From dc5f18bdcd2a7d68d1660777b05f943630250968 Mon Sep 17 00:00:00 2001
From: mcsauder <mcsauder@gmail.com>
Date: Thu, 10 Jan 2019 14:39:27 -0700
Subject: [PATCH] ToneAlarm class refactoring to implement an interface for
hardware specific methods and a single ToneAlarm class.
---
boards/airmind/mindpx-v2/default.cmake | 1 +
boards/auav/x21/default.cmake | 1 +
boards/av/x-v1/default.cmake | 1 +
boards/gumstix/aerocore2/default.cmake | 1 +
boards/nxp/fmuk66-v3/default.cmake | 1 +
boards/px4/fmu-v2/default.cmake | 1 +
boards/px4/fmu-v2/lpe.cmake | 1 +
boards/px4/fmu-v2/test.cmake | 1 +
boards/px4/fmu-v3/default.cmake | 1 +
boards/px4/fmu-v3/rtps.cmake | 1 +
boards/px4/fmu-v3/stackcheck.cmake | 1 +
boards/px4/fmu-v4/default.cmake | 1 +
boards/px4/fmu-v4/rtps.cmake | 1 +
boards/px4/fmu-v4/stackcheck.cmake | 1 +
boards/px4/fmu-v4pro/default.cmake | 1 +
boards/px4/fmu-v4pro/rtps.cmake | 1 +
boards/px4/fmu-v5/default.cmake | 1 +
boards/px4/fmu-v5/rtps.cmake | 1 +
boards/px4/fmu-v5/stackcheck.cmake | 1 +
boards/px4/sitl/default.cmake | 3 +-
boards/px4/sitl/rtps.cmake | 3 +-
boards/px4/sitl/test.cmake | 3 +-
.../cxx/tone_alarm/ToneAlarmInterface.cpp | 193 ++++++
src/drivers/drv_hrt.h | 1 +
src/drivers/drv_tone_alarm.h | 16 +-
src/drivers/kinetis/tone_alarm/CMakeLists.txt | 14 +-
.../kinetis/tone_alarm/ToneAlarmInterface.cpp | 183 ++++++
src/drivers/kinetis/tone_alarm/tone_alarm.cpp | 500 ---------------
src/drivers/sim/tone_alarm/CMakeLists.txt | 36 ++
.../sim/tone_alarm/ToneAlarmInterface.cpp | 54 ++
src/drivers/stm32/tone_alarm/CMakeLists.txt | 14 +-
.../stm32/tone_alarm/ToneAlarmInterface.cpp | 289 +++++++++
src/drivers/stm32/tone_alarm/tone_alarm.cpp | 586 ------------------
.../CMakeLists.txt | 11 +-
src/drivers/tone_alarm/ToneAlarm.cpp | 242 ++++++++
src/drivers/tone_alarm/ToneAlarm.h | 120 ++++
src/drivers/tone_alarm_sim/tone_alarm.cpp | 341 ----------
src/lib/drivers/CMakeLists.txt | 1 +
src/lib/drivers/tone_alarm/CMakeLists.txt | 34 +
.../drivers/tone_alarm/ToneAlarmInterface.h | 54 ++
src/modules/mavlink/mavlink_receiver.cpp | 2 +-
src/systemcmds/tests/test_hrt.cpp | 4 +-
42 files changed, 1258 insertions(+), 1465 deletions(-)
create mode 100644 platforms/nuttx/NuttX/include/cxx/tone_alarm/ToneAlarmInterface.cpp
create mode 100644 src/drivers/kinetis/tone_alarm/ToneAlarmInterface.cpp
delete mode 100644 src/drivers/kinetis/tone_alarm/tone_alarm.cpp
create mode 100644 src/drivers/sim/tone_alarm/CMakeLists.txt
create mode 100644 src/drivers/sim/tone_alarm/ToneAlarmInterface.cpp
create mode 100644 src/drivers/stm32/tone_alarm/ToneAlarmInterface.cpp
delete mode 100644 src/drivers/stm32/tone_alarm/tone_alarm.cpp
rename src/drivers/{tone_alarm_sim => tone_alarm}/CMakeLists.txt (91%)
create mode 100644 src/drivers/tone_alarm/ToneAlarm.cpp
create mode 100644 src/drivers/tone_alarm/ToneAlarm.h
delete mode 100644 src/drivers/tone_alarm_sim/tone_alarm.cpp
create mode 100644 src/lib/drivers/tone_alarm/CMakeLists.txt
create mode 100644 src/lib/drivers/tone_alarm/ToneAlarmInterface.h
diff --git a/boards/airmind/mindpx-v2/default.cmake b/boards/airmind/mindpx-v2/default.cmake
index 852df4b6e3..f288fb877f 100644
--- a/boards/airmind/mindpx-v2/default.cmake
+++ b/boards/airmind/mindpx-v2/default.cmake
@@ -45,6 +45,7 @@ px4_add_board(
tap_esc
telemetry # all available telemetry drivers
test_ppm
+ tone_alarm
uavcan
MODULES
