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HAL_PX4: fixes for new tone_alarm system

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we need to start the driver
This commit is contained in:
Andrew Tridgell 2018-07-30 13:12:37 +10:00
parent 2f90f25187
commit bdca329012
4 changed files with 13 additions and 20 deletions
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14
libraries/AP_HAL_PX4/GPIO.cpp
View File

@ -47,11 +47,6 @@ void PX4GPIO::init()
#endif
#endif
#if !defined(CONFIG_ARCH_BOARD_AEROFC_V1)
_tone_alarm_fd = open(TONEALARM0_DEVICE_PATH, O_WRONLY);
if (_tone_alarm_fd == -1) {
AP_HAL::panic("Unable to open " TONEALARM0_DEVICE_PATH);
}
_gpio_fmu_fd = open(PX4FMU_DEVICE_PATH, 0);
if (_gpio_fmu_fd == -1) {
AP_HAL::panic("Unable to open GPIO");
@ -193,15 +188,6 @@ void PX4GPIO::write(uint8_t pin, uint8_t value)
break;
#endif
case PX4_GPIO_PIEZO_PIN: // Piezo beeper
if (value == LOW) { // this is inverted
ioctl(_tone_alarm_fd, TONE_SET_ALARM, 3); // Alarm on !!
//::write(_tone_alarm_fd, &user_tune, sizeof(user_tune));
} else {
ioctl(_tone_alarm_fd, TONE_SET_ALARM, 0); // Alarm off !!
}
break;
#ifdef GPIO_EXT_1
case PX4_GPIO_EXT_FMU_RELAY1_PIN:
ioctl(_gpio_fmu_fd, value==LOW?GPIO_CLEAR:GPIO_SET, GPIO_EXT_1);

1
libraries/AP_HAL_PX4/GPIO.h
View File

@ -55,7 +55,6 @@ public:
private:
int _led_fd = -1;
int _tone_alarm_fd = -1;
int _gpio_fmu_fd = -1;
int _gpio_io_fd = -1;
bool _usb_connected = false;

16
libraries/AP_HAL_PX4/Util.cpp
View File

@ -266,6 +266,7 @@ void PX4Util::free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_ty
extern "C" {
int bl_update_main(int argc, char *argv[]);
int tone_alarm_main(int argc, char *argv[]);
};
bool PX4Util::flash_bootloader()
@ -279,18 +280,25 @@ bool PX4Util::flash_bootloader()
return false;
}
bool PX4Util::toneAlarm_init() {
bool PX4Util::toneAlarm_init()
{
if (!AP_BoardConfig::px4_start_driver(tone_alarm_main, "tone_alarm", "start")) {
hal.console->printf("Failed to start tone_alarm\n");
return false;
}
_tonealarm_fd = open(TONEALARM0_DEVICE_PATH, O_WRONLY);
if (_tonealarm_fd == -1) {
hal.console->printf("ToneAlarm_PX4: Unable to open " TONEALARM0_DEVICE_PATH);
return false;
}
return true;
}
void PX4Util::toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) {
void PX4Util::toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms)
{
if (_tonealarm_fd == -1) {
return;
}
if (is_zero(frequency) || is_zero(volume)) {
write(_tonealarm_fd, "MFP", 4);
} else {

2
libraries/AP_HAL_PX4/Util.h
View File

@ -78,5 +78,5 @@ private:
int fd = -1;
} _heater;
int _tonealarm_fd;
int _tonealarm_fd = -1;
};