forked from Archive/PX4-Autopilot
ToneAlarmInterface: add support for non-pwm-based buzzers
This commit is contained in:
Beat Küng
parent
92c2d7ae36
commit
f803e54eee
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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2013-2019 PX4 Development Team. All rights reserved.
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* Copyright (C) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@ -31,260 +31,10 @@
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*
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****************************************************************************/
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/**
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* @file ToneAlarmInterface.cpp
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*/
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#include <board_config.h>
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#include <drivers/device/device.h>
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#include <lib/drivers/tone_alarm/ToneAlarmInterface.h>
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#include <px4_defines.h>
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#include <cmath>
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/* Check that tone alarm and HRT timers are different */
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#if defined(TONE_ALARM_TIMER) && defined(HRT_TIMER)
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# if TONE_ALARM_TIMER == HRT_TIMER
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# error TONE_ALARM_TIMER and HRT_TIMER must use different timers.
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# endif
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#endif
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/* Period of the free-running counter, in microseconds. */
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#ifndef TONE_ALARM_COUNTER_PERIOD
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#define TONE_ALARM_COUNTER_PERIOD 65536
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#endif
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/* Tone alarm configuration */
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#if TONE_ALARM_TIMER == 1
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# define TONE_ALARM_BASE STM32_TIM1_BASE
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# define TONE_ALARM_CLOCK STM32_APB2_TIM1_CLKIN
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# define TONE_ALARM_CLOCK_ENABLE RCC_APB2ENR_TIM1EN
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# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB2ENR
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# if defined(CONFIG_STM32_TIM1)
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# error Must not set CONFIG_STM32_TIM1 when TONE_ALARM_TIMER is 1
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# endif
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#elif TONE_ALARM_TIMER == 2
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# define TONE_ALARM_BASE STM32_TIM2_BASE
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# define TONE_ALARM_CLOCK STM32_APB1_TIM2_CLKIN
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# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM2EN
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# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB1ENR
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# if defined(CONFIG_STM32_TIM2)
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# error Must not set CONFIG_STM32_TIM2 when TONE_ALARM_TIMER is 2
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# endif
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#elif TONE_ALARM_TIMER == 3
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# define TONE_ALARM_BASE STM32_TIM3_BASE
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# define TONE_ALARM_CLOCK STM32_APB1_TIM3_CLKIN
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# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM3EN
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# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB1ENR
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# if defined(CONFIG_STM32_TIM3)
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# error Must not set CONFIG_STM32_TIM3 when TONE_ALARM_TIMER is 3
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# endif
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#elif TONE_ALARM_TIMER == 4
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# define TONE_ALARM_BASE STM32_TIM4_BASE
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# define TONE_ALARM_CLOCK STM32_APB1_TIM4_CLKIN
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# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM4EN
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# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB1ENR
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# if defined(CONFIG_STM32_TIM4)
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# error Must not set CONFIG_STM32_TIM4 when TONE_ALARM_TIMER is 4
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# endif
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#elif TONE_ALARM_TIMER == 5
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# define TONE_ALARM_BASE STM32_TIM5_BASE
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# define TONE_ALARM_CLOCK STM32_APB1_TIM5_CLKIN
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# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM5EN
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# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB1ENR
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# if defined(CONFIG_STM32_TIM5)
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# error Must not set CONFIG_STM32_TIM5 when TONE_ALARM_TIMER is 5
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# endif
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#elif TONE_ALARM_TIMER == 8
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# define TONE_ALARM_BASE STM32_TIM8_BASE
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# define TONE_ALARM_CLOCK STM32_APB2_TIM8_CLKIN
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# define TONE_ALARM_CLOCK_ENABLE RCC_APB2ENR_TIM8EN
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# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB2ENR
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# if defined(CONFIG_STM32_TIM8)
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# error Must not set CONFIG_STM32_TIM8 when TONE_ALARM_TIMER is 8
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# endif
