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HAL_Linux:create ToneAlarmDriver as a separate class

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ToneAlarm is now declared as a separate class instance of which is added as a private member of LinuxUtil
Some minor fixes in this patch include changing return type of tonealarm_init() to bool and use dprintf
This commit is contained in:
bugobliterator 2014-11-15 16:51:21 +11:00 committed by Andrew Tridgell
parent ad460659ad
commit 329c1f5190
6 changed files with 66 additions and 167 deletions
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1
libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h
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@ -30,6 +30,7 @@ namespace Linux {
class LinuxSemaphore;
class LinuxScheduler;
class LinuxUtil;
class ToneAlarm; //limit the scope of ToneAlarm driver to Linux_HAL only
}
#endif // __AP_HAL_LINUX_NAMESPACE_H__

1
libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h
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@ -19,6 +19,7 @@
#include "RCOutput_ZYNQ.h"
#include "Semaphores.h"
#include "Scheduler.h"
#include "ToneAlarmDriver.h"
#include "Util.h"
#endif // __AP_HAL_LINUX_PRIVATE_H__

2
libraries/AP_HAL_Linux/Scheduler.cpp
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@ -325,7 +325,7 @@ void *LinuxScheduler::_tonealarm_thread(void)
poll(NULL, 0, 1);
}
while (true) {
_microsleep(5000);
_microsleep(10000);
// process tone command
((LinuxUtil *)hal.util)->_toneAlarm_timer_tick();