diff --git a/boards/auav/x21/default.cmake b/boards/auav/x21/default.cmake
index cbcdc5e109..d53fb224e2 100644
--- a/boards/auav/x21/default.cmake
+++ b/boards/auav/x21/default.cmake
@@ -50,6 +50,7 @@ px4_add_board(
tap_esc
telemetry # all available telemetry drivers
test_ppm
+ tone_alarm
uavcan
MODULES
diff --git a/boards/av/x-v1/default.cmake b/boards/av/x-v1/default.cmake
index 91011240be..7499fa955e 100644
--- a/boards/av/x-v1/default.cmake
+++ b/boards/av/x-v1/default.cmake
@@ -50,6 +50,7 @@ px4_add_board(
tap_esc
telemetry # all available telemetry drivers
test_ppm
+ #tone_alarm
uavcan
MODULES
diff --git a/boards/gumstix/aerocore2/default.cmake b/boards/gumstix/aerocore2/default.cmake
index 60b5644653..83066cf52a 100644
--- a/boards/gumstix/aerocore2/default.cmake
+++ b/boards/gumstix/aerocore2/default.cmake
@@ -48,6 +48,7 @@ px4_add_board(
#tap_esc
#telemetry # all available telemetry drivers
#test_ppm
+ tone_alarm
MODULES
#attitude_estimator_q
diff --git a/boards/nxp/fmuk66-v3/default.cmake b/boards/nxp/fmuk66-v3/default.cmake
index 32a55823f7..36e914e981 100644
--- a/boards/nxp/fmuk66-v3/default.cmake
+++ b/boards/nxp/fmuk66-v3/default.cmake
@@ -47,6 +47,7 @@ px4_add_board(
tap_esc
telemetry # all available telemetry drivers
#test_ppm # NOT Portable YET
+ tone_alarm
MODULES
attitude_estimator_q
diff --git a/boards/px4/fmu-v2/default.cmake b/boards/px4/fmu-v2/default.cmake
index dc6fac81fe..19166f09eb 100644
--- a/boards/px4/fmu-v2/default.cmake
+++ b/boards/px4/fmu-v2/default.cmake
@@ -59,6 +59,7 @@ px4_add_board(
#tap_esc
#telemetry # all available telemetry drivers
#test_ppm
+ tone_alarm
#uavcan
MODULES
diff --git a/boards/px4/fmu-v2/lpe.cmake b/boards/px4/fmu-v2/lpe.cmake
index a22d130b4c..2989307ca3 100644
--- a/boards/px4/fmu-v2/lpe.cmake
+++ b/boards/px4/fmu-v2/lpe.cmake
@@ -55,6 +55,7 @@ px4_add_board(
#tap_esc
#telemetry # all available telemetry drivers
#test_ppm
+ tone_alarm
#uavcan
MODULES
diff --git a/boards/px4/fmu-v2/test.cmake b/boards/px4/fmu-v2/test.cmake
index 05005cd86e..91e71e0607 100644
--- a/boards/px4/fmu-v2/test.cmake
+++ b/boards/px4/fmu-v2/test.cmake
@@ -56,6 +56,7 @@ px4_add_board(
#tap_esc
#telemetry # all available telemetry drivers
#test_ppm
+ tone_alarm
#uavcan
MODULES
diff --git a/boards/px4/fmu-v3/default.cmake b/boards/px4/fmu-v3/default.cmake
index 4c6dfdea02..1ea994365e 100644
--- a/boards/px4/fmu-v3/default.cmake
+++ b/boards/px4/fmu-v3/default.cmake
@@ -58,6 +58,7 @@ px4_add_board(
tap_esc
telemetry # all available telemetry drivers
test_ppm
+ tone_alarm
uavcan
MODULES
diff --git a/boards/px4/fmu-v3/rtps.cmake b/boards/px4/fmu-v3/rtps.cmake
index f6750853a8..f41a0a8476 100644
--- a/boards/px4/fmu-v3/rtps.cmake
+++ b/boards/px4/fmu-v3/rtps.cmake
@@ -58,6 +58,7 @@ px4_add_board(
tap_esc
telemetry # all available telemetry drivers
test_ppm
+ tone_alarm
uavcan
MODULES
diff --git a/boards/px4/fmu-v3/stackcheck.cmake b/boards/px4/fmu-v3/stackcheck.cmake
index ea97d34d21..24ff0ea563 100644
--- a/boards/px4/fmu-v3/stackcheck.cmake
+++ b/boards/px4/fmu-v3/stackcheck.cmake
@@ -58,6 +58,7 @@ px4_add_board(
tap_esc
telemetry # all available telemetry drivers
test_ppm
+ tone_alarm
#uavcan
MODULES
diff --git a/boards/px4/fmu-v4/default.cmake b/boards/px4/fmu-v4/default.cmake
index eae8984084..385542f064 100644
--- a/boards/px4/fmu-v4/default.cmake
+++ b/boards/px4/fmu-v4/default.cmake