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#elif TONE_ALARM_TIMER == 9
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# define TONE_ALARM_BASE STM32_TIM9_BASE
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# define TONE_ALARM_CLOCK STM32_APB2_TIM9_CLKIN
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# define TONE_ALARM_CLOCK_ENABLE RCC_APB2ENR_TIM9EN
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# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB2ENR
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# if defined(CONFIG_STM32_TIM9)
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# error Must not set CONFIG_STM32_TIM9 when TONE_ALARM_TIMER is 9
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# endif
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#elif TONE_ALARM_TIMER == 10
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# define TONE_ALARM_BASE STM32_TIM10_BASE
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# define TONE_ALARM_CLOCK STM32_APB2_TIM10_CLKIN
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# define TONE_ALARM_CLOCK_ENABLE RCC_APB2ENR_TIM10EN
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# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB2ENR
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# if defined(CONFIG_STM32_TIM10)
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# error Must not set CONFIG_STM32_TIM10 when TONE_ALARM_TIMER is 10
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# endif
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#elif TONE_ALARM_TIMER == 11
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# define TONE_ALARM_BASE STM32_TIM11_BASE
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# define TONE_ALARM_CLOCK STM32_APB2_TIM11_CLKIN
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# define TONE_ALARM_CLOCK_ENABLE RCC_APB2ENR_TIM11EN
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# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB2ENR
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# if defined(CONFIG_STM32_TIM11)
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# error Must not set CONFIG_STM32_TIM11 when TONE_ALARM_TIMER is 11
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# endif
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#elif TONE_ALARM_TIMER == 12
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# define TONE_ALARM_BASE STM32_TIM12_BASE
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# define TONE_ALARM_CLOCK STM32_APB1_TIM12_CLKIN
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# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM12EN
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# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB1ENR
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# if defined(CONFIG_STM32_TIM12)
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# error Must not set CONFIG_STM32_TIM12 when TONE_ALARM_TIMER is 12
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# endif
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#elif TONE_ALARM_TIMER == 13
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# define TONE_ALARM_BASE STM32_TIM13_BASE
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# define TONE_ALARM_CLOCK STM32_APB1_TIM13_CLKIN
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# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM13EN
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# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB1ENR
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# if defined(CONFIG_STM32_TIM13)
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# error Must not set CONFIG_STM32_TIM13 when TONE_ALARM_TIMER is 13
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# endif
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#elif TONE_ALARM_TIMER == 14
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# define TONE_ALARM_BASE STM32_TIM14_BASE
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# define TONE_ALARM_CLOCK STM32_APB1_TIM14_CLKIN
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# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM14EN
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# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB1ENR
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# if defined(CONFIG_STM32_TIM14)
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# error Must not set CONFIG_STM32_TIM14 when TONE_ALARM_TIMER is 14
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# endif
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#ifdef GPIO_TONE_ALARM_GPIO
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#include "ToneAlarmInterfaceGPIO.cpp"
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#else
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# error Must set TONE_ALARM_TIMER to one of the timers between 1 and 14 (inclusive) to use this driver.
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#endif // TONE_ALARM_TIMER
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#if TONE_ALARM_CHANNEL == 1
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# define TONE_CCER (1 << 0)
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# define TONE_CCMR1 (3 << 4)
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# define TONE_CCMR2 0
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# define TONE_rCCR rCCR1
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#elif TONE_ALARM_CHANNEL == 2
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# define TONE_CCER (1 << 4)
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# define TONE_CCMR1 (3 << 12)
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# define TONE_CCMR2 0
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# define TONE_rCCR rCCR2
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#elif TONE_ALARM_CHANNEL == 3
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# define TONE_CCER (1 << 8)
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# define TONE_CCMR1 0
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# define TONE_CCMR2 (3 << 4)
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# define TONE_rCCR rCCR3
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#elif TONE_ALARM_CHANNEL == 4
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# define TONE_CCER (1 << 12)
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# define TONE_CCMR1 0
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# define TONE_CCMR2 (3 << 12)
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# define TONE_rCCR rCCR4
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#else
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# error Must set TONE_ALARM_CHANNEL to a value between 1 and 4 to use this driver.
