_microseconds(10000);
sched->delay_microseconds(20000);
}
while (true) {
sched->delay_microseconds(10000);
sched->delay_microseconds(20000);
// process tone command
Util::from(hal.util)->_toneAlarm_timer_tick();

39
libraries/AP_HAL_ChibiOS/ToneAlarm.cpp
View File

@ -36,7 +36,7 @@ bool ToneAlarm::tune_repeat[TONE_NUMBER_OF_TUNES] = {false,true,false,false,fals
ToneAlarm::ToneAlarm()
{
tune_num = -1; //initialy no tune to play
tune_num = -1; //initially no tune to play
tune_pos = 0;
}
@ -63,40 +63,49 @@ bool ToneAlarm::is_tune_comp()
void ToneAlarm::stop()
{
pwmDisableChannel(pwm_group.pwm_drv, ALARM_CHANNEL);
pwmDisableChannel(pwm_group.pwm_drv, pwm_group.chan);
}
bool ToneAlarm::play()
{
uint16_t cur_time = AP_HAL::millis();
if(tune_num != prev_tune_num){
if(tune_num != prev_tune_num) {
stop();
tune_changed = true;
return true;
tune_pos = 0;
tune_comp = true;
return false;
}
if(cur_note != 0){
hal.console->printf("cur_note: %d, duration: %d\n", cur_note, duration);
// specify buzzer timer and channel with defines in hwdef.dat
if(cur_note != 0) {
// specify alarm timer and channel in hwdef.dat
pwmChangePeriod(pwm_group.pwm_drv,
pwm_group.pwm_cfg.frequency/cur_note);
pwmEnableChannel(pwm_group.pwm_drv, ALARM_CHANNEL,
pwmEnableChannel(pwm_group.pwm_drv, pwm_group.chan,
(pwm_group.pwm_cfg.frequency/2)/cur_note);
cur_note =0;
cur_note = 0;
prev_time = cur_time;
}
if((cur_time - prev_time) > duration){
// has note duration elapsed?
if((cur_time - prev_time) > duration) {
// yes, stop the PWM signal
stop();
if(tune[tune_num][tune_pos] == '\0'){
// was that the last note?
if(tune[tune_num][tune_pos] == '\0') {
// this was the last note
// if this is not a repeating tune, disable playback
if(!tune_repeat[tune_num]){
tune_num = -1;
}
// reset tune spec index to zero: this is the only place tune_pos is reset
tune_pos = 0;
tune_comp = true;
// indicate tune is complete by returning false
return false;
}
// indicate tune is still playing by returning true
return true;
}
return false;
@ -179,10 +188,6 @@ bool ToneAlarm::set_note()
// now play the note
if(note){
if(tune_changed == true){
tune_pos =0;
tune_changed = false;
}
cur_note = notes[(scale - 4) * 12 + note];
return true;
} else{
@ -199,6 +204,7 @@ bool ToneAlarm::init_tune()
default_oct = 6;
bpm = 63;
prev_tune_num = tune_num;
tune_changed = false;
if(tune_num <0 || tune_num > TONE_NUMBER_OF_TUNES){
return false;
}
@ -252,5 +258,6 @@ bool ToneAlarm::init_tune()
// BPM usually expresses the number of quarter notes per minute
wholenote = (60 * 1000L / bpm) * 4; // this is the time for whole note (in milliseconds)
return true;
}

45
libraries/AP_HAL_ChibiOS/ToneAlarm.h
View File

@ -114,33 +114,34 @@ namespace ChibiOS {
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();
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;
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;
};

6
libraries/AP_HAL_ChibiOS/Util.cpp
View File

@ -151,9 +151,13 @@ bool Util::toneAlarm_init()
void Util::toneAlarm_set_tune(uint8_t tone)
{
_toneAlarm.set_tune(tone);
hal.console->printf("set_tune: %d\n", tone);
}
// (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();

2
libraries/AP_HAL_ChibiOS/Util.h
View File

@ -50,6 +50,8 @@ public:
void toneAlarm_set_tune(uint8_t tone);
void _toneAlarm_timer_tick();
static ToneAlarm& get_ToneAlarm() { return _toneAlarm; }
private:
static ToneAlarm _toneAlarm;
void* try_alloc_from_ccm_ram(size_t size);

36
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -568,7 +568,7 @@ def write_PWM_config(f):
if (n < 1):
error("Bad timer number %u for ALARM PWM %s" % (chan, p))
f.write('// Alarm PWM output config\n')
f.write('\n// 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)
@ -583,25 +583,29 @@ def write_PWM_config(f):
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('''#define HAL_PWM_ALARM \\
{ /* pwmGroup */ \\
%u, /* Timer channel */ \\
{ /* PWMConfig */ \\
%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 /* PWMDriver* */ \\
}\n''' %
(chan-1, 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')