@@ -43,6 +43,7 @@ px4_add_board(
tap_esc
telemetry # all available telemetry drivers
test_ppm
+ tone_alarm
uavcan
MODULES
diff --git a/boards/px4/fmu-v4/rtps.cmake b/boards/px4/fmu-v4/rtps.cmake
index 10295c62bc..8b292d57a5 100644
--- a/boards/px4/fmu-v4/rtps.cmake
+++ b/boards/px4/fmu-v4/rtps.cmake
@@ -44,6 +44,7 @@ px4_add_board(
tap_esc
telemetry # all available telemetry drivers
test_ppm
+ tone_alarm
uavcan
MODULES
diff --git a/boards/px4/fmu-v4/stackcheck.cmake b/boards/px4/fmu-v4/stackcheck.cmake
index f0b8f438e5..dfae99dc4c 100644
--- a/boards/px4/fmu-v4/stackcheck.cmake
+++ b/boards/px4/fmu-v4/stackcheck.cmake
@@ -43,6 +43,7 @@ px4_add_board(
tap_esc
telemetry # all available telemetry drivers
test_ppm
+ tone_alarm
#uavcan
MODULES
diff --git a/boards/px4/fmu-v4pro/default.cmake b/boards/px4/fmu-v4pro/default.cmake
index 6a7f18ab08..736718e0cd 100644
--- a/boards/px4/fmu-v4pro/default.cmake
+++ b/boards/px4/fmu-v4pro/default.cmake
@@ -57,6 +57,7 @@ px4_add_board(
tap_esc
telemetry # all available telemetry drivers
test_ppm
+ tone_alarm
uavcan
MODULES
diff --git a/boards/px4/fmu-v4pro/rtps.cmake b/boards/px4/fmu-v4pro/rtps.cmake
index b59b88f76a..357f3ddc98 100644
--- a/boards/px4/fmu-v4pro/rtps.cmake
+++ b/boards/px4/fmu-v4pro/rtps.cmake
@@ -57,6 +57,7 @@ px4_add_board(
tap_esc
telemetry # all available telemetry drivers
test_ppm
+ tone_alarm
uavcan
MODULES
diff --git a/boards/px4/fmu-v5/default.cmake b/boards/px4/fmu-v5/default.cmake
index a7ce965eac..abefe80754 100644
--- a/boards/px4/fmu-v5/default.cmake
+++ b/boards/px4/fmu-v5/default.cmake
@@ -58,6 +58,7 @@ px4_add_board(
tap_esc
telemetry # all available telemetry drivers
test_ppm
+ tone_alarm
uavcan
MODULES
diff --git a/boards/px4/fmu-v5/rtps.cmake b/boards/px4/fmu-v5/rtps.cmake
index 072caad7b4..7cab372a18 100644
--- a/boards/px4/fmu-v5/rtps.cmake
+++ b/boards/px4/fmu-v5/rtps.cmake
@@ -58,6 +58,7 @@ px4_add_board(
tap_esc
telemetry # all available telemetry drivers
test_ppm
+ tone_alarm
uavcan
MODULES
diff --git a/boards/px4/fmu-v5/stackcheck.cmake b/boards/px4/fmu-v5/stackcheck.cmake
index d36b11f238..0e21e85417 100644
--- a/boards/px4/fmu-v5/stackcheck.cmake
+++ b/boards/px4/fmu-v5/stackcheck.cmake
@@ -58,6 +58,7 @@ px4_add_board(
tap_esc
telemetry # all available telemetry drivers
test_ppm
+ tone_alarm
#uavcan
MODULES
diff --git a/boards/px4/sitl/default.cmake b/boards/px4/sitl/default.cmake
index 2ed686e887..50eaf8900e 100644
--- a/boards/px4/sitl/default.cmake
+++ b/boards/px4/sitl/default.cmake
@@ -17,7 +17,8 @@ px4_add_board(
#magnetometer # all available magnetometer drivers
pwm_out_sim
#telemetry # all available telemetry drivers
- tone_alarm_sim
+ sim/tone_alarm
+ tone_alarm
#uavcan
MODULES
diff --git a/boards/px4/sitl/rtps.cmake b/boards/px4/sitl/rtps.cmake
index a34d764136..a97a98bc7d 100644
--- a/boards/px4/sitl/rtps.cmake
+++ b/boards/px4/sitl/rtps.cmake
@@ -17,7 +17,8 @@ px4_add_board(
#magnetometer # all available magnetometer drivers
pwm_out_sim
#telemetry # all available telemetry drivers
- tone_alarm_sim
+ sim/tone_alarm
+ tone_alarm
#uavcan
MODULES
diff --git a/boards/px4/sitl/test.cmake b/boards/px4/sitl/test.cmake
index 65ab15ecf4..d4b5119a5a 100644
--- a/boards/px4/sitl/test.cmake
+++ b/boards/px4/sitl/test.cmake
@@ -17,7 +17,8 @@ px4_add_board(
#magnetometer # all available magnetometer drivers
pwm_out_sim