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#endif // TONE_ALARM_CHANNEL
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/* Timer register accessors. */
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#define REG(_reg) (*(volatile uint32_t *)(TONE_ALARM_BASE + _reg))
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#if TONE_ALARM_TIMER == 1 || TONE_ALARM_TIMER == 8 // Note: If using TIM1 or TIM8, then you are using the ADVANCED timers and NOT the GENERAL TIMERS, therefore different registers
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# define rARR REG(STM32_ATIM_ARR_OFFSET)
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# define rBDTR REG(STM32_ATIM_BDTR_OFFSET)
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# define rCCER REG(STM32_ATIM_CCER_OFFSET)
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# define rCCMR1 REG(STM32_ATIM_CCMR1_OFFSET)
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# define rCCMR2 REG(STM32_ATIM_CCMR2_OFFSET)
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# define rCCR1 REG(STM32_ATIM_CCR1_OFFSET)
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# define rCCR2 REG(STM32_ATIM_CCR2_OFFSET)
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# define rCCR3 REG(STM32_ATIM_CCR3_OFFSET)
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# define rCCR4 REG(STM32_ATIM_CCR4_OFFSET)
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# define rCNT REG(STM32_ATIM_CNT_OFFSET)
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# define rCR1 REG(STM32_ATIM_CR1_OFFSET)
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# define rCR2 REG(STM32_ATIM_CR2_OFFSET)
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# define rDCR REG(STM32_ATIM_DCR_OFFSET)
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# define rDIER REG(STM32_ATIM_DIER_OFFSET)
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# define rDMAR REG(STM32_ATIM_DMAR_OFFSET)
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# define rEGR REG(STM32_ATIM_EGR_OFFSET)
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# define rPSC REG(STM32_ATIM_PSC_OFFSET)
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# define rRCR REG(STM32_ATIM_RCR_OFFSET)
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# define rSMCR REG(STM32_ATIM_SMCR_OFFSET)
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# define rSR REG(STM32_ATIM_SR_OFFSET)
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#else
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# define rARR REG(STM32_GTIM_ARR_OFFSET)
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# define rCCER REG(STM32_GTIM_CCER_OFFSET)
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# define rCCMR1 REG(STM32_GTIM_CCMR1_OFFSET)
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# define rCCMR2 REG(STM32_GTIM_CCMR2_OFFSET)
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# define rCCR1 REG(STM32_GTIM_CCR1_OFFSET)
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# define rCCR2 REG(STM32_GTIM_CCR2_OFFSET)
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# define rCCR3 REG(STM32_GTIM_CCR3_OFFSET)
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# define rCCR4 REG(STM32_GTIM_CCR4_OFFSET)
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# define rCNT REG(STM32_GTIM_CNT_OFFSET)
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# define rCR1 REG(STM32_GTIM_CR1_OFFSET)
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# define rCR2 REG(STM32_GTIM_CR2_OFFSET)
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# define rDCR REG(STM32_GTIM_DCR_OFFSET)
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# define rDIER REG(STM32_GTIM_DIER_OFFSET)
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# define rDMAR REG(STM32_GTIM_DMAR_OFFSET)
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# define rEGR REG(STM32_GTIM_EGR_OFFSET)
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# define rPSC REG(STM32_GTIM_PSC_OFFSET)
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# define rRCR REG(STM32_GTIM_RCR_OFFSET)
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# define rSMCR REG(STM32_GTIM_SMCR_OFFSET)
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# define rSR REG(STM32_GTIM_SR_OFFSET)
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#include "ToneAlarmInterfacePWM.cpp"
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#endif
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void ToneAlarmInterface::init()
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{
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#ifdef GPIO_TONE_ALARM_NEG
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px4_arch_configgpio(GPIO_TONE_ALARM_NEG);
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#else
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// Configure the GPIO to the idle state.