61
libraries/AP_HAL_Linux/ToneAlarmDriver.cpp
View File

@ -2,7 +2,7 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include "Util.h"
#include "ToneAlarmDriver.h"
#include <stdio.h>
#include <sys/types.h>
#include <sys/stat.h>
@ -14,7 +14,6 @@
using namespace Linux;
extern const AP_HAL::HAL& hal;
static int state;
static uint16_t notes[] = { 0,
NOTE_C4, NOTE_CS4, NOTE_D4, NOTE_DS4, NOTE_E4, NOTE_F4, NOTE_FS4, NOTE_G4, NOTE_GS4, NOTE_A4, NOTE_AS4, NOTE_B4,
NOTE_C5, NOTE_CS5, NOTE_D5, NOTE_DS5, NOTE_E5, NOTE_F5, NOTE_FS5, NOTE_G5, NOTE_GS5, NOTE_A5, NOTE_AS5, NOTE_B5,
@ -23,7 +22,7 @@ NOTE_C7, NOTE_CS7, NOTE_D7, NOTE_DS7, NOTE_E7, NOTE_F7, NOTE_FS7, NOTE_G7, NOTE_
};
//List of RTTTL tones
const char* LinuxUtil::tune[TONE_NUMBER_OF_TUNES] = {
const char* ToneAlarm::tune[TONE_NUMBER_OF_TUNES] = {
"Startup:d=8,o=6,b=480:a,d7,c7,a,d7,c7,a,d7,16d7,16c7,16d7,16c7,16d7,16c7,16d7,16c7",
"Error:d=4,o=6,b=400:8a,8a,8a,p,a,a,a,p",
"notify_pos:d=4,o=6,b=400:8e,8e,a",
@ -36,9 +35,9 @@ const char* LinuxUtil::tune[TONE_NUMBER_OF_TUNES] = {
"Arm_fail:d=4,o=4,b=512:b,a,p",
"para_rel:d=16,o=6,b=512:a,g,a,g,a,g,a,g"};
//Tune Repeat true: play rtttl tune in loop, false: play only once
bool LinuxUtil::tune_repeat[TONE_NUMBER_OF_TUNES] = {false,true,false,false,false,false,true,true,false,false,false};
bool ToneAlarm::tune_repeat[TONE_NUMBER_OF_TUNES] = {false,true,false,false,false,false,true,true,false,false,false};
void LinuxUtil::toneAlarm()
ToneAlarm::ToneAlarm()
{
period_fd = open("/sys/devices/ocp.3/pwm_test_P8_36.12/period",O_WRONLY);
duty_fd = open("/sys/devices/ocp.3/pwm_test_P8_36.12/duty",O_WRONLY);
@ -47,22 +46,33 @@ void LinuxUtil::toneAlarm()
tune_num = -1; //initialy no tune to play
tune_pos = 0;
}
int8_t LinuxUtil::toneAlarm_init()
bool ToneAlarm::init()
{
tune_num = 0; //play startup tune
if((period_fd == -1) || (duty_fd == -1) || (run_fd == -1)){
hal.console->printf("ToneAlarm: Error!! please check if PWM overlays are loaded correctly");
return -1;
return false;
}
return 0;
return true;
}
void LinuxUtil::stop()
void ToneAlarm::set_tune(uint8_t tone)
{
write(run_fd,"0",sizeof(char));
tune_num = tone;
}
bool LinuxUtil::play()
bool ToneAlarm::is_tune_comp()
{
return tune_comp;
}
void ToneAlarm::stop()
{
dprintf(run_fd,"0");
}
bool ToneAlarm::play()
{
uint16_t cur_time = hal.scheduler->millis();
if(tune_num != prev_tune_num){
@ -79,13 +89,13 @@ bool LinuxUtil::play()
}
if((cur_time - prev_time) > duration){
stop();
if(tune[tune_num][tune_pos] == NULL){
if(tune[tune_num][tune_pos] == '\0'){
if(!tune_repeat[tune_num]){
tune_num = -1;
}
tune_pos = 0;
state = 0;
tune_comp = true;
return false;
}
return true;
@ -93,11 +103,7 @@ bool LinuxUtil::play()
return false;
}
void LinuxUtil::toneAlarm_set_tune(uint8_t tone)
{
tune_num = tone;
}
bool LinuxUtil::set_note(){
bool ToneAlarm::set_note(){
// first, get note duration, if available
uint16_t scale,note,num =0;
duration = 0;
@ -186,7 +192,7 @@ bool LinuxUtil::set_note(){
}
bool LinuxUtil::init_tune(){
bool ToneAlarm::init_tune(){
uint16_t num;
default_dur = 4;
@ -197,8 +203,9 @@ bool LinuxUtil::init_tune(){
return false;
}
tune_comp = false;
while(tune[tune_num][tune_pos] != ':'){
if(tune[tune_num][tune_pos] == NULL){
if(tune[tune_num][tune_pos] == '\0'){
return false;
}
tune_pos++;
@ -248,17 +255,5 @@ bool LinuxUtil::init_tune(){
return true;
}
void LinuxUtil::_toneAlarm_timer_tick(){
if(state == 0){
state = state + init_tune();
}else if(state == 1){
state = state + set_note();
}
if(state == 2){
state = state + play();
}else if(state == 3){
state = 1;
}
}
#endif

30
libraries/AP_HAL_Linux/Util.cpp
View File

@ -11,6 +11,9 @@ extern const AP_HAL::HAL& hal;
#include "Util.h"
using namespace Linux;
static int state;
ToneAlarm LinuxUtil::_toneAlarm;
/**
return commandline arguments, if available
*/
@ -20,4 +23,31 @@ void LinuxUtil::commandline_arguments(uint8_t &argc, char * const *&argv)
argv = saved_argv;
}
bool LinuxUtil::toneAlarm_init()
{
return _toneAlarm.init();
}
void LinuxUtil::toneAlarm_set_tune(uint8_t tone)
{
_toneAlarm.set_tune(tone);
}
void LinuxUtil::_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_LINUX