#telemetry # all available telemetry drivers
- tone_alarm_sim
+ sim/tone_alarm
+ tone_alarm
#uavcan
MODULES
diff --git a/platforms/nuttx/NuttX/include/cxx/tone_alarm/ToneAlarmInterface.cpp b/platforms/nuttx/NuttX/include/cxx/tone_alarm/ToneAlarmInterface.cpp
new file mode 100644
index 0000000000..94f4b393f1
--- /dev/null
+++ b/platforms/nuttx/NuttX/include/cxx/tone_alarm/ToneAlarmInterface.cpp
@@ -0,0 +1,193 @@
+/****************************************************************************
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ToneAlarmInterface.cpp
+ */
+
+#include <chip/sam_pinmap.h>
+
+#include <drivers/device/device.h>
+#include <lib/drivers/tone_alarm/ToneAlarmInterface.h>
+#include <px4_defines.h>
+
+/* Check that tone alarm and HRT timers are different */
+#if defined(TONE_ALARM_CHANNEL) && defined(HRT_TIMER_CHANNEL)
+# if TONE_ALARM_CHANNEL == HRT_TIMER_CHANNEL
+# error TONE_ALARM_CHANNEL and HRT_TIMER_CHANNEL must use different timers.
+# endif
+#endif
+
+#if defined(TONE_ALARM_TIMER)
+# error "TONE_ALARM_TIMER should not be defined, instead define TONE_ALARM_CHANNEL from 0-11"
+#endif
+
+#ifndef TONE_ALARM_CLOCK
+#define TONE_ALARM_CLOCK (BOARD_MCK_FREQUENCY/128)
+#endif
+
+/* Period of the free-running counter, in microseconds. */
+#ifndef TONE_ALARM_COUNTER_PERIOD
+#define TONE_ALARM_COUNTER_PERIOD 65536
+#endif
+
+/* Tone alarm configuration */
+#if TONE_ALARM_CHANNEL == 0 || TONE_ALARM_CHANNEL == 1 || TONE_ALARM_CHANNEL == 2
+# define TONE_ALARM_TIMER 0
+#endif
+#if TONE_ALARM_CHANNEL == 3 || TONE_ALARM_CHANNEL == 4 || TONE_ALARM_CHANNEL == 5
+# define TONE_ALARM_TIMER 1
+#endif
+#if TONE_ALARM_CHANNEL == 6 || TONE_ALARM_CHANNEL == 7 || TONE_ALARM_CHANNEL == 8
+# define TONE_ALARM_TIMER 2
+#endif
+#if TONE_ALARM_CHANNEL == 9 || TONE_ALARM_CHANNEL == 10 || TONE_ALARM_CHANNEL == 11
+# define TONE_ALARM_TIMER 3
+#endif
+
+/* HRT configuration */
+#if TONE_ALARM_TIMER == 0
+# define HRT_TIMER_BASE SAM_TC012_BASE
+# if !defined(CONFIG_SAMV7_TC0)
+# error "HRT_TIMER_CHANNEL 0-2 Require CONFIG_SAMV7_TC0=y"
+# endif
+#elif TONE_ALARM_TIMER == 1
+# define HRT_TIMER_BASE SAM_TC345_BASE
+# if !defined(CONFIG_SAMV7_TC1)
+# error "HRT_TIMER_CHANNEL 3-5 Require CONFIG_SAMV7_TC1=y"
+# endif
+#elif TONE_ALARM_TIMER == 2
+# define HRT_TIMER_BASE SAM_TC678_BASE
+# if !defined(CONFIG_SAMV7_TC2)
+# error "HRT_TIMER_CHANNEL 6-8 Require CONFIG_SAMV7_TC2=y"
+# endif
+#elif TONE_ALARM_TIMER == 3
+# define HRT_TIMER_BASE SAM_TC901_BASE
+# if !defined(CONFIG_SAMV7_TC3)
+# error "HRT_TIMER_CHANNEL 9-11 Require CONFIG_SAMV7_TC3=y"
+# endif
+#else
+# error "HRT_TIMER_CHANNEL should be defined valid value are from 0-11"
+# endif
+
+
+/* Timer register accessors. */
+#define REG(_reg) (*(volatile uint32_t *)(SAM_TC0_BASE + SAM_TC_CHAN_OFFSET(HRT_TIMER_CHANNEL) + _reg))
+
+#define rCCR REG(SAM_TC_CCR_OFFSET)
+#define rCMR REG(SAM_TC_CMR_OFFSET)
+#define rCV REG(SAM_TC_CV_OFFSET)
+#define rEMR REG(SAM_TC_EMR_OFFSET)
+#define rIER REG(SAM_TC_IER_OFFSET)
+#define rIDR REG(SAM_TC_IDR_OFFSET)
+#define rIMR REG(SAM_TC_IMR_OFFSET)
+#define rRA REG(SAM_TC_RA_OFFSET)
+#define rRAB REG(SAM_TC_RAB_OFFSET)
+#define rRB REG(SAM_TC_RB_OFFSET)
+#define rRC REG(SAM_TC_RC_OFFSET)
+#define rSMMR REG(SAM_TC_SMMR_OFFSET)
+#define rSR REG(SAM_TC_SR_OFFSET)
+
+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
+
+// TODO - This is dead code.