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px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
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#endif
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// Clock/power on our timer.
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modifyreg32(TONE_ALARM_CLOCK_POWER_REG, 0, TONE_ALARM_CLOCK_ENABLE);
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// Initialize the timer.
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rCCER &= TONE_CCER; // Unlock CCMR* registers.
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rCCER = TONE_CCER;
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rCCMR1 = TONE_CCMR1;
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rCCMR2 = TONE_CCMR2;
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rCR1 = 0;
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rCR2 = 0;
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rDCR = 0;
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rDIER = 0;
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rSMCR = 0;
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#ifdef rBDTR // If using an advanced timer, you need to activate the output.
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rBDTR = ATIM_BDTR_MOE; // Enable the main output of the advanced timer.
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#endif
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TONE_rCCR = 1; // Toggle the CC output each time the count passes 1.
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rPSC = 0; // Default the timer to a prescale value of 1; playing notes will change this.
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rCR1 = GTIM_CR1_CEN; // Ensure the timer is running.
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}
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void ToneAlarmInterface::start_note(unsigned frequency)
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{
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// Calculate the signal switching period.
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// (Signal switching period is one half of the frequency period).
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float signal_period = (1.0f / frequency) * 0.5f;
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// Calculate the hardware clock divisor rounded to the nearest integer.
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unsigned int divisor = std::round(signal_period * TONE_ALARM_CLOCK);
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// Pick the lowest prescaler value that we can use.
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// (Note that the effective prescale value is 1 greater.)
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unsigned int prescale = divisor / TONE_ALARM_COUNTER_PERIOD;
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// Calculate the period for the selected prescaler value.
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unsigned int period = (divisor / (prescale + 1)) - 1;
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rPSC = prescale; // Load new prescaler.
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rARR = period; // Load new toggle period.
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rEGR = GTIM_EGR_UG; // Force a reload of the period.
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rCCER |= TONE_CCER; // Enable the output.
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// Configure the GPIO to enable timer output.
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px4_arch_configgpio(GPIO_TONE_ALARM);
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}
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void ToneAlarmInterface::stop_note()
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{
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// Stop the current note.
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rCCER &= ~TONE_CCER;
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// Ensure the GPIO is not driving the speaker.
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px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
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}
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@ -0,0 +1,53 @@
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/****************************************************************************
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*
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* Copyright (C) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
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* are met:
|
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*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
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* distribution.
|
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
|
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*
|
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
|
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*
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****************************************************************************/
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#include <lib/drivers/tone_alarm/ToneAlarmInterface.h>
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#include <px4_defines.h>
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#include <board_config.h>
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void ToneAlarmInterface::init()
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{
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// Configure the GPIO to the idle state.
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px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
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}
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void ToneAlarmInterface::start_note(unsigned frequency)
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{
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px4_arch_gpiowrite(GPIO_TONE_ALARM_GPIO, 1);
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}
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void ToneAlarmInterface::stop_note()
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{
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// Stop the current note.
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px4_arch_gpiowrite(GPIO_TONE_ALARM_GPIO, 0);
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}
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@ -0,0 +1,286 @@
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/****************************************************************************
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*
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* Copyright (C) 2013-2019 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
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****************************************************************************/
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#include <drivers/device/device.h>
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#include <lib/drivers/tone_alarm/ToneAlarmInterface.h>
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#include <px4_defines.h>
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#include <cmath>
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/* Check that tone alarm and HRT timers are different */
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#if defined(TONE_ALARM_TIMER) && defined(HRT_TIMER)
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# if TONE_ALARM_TIMER == HRT_TIMER
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# error TONE_ALARM_TIMER and HRT_TIMER must use different timers.