138
libraries/AP_HAL_Linux/Util.h
View File

@ -4,119 +4,13 @@
#include <AP_HAL.h>
#include "AP_HAL_Linux_Namespace.h"
#define OCTAVE_OFFSET 0
#define NOTE_B0 31
#define NOTE_C1 33
#define NOTE_CS1 35
#define NOTE_D1 37
#define NOTE_DS1 39
#define NOTE_E1 41
#define NOTE_F1 44
#define NOTE_FS1 46
#define NOTE_G1 49
#define NOTE_GS1 52
#define NOTE_A1 55
#define NOTE_AS1 58
#define NOTE_B1 62
#define NOTE_C2 65
#define NOTE_CS2 69
#define NOTE_D2 73
#define NOTE_DS2 78
#define NOTE_E2 82
#define NOTE_F2 87
#define NOTE_FS2 93
#define NOTE_G2 98
#define NOTE_GS2 104
#define NOTE_A2 110
#define NOTE_AS2 117
#define NOTE_B2 123
#define NOTE_C3 131
#define NOTE_CS3 139
#define NOTE_D3 147
#define NOTE_DS3 156
#define NOTE_E3 165
#define NOTE_F3 175
#define NOTE_FS3 185
#define NOTE_G3 196
#define NOTE_GS3 208
#define NOTE_A3 220
#define NOTE_AS3 233
#define NOTE_B3 247
#define NOTE_C4 262
#define NOTE_CS4 277
#define NOTE_D4 294
#define NOTE_DS4 311
#define NOTE_E4 330
#define NOTE_F4 349
#define NOTE_FS4 370
#define NOTE_G4 392
#define NOTE_GS4 415
#define NOTE_A4 440
#define NOTE_AS4 466
#define NOTE_B4 494
#define NOTE_C5 523
#define NOTE_CS5 554
#define NOTE_D5 587
#define NOTE_DS5 622
#define NOTE_E5 659
#define NOTE_F5 698
#define NOTE_FS5 740
#define NOTE_G5 784
#define NOTE_GS5 831
#define NOTE_A5 880
#define NOTE_AS5 932
#define NOTE_B5 988
#define NOTE_C6 1047
#define NOTE_CS6 1109
#define NOTE_D6 1175
#define NOTE_DS6 1245
#define NOTE_E6 1319
#define NOTE_F6 1397
#define NOTE_FS6 1480
#define NOTE_G6 1568
#define NOTE_GS6 1661
#define NOTE_A6 1760
#define NOTE_AS6 1865
#define NOTE_B6 1976
#define NOTE_C7 2093
#define NOTE_CS7 2217
#define NOTE_D7 2349
#define NOTE_DS7 2489
#define NOTE_E7 2637
#define NOTE_F7 2794
#define NOTE_FS7 2960
#define NOTE_G7 3136
#define NOTE_GS7 3322
#define NOTE_A7 3520
#define NOTE_AS7 3729
#define NOTE_B7 3951
#define NOTE_C8 4186
#define NOTE_CS8 4435
#define NOTE_D8 4699
#define NOTE_DS8 4978
#define TONE_STARTUP_TUNE 0
#define TONE_ERROR_TUNE 1
#define TONE_NOTIFY_POSITIVE_TUNE 2
#define TONE_NOTIFY_NEUTRAL_TUNE 3
#define TONE_NOTIFY_NEGATIVE_TUNE 4
#define TONE_ARMING_WARNING_TUNE 5
#define TONE_BATTERY_WARNING_SLOW_TUNE 6
#define TONE_BATTERY_WARNING_FAST_TUNE 7
#define TONE_GPS_WARNING_TUNE 8
#define TONE_ARMING_FAILURE_TUNE 9
#define TONE_PARACHUTE_RELEASE_TUNE 10
#define TONE_NUMBER_OF_TUNES 11
#include "ToneAlarmDriver.h"
class Linux::LinuxUtil : public AP_HAL::Util {
public:
void init(int argc, char * const *argv) {
saved_argc = argc;
saved_argv = argv;
toneAlarm();
}
@ -127,35 +21,13 @@ public:
*/
void commandline_arguments(uint8_t &argc, char * const *&argv);
int8_t toneAlarm_init();
bool toneAlarm_init();
void toneAlarm_set_tune(uint8_t tune);
void _toneAlarm_timer_tick();
private:
void toneAlarm(void);
void stop();
bool play();
void play_tune();
bool set_note();
bool init_tune();
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;
int32_t period_fd;
int32_t duty_fd;
int32_t run_fd;
int8_t tune_num;
uint8_t tune_pos;
private:
static Linux::ToneAlarm _toneAlarm;
int saved_argc;
char* const *saved_argv;
};