+#if TONE_ALARM_NOT_DONE
+ // Initialize the timer.
+ rCCER &= TONE_CCER; // Unlock CCMR* registers.
+ rCCER = TONE_CCER;
+ rCCMR1 = TONE_CCMR1;
+ rCCMR2 = TONE_CCMR2;
+ rDCR = 0;
+ rCR1 = 0;
+ rCR2 = 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.
+#endif
+}
+
+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;
+
+// TODO - This is dead code.
+#if TONE_ALARM_NOT_DONE
+ rPSC = prescale; // Load new prescaler.
+ rARR = period; // Load new signal switching period.
+ rEGR = GTIM_EGR_UG; // Force a reload of the period.
+ rCCER |= TONE_CCER; // Enable the output.
+#else
+ prescale++;
+ period++;
+#endif
+
+ // Configure the GPIO to enable timer output.
+ px4_arch_configgpio(GPIO_TONE_ALARM);
+}
+
+void ToneAlarmInterface::stop_note()
+{
+ // Stop the current note.
+// TODO - This is dead code.
+#if TONE_ALARM_NOT_DONE
+ rCCER &= ~TONE_CCER;
+#endif
+ // Ensure the GPIO is not driving the speaker.
+ px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
+}
diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h
index 6f8cbcb4e0..99db5d1b10 100644
--- a/src/drivers/drv_hrt.h
+++ b/src/drivers/drv_hrt.h
@@ -39,6 +39,7 @@
#pragma once
+#include <sys/ioctl.h>
#include <sys/types.h>
#include <stdbool.h>
#include <inttypes.h>
diff --git a/src/drivers/drv_tone_alarm.h b/src/drivers/drv_tone_alarm.h
index adebc56781..7d389cd7fe 100644
--- a/src/drivers/drv_tone_alarm.h
+++ b/src/drivers/drv_tone_alarm.h
@@ -57,17 +57,19 @@
* via the ioctl.
*/
-#ifndef DRV_TONE_ALARM_H_
-#define DRV_TONE_ALARM_H_
+#pragma once
-#include <sys/ioctl.h>
#include <lib/tunes/tune_definition.h>
#include <uORB/topics/tune_control.h>
-#define TONEALARM0_DEVICE_PATH "/dev/tone_alarm0"
+#define CBRK_BUZZER_KEY 782097
+#define CBRK_OFF 0
+#define CBRK_ON 1
+#define CBRK_UNINIT 2
-#define _TONE_ALARM_BASE 0x7400
-#define TONE_SET_ALARM _PX4_IOC(_TONE_ALARM_BASE, 1)
+#define _TONE_ALARM_BASE 0x7400
+#define TONE_SET_ALARM _PX4_IOC(_TONE_ALARM_BASE, 1)
+#define TONE_ALARM0_DEVICE_PATH "/dev/tone_alarm0"
// TODO: remove this once the tone_alarm driver is changed to the new tunelib
enum {
@@ -89,5 +91,3 @@ enum {
TONE_HOME_SET,
TONE_NUMBER_OF_TUNES
};
-
-#endif /* DRV_TONE_ALARM_H_ */
diff --git a/src/drivers/kinetis/tone_alarm/CMakeLists.txt b/src/drivers/kinetis/tone_alarm/CMakeLists.txt
index 768934bf1b..5251d3910a 100644
--- a/src/drivers/kinetis/tone_alarm/CMakeLists.txt
+++ b/src/drivers/kinetis/tone_alarm/CMakeLists.txt
@@ -1,6 +1,6 @@
############################################################################
#
-# Copyright (c) 2016-2017 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015-2019 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
@@ -31,12 +31,6 @@
#
############################################################################
-px4_add_module(
- MODULE drivers__tone_alarm
- MAIN tone_alarm
- SRCS
- tone_alarm.cpp
- DEPENDS
- circuit_breaker
- tunes
- )
\ No newline at end of file
+px4_add_library(tone_alarm_interface
+ ToneAlarmInterface.cpp
+)
diff --git a/src/drivers/kinetis/tone_alarm/ToneAlarmInterface.cpp b/src/drivers/kinetis/tone_alarm/ToneAlarmInterface.cpp
new file mode 100644
index 0000000000..a625a5c2b9
--- /dev/null
+++ b/src/drivers/kinetis/tone_alarm/ToneAlarmInterface.cpp
@@ -0,0 +1,183 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2017-2019 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ToneAlarmInterface.cpp