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# endif
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#endif
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/* Period of the free-running counter, in microseconds. */
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#ifndef TONE_ALARM_COUNTER_PERIOD
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#define TONE_ALARM_COUNTER_PERIOD 65536
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#endif
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/* Tone alarm configuration */
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#if TONE_ALARM_TIMER == 1
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# define TONE_ALARM_BASE STM32_TIM1_BASE
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# define TONE_ALARM_CLOCK STM32_APB2_TIM1_CLKIN
|
||||
# define TONE_ALARM_CLOCK_ENABLE RCC_APB2ENR_TIM1EN
|
||||
# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB2ENR
|
||||
# if defined(CONFIG_STM32_TIM1)
|
||||
# error Must not set CONFIG_STM32_TIM1 when TONE_ALARM_TIMER is 1
|
||||
# endif
|
||||
#elif TONE_ALARM_TIMER == 2
|
||||
# define TONE_ALARM_BASE STM32_TIM2_BASE
|
||||
# define TONE_ALARM_CLOCK STM32_APB1_TIM2_CLKIN
|
||||
# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM2EN
|
||||
# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB1ENR
|
||||
# if defined(CONFIG_STM32_TIM2)
|
||||
# error Must not set CONFIG_STM32_TIM2 when TONE_ALARM_TIMER is 2
|
||||
# endif
|
||||
#elif TONE_ALARM_TIMER == 3
|
||||
# define TONE_ALARM_BASE STM32_TIM3_BASE
|
||||
# define TONE_ALARM_CLOCK STM32_APB1_TIM3_CLKIN
|
||||
# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM3EN
|
||||
# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB1ENR
|
||||
# if defined(CONFIG_STM32_TIM3)
|
||||
# error Must not set CONFIG_STM32_TIM3 when TONE_ALARM_TIMER is 3
|
||||
# endif
|
||||
#elif TONE_ALARM_TIMER == 4
|
||||
# define TONE_ALARM_BASE STM32_TIM4_BASE
|
||||
# define TONE_ALARM_CLOCK STM32_APB1_TIM4_CLKIN
|
||||
# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM4EN
|
||||
# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB1ENR
|
||||
# if defined(CONFIG_STM32_TIM4)
|
||||
# error Must not set CONFIG_STM32_TIM4 when TONE_ALARM_TIMER is 4
|
||||
# endif
|
||||
#elif TONE_ALARM_TIMER == 5
|
||||
# define TONE_ALARM_BASE STM32_TIM5_BASE
|
||||
# define TONE_ALARM_CLOCK STM32_APB1_TIM5_CLKIN
|
||||
# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM5EN
|
||||
# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB1ENR
|
||||
# if defined(CONFIG_STM32_TIM5)
|
||||
# error Must not set CONFIG_STM32_TIM5 when TONE_ALARM_TIMER is 5
|
||||
# endif
|
||||
#elif TONE_ALARM_TIMER == 8
|
||||
# define TONE_ALARM_BASE STM32_TIM8_BASE
|
||||
# define TONE_ALARM_CLOCK STM32_APB2_TIM8_CLKIN
|
||||
# define TONE_ALARM_CLOCK_ENABLE RCC_APB2ENR_TIM8EN
|
||||
# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB2ENR
|
||||
# if defined(CONFIG_STM32_TIM8)
|
