AP_Notify:Add ToneAlarm Support for HAL_Linux Boards

libraries/AP_Notify/AP_Notify.cpp

@@ -30,6 +30,10 @@ void AP_Notify::init(bool enable_external_leds)
     toshibaled.init();
     tonealarm.init();
 #endif
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+    toshibaled.init();
+    tonealarm.init();
+#endif    
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
     externalled.init();
     buzzer.init();
@@ -50,6 +54,10 @@ void AP_Notify::update(void)
     toshibaled.update();
     tonealarm.update();
 #endif
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+    toshibaled.init();
+    tonealarm.update();
+#endif
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
     externalled.update();
     buzzer.update();

libraries/AP_Notify/AP_Notify.h

@@ -24,6 +24,7 @@
 #include <ToshibaLED_I2C.h>
 #include <ToshibaLED_PX4.h>
 #include <ToneAlarm_PX4.h>
+#include <ToneAlarm_Linux.h>
 #include <ExternalLED.h>
 #include <Buzzer.h>
 
@@ -67,6 +68,9 @@ private:
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
     ToshibaLED_PX4 toshibaled;
     ToneAlarm_PX4 tonealarm;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+    ToshibaLED_I2C toshibaled;
+    ToneAlarm_Linux tonealarm;
 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2 
     ExternalLED externalled;
     Buzzer buzzer;
@@ -79,4 +83,4 @@ private:
 #endif
 };
 
-#endif	// __AP_NOTIFY_H__
+#endif    // __AP_NOTIFY_H__

libraries/AP_Notify/ToneAlarm_Linux.cpp

@@ -0,0 +1,125 @@
+/*
+  ToneAlarm Linux driver
+*/
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+#include "ToneAlarm_Linux.h"
+#include "AP_Notify.h"
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include "../AP_HAL_Linux/Util.h"
+#include <stdio.h>
+#include <errno.h>
+
+extern const AP_HAL::HAL& hal;
+
+bool ToneAlarm_Linux::init()
+{
+    // open the tone alarm device
+    err = hal.util->toneAlarm_init();
+    if (err == -1) {
+        hal.console->printf("Unable to open ToneAlarm sysfs");
+        return false;
+    }
+    
+    // set initial boot states. This prevents us issueing a arming
+    // warning in plane and rover on every boot
+    flags.armed = AP_Notify::flags.armed;
+    flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
+    return true;
+}
+
+// play_tune - play one of the pre-defined tunes
+bool ToneAlarm_Linux::play_tune(const uint8_t tune_number)
+{
+    hal.util->toneAlarm_set_tune(tune_number);
+    return true;
+}
+
+
+// update - updates led according to timed_updated.  Should be called at 50Hz
+void ToneAlarm_Linux::update()
+{
+    // exit immediately if we haven't initialised successfully
+    if (err == -1) {
+        return;
+    }
+
+    // check for arming failure
+    if(flags.arming_failed != AP_Notify::flags.arming_failed) {
+        flags.arming_failed = AP_Notify::flags.arming_failed;
+        if(flags.arming_failed) {
+            play_tune(TONE_ARMING_FAILURE_TUNE);
+        }
+    }
+
+    // check if arming status has changed
+    if (flags.armed != AP_Notify::flags.armed) {
+        flags.armed = AP_Notify::flags.armed;
+        if (flags.armed) {
+            // arming tune
+            play_tune(TONE_ARMING_WARNING_TUNE);
+        }else{
+            // disarming tune
+            play_tune(TONE_NOTIFY_NEUTRAL_TUNE);
+        }
+    }
+
+    // check if battery status has changed
+    if (flags.failsafe_battery != AP_Notify::flags.failsafe_battery) {
+        flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
+        if (flags.failsafe_battery) {
+            // low battery warning tune
+            play_tune(TONE_BATTERY_WARNING_FAST_TUNE);
+        }
+    }
+
+    // check gps glitch
+    if (flags.gps_glitching != AP_Notify::flags.gps_glitching) {
+        flags.gps_glitching = AP_Notify::flags.gps_glitching;
+        if (flags.gps_glitching) {
+            // gps glitch warning tune
+            play_tune(TONE_GPS_WARNING_TUNE);
+        }
+    }
+
+    // check gps failsafe
+    if (flags.failsafe_gps != AP_Notify::flags.failsafe_gps) {
+        flags.failsafe_gps = AP_Notify::flags.failsafe_gps;
+        if (flags.failsafe_gps) {
+            // gps glitch warning tune
+            play_tune(TONE_GPS_WARNING_TUNE);
+        }
+    }
+
+    // check parachute release
+    if (flags.parachute_release != AP_Notify::flags.parachute_release) {
+        flags.parachute_release = AP_Notify::flags.parachute_release;
+        if (flags.parachute_release) {
+            // parachute release warning tune
+            play_tune(TONE_PARACHUTE_RELEASE_TUNE);
+        }
+    }
+}
+
+#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4

libraries/AP_Notify/ToneAlarm_Linux.h

@@ -0,0 +1,49 @@
+/*
+  ToneAlarm Linux driver
+*/
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#ifndef __TONE_ALARM_Linux_H__
+#define __TONE_ALARM_Linux_H__
+
+#include "ToneAlarm_Linux.h"
+
+class ToneAlarm_Linux
+{
+public:
+    /// init - initialised the tone alarm
+    bool init(void);
+
+    /// update - updates led according to timed_updated.  Should be called at 50Hz
+    void update();
+
+private:
+    /// play_tune - play one of the pre-defined tunes
+    bool play_tune(const uint8_t tune_number);
+
+    int err;
+
+    /// tonealarm_type - bitmask of states we track
+    struct tonealarm_type {
+        uint8_t armed              : 1;    // 0 = disarmed, 1 = armed
+        uint8_t failsafe_battery   : 1;    // 1 if battery failsafe
+        uint8_t gps_glitching      : 1;    // 1 if gps position is not good
+        uint8_t failsafe_gps       : 1;    // 1 if gps failsafe
+        uint8_t arming_failed      : 1;    // 0 = failing checks, 1 = passed
+        uint8_t parachute_release  : 1;    // 1 if parachute is being released
+    } flags;
+};
+
+#endif // __TONE_ALARM_Linux_H__