+ */
+
+#include "chip/kinetis_sim.h"
+#include "kinetis_tpm.h"
+
+#include <drivers/device/device.h>
+#include <lib/drivers/tone_alarm/ToneAlarmInterface.h>
+#include <px4_defines.h>
+#include <systemlib/px4_macros.h>
+
+
+#define CAT3_(A, B, C) A##B##C
+#define CAT3(A, B, C) CAT3_(A, B, C)
+
+/* Check that tone alarm and HRT timers are different */
+#if defined(TONE_ALARM_TIMER) && defined(HRT_TIMER)
+# if TONE_ALARM_TIMER == HRT_TIMER
+# error TONE_ALARM_TIMER and HRT_TIMER must use different timers.
+# endif
+#endif
+
+#ifndef TONE_ALARM_CLOCK
+#define TONE_ALARM_CLOCK (BOARD_TPM_FREQ/(1 << (TONE_ALARM_TIMER_PRESCALE >> TPM_SC_PS_SHIFT)))
+#endif
+
+/* Period of the free-running counter, in microseconds. */
+#ifndef TONE_ALARM_COUNTER_PERIOD
+#define TONE_ALARM_COUNTER_PERIOD 65536
+#endif
+
+/* Tone Alarm configuration */
+#define TONE_ALARM_SIM_SCGC2_TPM CAT(SIM_SCGC2_TPM, TONE_ALARM_TIMER) /* The Clock Gating enable bit for this TPM */
+#define TONE_ALARM_TIMER_BASE CAT(CAT(KINETIS_TPM, TONE_ALARM_TIMER),_BASE) /* The Base address of the TPM */
+#define TONE_ALARM_TIMER_CLOCK BOARD_TPM_FREQ /* The input clock frequency to the TPM block */
+#define TONE_ALARM_TIMER_PRESCALE TPM_SC_PS_DIV16 /* The constant Prescaler */
+#define TONE_ALARM_TIMER_VECTOR CAT(KINETIS_IRQ_TPM, TONE_ALARM_TIMER) /* The TPM Interrupt vector */
+
+#if TONE_ALARM_TIMER == 1 && defined(CONFIG_KINETIS_TPM1)
+# error must not set CONFIG_KINETIS_TPM1=y and TONE_ALARM_TIMER=1
+#elif TONE_ALARM_TIMER == 2 && defined(CONFIG_KINETIS_TPM2)
+# error must not set CONFIG_STM32_TIM2=y and TONE_ALARM_TIMER=2
+#endif
+
+/* Tone Alarm clock must be a multiple of 1MHz greater than 1MHz. */
+#if (TONE_ALARM_TIMER_CLOCK % TONE_ALARM_CLOCK) != 0
+# error TONE_ALARM_TIMER_CLOCK must be a multiple of 1MHz
+#endif
+#if TONE_ALARM_TIMER_CLOCK <= TONE_ALARM_CLOCK
+# error TONE_ALARM_TIMER_CLOCK must be greater than 1MHz
+#endif
+
+#if (TONE_ALARM_CHANNEL != 0) && (TONE_ALARM_CHANNEL != 1)
+# error TONE_ALARM_CHANNEL must be a value between 0 and 1
+#endif
+
+
+/* Register accessors */
+#define _REG(_addr) (*(volatile uint32_t *)(_addr))
+
+/* Timer register accessors */
+#define REG(_reg) _REG(TONE_ALARM_TIMER_BASE + (_reg))
+
+#define rC0SC REG(KINETIS_TPM_C0SC_OFFSET)
+#define rC0V REG(KINETIS_TPM_C0V_OFFSET)
+#define rC1SC REG(KINETIS_TPM_C1SC_OFFSET)
+#define rC1V REG(KINETIS_TPM_C1V_OFFSET)
+#define rCNT REG(KINETIS_TPM_CNT_OFFSET)
+#define rCOMBINE REG(KINETIS_TPM_COMBINE_OFFSET)
+#define rCONF REG(KINETIS_TPM_CONF_OFFSET)
+#define rFILTER REG(KINETIS_TPM_FILTER_OFFSET)
+#define rMOD REG(KINETIS_TPM_MOD_OFFSET)
+#define rPOL REG(KINETIS_TPM_POL_OFFSET)
+#define rQDCTRL REG(KINETIS_TPM_QDCTRL_OFFSET)
+#define rSC REG(KINETIS_TPM_SC_OFFSET)
+#define rSTATUS REG(KINETIS_TPM_STATUS_OFFSET)
+
+/* Specific registers and bits used by Tone Alarm sub-functions. */
+# define rCNV CAT3(rC, TONE_ALARM_CHANNEL, V) /* Channel Value Register used by Tone alarm */
+# define rCNSC CAT3(rC, TONE_ALARM_CHANNEL, SC) /* Channel Status and Control Register used by Tone alarm */
+# define STATUS CAT3(TPM_STATUS_CH, TONE_ALARM_CHANNEL, F) /* Capture and Compare Status Register used by Tone alarm */
+
+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
+
+ // Select a the clock source to the TPM.