||||
# error Must not set CONFIG_STM32_TIM8 when TONE_ALARM_TIMER is 8
|
||||
# endif
|
||||
#elif TONE_ALARM_TIMER == 9
|
||||
# define TONE_ALARM_BASE STM32_TIM9_BASE
|
||||
# define TONE_ALARM_CLOCK STM32_APB2_TIM9_CLKIN
|
||||
# define TONE_ALARM_CLOCK_ENABLE RCC_APB2ENR_TIM9EN
|
||||
# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB2ENR
|
||||
# if defined(CONFIG_STM32_TIM9)
|
||||
# error Must not set CONFIG_STM32_TIM9 when TONE_ALARM_TIMER is 9
|
||||
# endif
|
||||
#elif TONE_ALARM_TIMER == 10
|
||||
# define TONE_ALARM_BASE STM32_TIM10_BASE
|
||||
# define TONE_ALARM_CLOCK STM32_APB2_TIM10_CLKIN
|
||||
# define TONE_ALARM_CLOCK_ENABLE RCC_APB2ENR_TIM10EN
|
||||
# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB2ENR
|
||||
# if defined(CONFIG_STM32_TIM10)
|
||||
# error Must not set CONFIG_STM32_TIM10 when TONE_ALARM_TIMER is 10
|
||||
# endif
|
||||
#elif TONE_ALARM_TIMER == 11
|
||||
# define TONE_ALARM_BASE STM32_TIM11_BASE
|
||||
# define TONE_ALARM_CLOCK STM32_APB2_TIM11_CLKIN
|
||||
# define TONE_ALARM_CLOCK_ENABLE RCC_APB2ENR_TIM11EN
|
||||
# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB2ENR
|
||||
# if defined(CONFIG_STM32_TIM11)
|
||||
# error Must not set CONFIG_STM32_TIM11 when TONE_ALARM_TIMER is 11
|
||||
# endif
|
||||
#elif TONE_ALARM_TIMER == 12
|
||||
# define TONE_ALARM_BASE STM32_TIM12_BASE
|
||||
# define TONE_ALARM_CLOCK STM32_APB1_TIM12_CLKIN
|
||||
# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM12EN
|
||||
# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB1ENR
|
||||
# if defined(CONFIG_STM32_TIM12)
|
||||
# error Must not set CONFIG_STM32_TIM12 when TONE_ALARM_TIMER is 12
|
||||
# endif
|
||||
#elif TONE_ALARM_TIMER == 13
|
||||
# define TONE_ALARM_BASE STM32_TIM13_BASE
|
||||
# define TONE_ALARM_CLOCK STM32_APB1_TIM13_CLKIN
|
||||
# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM13EN
|
||||
# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB1ENR
|
||||
# if defined(CONFIG_STM32_TIM13)
|
||||
# error Must not set CONFIG_STM32_TIM13 when TONE_ALARM_TIMER is 13
|
||||
# endif
|
||||
#elif TONE_ALARM_TIMER == 14
|
||||
# define TONE_ALARM_BASE STM32_TIM14_BASE
|
||||
# define TONE_ALARM_CLOCK STM32_APB1_TIM14_CLKIN
|
||||
# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM14EN
|
||||
# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB1ENR
|
||||
# if defined(CONFIG_STM32_TIM14)
|
||||
# error Must not set CONFIG_STM32_TIM14 when TONE_ALARM_TIMER is 14
|
||||
# endif
|
||||
#else
|
||||
# error Must set TONE_ALARM_TIMER to one of the timers between 1 and 14 (inclusive) to use this driver.
|
||||
#endif // TONE_ALARM_TIMER
|
||||
|
||||
#if TONE_ALARM_CHANNEL == 1
|
||||
# define TONE_CCER (1 << 0)
|
||||
# define TONE_CCMR1 (3 << 4)
|
||||
# define TONE_CCMR2 0
|
||||
# define TONE_rCCR rCCR1
|
||||
#elif TONE_ALARM_CHANNEL == 2
|
||||
# define TONE_CCER (1 << 4)
|
||||
# define TONE_CCMR1 (3 << 12)
|
||||
# define TONE_CCMR2 0
|