+ uint32_t regval = _REG(KINETIS_SIM_SOPT2);
+
+ regval &= ~(SIM_SOPT2_TPMSRC_MASK);
+ regval |= BOARD_TPM_CLKSRC;
+
+ _REG(KINETIS_SIM_SOPT2) = regval;
+
+ // Enabled System Clock Gating Control for TPM.
+ regval = _REG(KINETIS_SIM_SCGC2);
+ regval |= TONE_ALARM_SIM_SCGC2_TPM;
+ _REG(KINETIS_SIM_SCGC2) = regval;
+
+ // Disable and configure the timer.
+ rSC = TPM_SC_TOF;
+ rCNT = 0;
+ rMOD = TONE_ALARM_COUNTER_PERIOD - 1;
+ rSTATUS = (TPM_STATUS_TOF | STATUS);
+
+ // Configure for output compare to toggle on over flow.
+ rCNSC = (TPM_CnSC_CHF | TPM_CnSC_MSA | TPM_CnSC_ELSA);
+
+ rCOMBINE = 0;
+ rPOL = 0;
+ rFILTER = 0;
+ rQDCTRL = 0;
+ rCONF = TPM_CONF_DBGMODE_CONT;
+
+ rCNV = 0; // Toggle the CC output each time the count passes 0.
+ rSC |= (TPM_SC_CMOD_LPTPM_CLK | TONE_ALARM_TIMER_PRESCALE); // Enable the timer.
+ rMOD = 0; // Default the timer to a modulo value of 1; playing notes will change this.
+}
+
+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);
+
+ rCNT = 0;
+ rMOD = divisor; // Load new signal switching period.
+ rSC |= (TPM_SC_CMOD_LPTPM_CLK);
+
+ // Configure the GPIO to enable timer output.
+ px4_arch_configgpio(GPIO_TONE_ALARM);
+}
+
+void ToneAlarmInterface::stop_note()
+{
+ // Stop the current note.
+ rSC &= ~TPM_SC_CMOD_MASK;
+
+ // Ensure the GPIO is not driving the speaker.
+ px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
+}
diff --git a/src/drivers/kinetis/tone_alarm/tone_alarm.cpp b/src/drivers/kinetis/tone_alarm/tone_alarm.cpp
deleted file mode 100644
index ca31d992ae..0000000000
--- a/src/drivers/kinetis/tone_alarm/tone_alarm.cpp
+++ /dev/null
@@ -1,500 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2017-2018 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.
- *
- ****************************************************************************/
-
-/*
- * Low Level Driver for the PX4 audio alarm port. Subscribes to
- * tune_control and plays notes on this architecture specific
- * timer HW
- */
-
-#include <px4_config.h>
-#include <px4_log.h>
-#include <systemlib/px4_macros.h>
-#include <debug.h>
-
-#include <drivers/device/device.h>
-#include <drivers/drv_tone_alarm.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <stdio.h>
-#include <unistd.h>
-#include <math.h>
-#include <ctype.h>
-
-#include <board_config.h>
-#include <drivers/drv_hrt.h>
-
-#include "kinetis.h"
-#include "chip/kinetis_sim.h"
-#include "kinetis_tpm.h"
-
-#include <systemlib/err.h>
-#include <circuit_breaker/circuit_breaker.h>
-
-#include <px4_workqueue.h>
-
-#include <lib/tunes/tunes.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/tune_control.h>
-
-#define CAT3_(A, B, C) A##B##C
-#define CAT3(A, B, C) CAT3_(A, B, C)
-
-/* Check that tone alarm and HRT timers are different */
-#if defined(TONE_ALARM_TIMER) && defined(HRT_TIMER)
-# if TONE_ALARM_TIMER == HRT_TIMER
-# error TONE_ALARM_TIMER and HRT_TIMER must use different timers.