||||
# define TONE_rCCR rCCR2
|
||||
#elif TONE_ALARM_CHANNEL == 3
|
||||
# define TONE_CCER (1 << 8)
|
||||
# define TONE_CCMR1 0
|
||||
# define TONE_CCMR2 (3 << 4)
|
||||
# define TONE_rCCR rCCR3
|
||||
#elif TONE_ALARM_CHANNEL == 4
|
||||
# define TONE_CCER (1 << 12)
|
||||
# define TONE_CCMR1 0
|
||||
# define TONE_CCMR2 (3 << 12)
|
||||
# define TONE_rCCR rCCR4
|
||||
#else
|
||||
# error Must set TONE_ALARM_CHANNEL to a value between 1 and 4 to use this driver.
|
||||
#endif // TONE_ALARM_CHANNEL
|
||||
|
||||
/* Timer register accessors. */
|
||||
#define REG(_reg) (*(volatile uint32_t *)(TONE_ALARM_BASE + _reg))
|
||||
|
||||
#if TONE_ALARM_TIMER == 1 || TONE_ALARM_TIMER == 8 // Note: If using TIM1 or TIM8, then you are using the ADVANCED timers and NOT the GENERAL TIMERS, therefore different registers
|
||||
# define rARR REG(STM32_ATIM_ARR_OFFSET)
|
||||
# define rBDTR REG(STM32_ATIM_BDTR_OFFSET)
|
||||
# define rCCER REG(STM32_ATIM_CCER_OFFSET)
|
||||
# define rCCMR1 REG(STM32_ATIM_CCMR1_OFFSET)
|
||||
# define rCCMR2 REG(STM32_ATIM_CCMR2_OFFSET)
|
||||
# define rCCR1 REG(STM32_ATIM_CCR1_OFFSET)
|
||||
# define rCCR2 REG(STM32_ATIM_CCR2_OFFSET)
|
||||
# define rCCR3 REG(STM32_ATIM_CCR3_OFFSET)
|
||||
# define rCCR4 REG(STM32_ATIM_CCR4_OFFSET)
|
||||
# define rCNT REG(STM32_ATIM_CNT_OFFSET)
|
||||
# define rCR1 REG(STM32_ATIM_CR1_OFFSET)
|
||||
# define rCR2 REG(STM32_ATIM_CR2_OFFSET)
|
||||
# define rDCR REG(STM32_ATIM_DCR_OFFSET)
|
||||
# define rDIER REG(STM32_ATIM_DIER_OFFSET)
|
||||
# define rDMAR REG(STM32_ATIM_DMAR_OFFSET)
|
||||
# define rEGR REG(STM32_ATIM_EGR_OFFSET)
|
||||
# define rPSC REG(STM32_ATIM_PSC_OFFSET)
|
||||
# define rRCR REG(STM32_ATIM_RCR_OFFSET)
|
||||
# define rSMCR REG(STM32_ATIM_SMCR_OFFSET)
|
||||
# define rSR REG(STM32_ATIM_SR_OFFSET)
|
||||
#else
|
||||
# define rARR REG(STM32_GTIM_ARR_OFFSET)
|
||||
# define rCCER REG(STM32_GTIM_CCER_OFFSET)
|
||||
# define rCCMR1 REG(STM32_GTIM_CCMR1_OFFSET)
|
||||
# define rCCMR2 REG(STM32_GTIM_CCMR2_OFFSET)
|
||||
# define rCCR1 REG(STM32_GTIM_CCR1_OFFSET)
|
||||
# define rCCR2 REG(STM32_GTIM_CCR2_OFFSET)
|
||||
# define rCCR3 REG(STM32_GTIM_CCR3_OFFSET)
|
||||
# define rCCR4 REG(STM32_GTIM_CCR4_OFFSET)
|
||||
# define rCNT REG(STM32_GTIM_CNT_OFFSET)
|
||||
# define rCR1 REG(STM32_GTIM_CR1_OFFSET)
|
||||
# define rCR2 REG(STM32_GTIM_CR2_OFFSET)
|
||||
# define rDCR REG(STM32_GTIM_DCR_OFFSET)
|
||||
# define rDIER REG(STM32_GTIM_DIER_OFFSET)
|
||||
# define rDMAR REG(STM32_GTIM_DMAR_OFFSET)
|
||||
# define rEGR REG(STM32_GTIM_EGR_OFFSET)
|
||||
# define rPSC REG(STM32_GTIM_PSC_OFFSET)
|
||||
# define rRCR REG(STM32_GTIM_RCR_OFFSET)
|
||||
# define rSMCR REG(STM32_GTIM_SMCR_OFFSET)
|
||||
# define rSR REG(STM32_GTIM_SR_OFFSET)
|
||||
#endif
|
||||
|
||||
void ToneAlarmInterface::init()
|
||||
{
|
||||
#ifdef GPIO_TONE_ALARM_NEG
|
||||
px4_arch_configgpio(GPIO_TONE_ALARM_NEG);
|
||||
#else
|
||||
// Configure the GPIO to the idle state.
|
||||
px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
|
||||
#endif
|
||||
|
||||
// Clock/power on our timer.
|
||||
modifyreg32(TONE_ALARM_CLOCK_POWER_REG, 0, TONE_ALARM_CLOCK_ENABLE);
|
||||
|
||||
// Initialize the timer.
|
||||
rCCER &= TONE_CCER; // Unlock CCMR* registers.
|
||||
rCCER = TONE_CCER;
|
||||
rCCMR1 = TONE_CCMR1;
|
||||
rCCMR2 = TONE_CCMR2;
|
||||
rCR1 = 0;
|
||||
rCR2 = 0;
|
||||
rDCR = 0;
|
||||
rDIER = 0;
|
||||
rSMCR = 0;
|
||||
|
||||
#ifdef rBDTR // If using an advanced timer, you need to activate the output.
|
||||
rBDTR = ATIM_BDTR_MOE; // Enable the main output of the advanced timer.
|
||||
#endif
|
||||
|
||||
TONE_rCCR = 1; // Toggle the CC output each time the count passes 1.
|
||||
rPSC = 0; // Default the timer to a prescale value of 1; playing notes will change this.
|
||||
rCR1 = GTIM_CR1_CEN; // Ensure the timer is running.
|
||||
}
|
||||
|
||||
void ToneAlarmInterface::start_note(unsigned frequency)
|
||||
{
|
||||
// Calculate the signal switching period.
|
||||
// (Signal switching period is one half of the frequency period).
|
||||
float signal_period = (1.0f / frequency) * 0.5f;
|
||||
|
||||
// Calculate the hardware clock divisor rounded to the nearest integer.
|
||||
unsigned int divisor = std::round(signal_period * TONE_ALARM_CLOCK);
|
||||
|
||||
// Pick the lowest prescaler value that we can use.
|
||||
// (Note that the effective prescale value is 1 greater.)
|
||||
unsigned int prescale = divisor / TONE_ALARM_COUNTER_PERIOD;
|
||||
|
||||
// Calculate the period for the selected prescaler value.
|
||||
unsigned int period = (divisor / (prescale + 1)) - 1;
|
||||
|
||||
rPSC = prescale; // Load new prescaler.
|
||||
rARR = period; // Load new toggle period.
|
||||
rEGR = GTIM_EGR_UG; // Force a reload of the period.
|
||||
rCCER |= TONE_CCER; // Enable the output.
|
||||
|
||||
// Configure the GPIO to enable timer output.
|
||||
px4_arch_configgpio(GPIO_TONE_ALARM);
|
||||
}
|
||||
|
||||
void ToneAlarmInterface::stop_note()
|
||||
{
|
||||
// Stop the current note.
|
||||
rCCER &= ~TONE_CCER;
|
||||
|
||||
// Ensure the GPIO is not driving the speaker.
|
||||
px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
|
||||
}
|
||||
Loading…
Reference in New Issue