-# endif
-#endif
-
-
-/*
-* Period of the free-running counter, in microseconds.
-*/
-#define TONE_ALARM_COUNTER_PERIOD 65536
-
-/* Tone Alarm configuration */
-
-#define TONE_ALARM_TIMER_CLOCK BOARD_TPM_FREQ /* The input clock frequency to the TPM block */
-#define TONE_ALARM_TIMER_BASE CAT(CAT(KINETIS_TPM, TONE_ALARM_TIMER),_BASE) /* The Base address of the TPM */
-#define TONE_ALARM_TIMER_VECTOR CAT(KINETIS_IRQ_TPM, TONE_ALARM_TIMER) /* The TPM Interrupt vector */
-#define TONE_ALARM_SIM_SCGC2_TPM CAT(SIM_SCGC2_TPM, TONE_ALARM_TIMER) /* The Clock Gating enable bit for this TPM */
-#define TONE_ALARM_TIMER_PRESCALE TPM_SC_PS_DIV16 /* The constant Prescaler */
-
-#if TONE_ALARM_TIMER == 1 && defined(CONFIG_KINETIS_TPM1)
-# error must not set CONFIG_KINETIS_TPM1=y and TONE_ALARM_TIMER=1
-#elif TONE_ALARM_TIMER == 2 && defined(CONFIG_KINETIS_TPM2)
-# error must not set CONFIG_STM32_TIM2=y and TONE_ALARM_TIMER=2
-#endif
-
-
-# define TONE_ALARM_TIMER_FREQ (BOARD_TPM_FREQ/(1 << (TONE_ALARM_TIMER_PRESCALE >> TPM_SC_PS_SHIFT)))
-
-/*
-* Toan Alarm clock must be a multiple of 1MHz greater than 1MHz
-*/
-#if (TONE_ALARM_TIMER_CLOCK % TONE_ALARM_TIMER_FREQ) != 0
-# error TONE_ALARM_TIMER_CLOCK must be a multiple of 1MHz
-#endif
-#if TONE_ALARM_TIMER_CLOCK <= TONE_ALARM_TIMER_FREQ
-# error TONE_ALARM_TIMER_CLOCK must be greater than 1MHz
-#endif
-
-#if (TONE_ALARM_CHANNEL != 0) && (TONE_ALARM_CHANNEL != 1)
-# error TONE_ALARM_CHANNEL must be a value between 0 and 1
-#endif
-
-
-/* Register accessors */
-
-#define _REG(_addr) (*(volatile uint32_t *)(_addr))
-
-/* Timer register accessors */
-
-#define REG(_reg) _REG(TONE_ALARM_TIMER_BASE + (_reg))
-
-#define rSC REG(KINETIS_TPM_SC_OFFSET)
-#define rCNT REG(KINETIS_TPM_CNT_OFFSET)
-#define rMOD REG(KINETIS_TPM_MOD_OFFSET)
-#define rC0SC REG(KINETIS_TPM_C0SC_OFFSET)
-#define rC0V REG(KINETIS_TPM_C0V_OFFSET)
-#define rC1SC REG(KINETIS_TPM_C1SC_OFFSET)
-#define rC1V REG(KINETIS_TPM_C1V_OFFSET)
-#define rSTATUS REG(KINETIS_TPM_STATUS_OFFSET)
-#define rCOMBINE REG(KINETIS_TPM_COMBINE_OFFSET)
-#define rPOL REG(KINETIS_TPM_POL_OFFSET)
-#define rFILTER REG(KINETIS_TPM_FILTER_OFFSET)
-#define rQDCTRL REG(KINETIS_TPM_QDCTRL_OFFSET)
-#define rCONF REG(KINETIS_TPM_CONF_OFFSET)
-
-/*
-* Specific registers and bits used by Tone Alarm sub-functions
-*/
-
-# define rCNV CAT3(rC, TONE_ALARM_CHANNEL, V) /* Channel Value Register used by Tone alarm */
-# define rCNSC CAT3(rC, TONE_ALARM_CHANNEL, SC) /* Channel Status and Control Register used by Tone alarm */
-# define STATUS CAT3(TPM_STATUS_CH, TONE_ALARM_CHANNEL, F) /* Capture and Compare Status Register used by Tone alarm */
-
-#define CBRK_BUZZER_KEY 782097
-
-class ToneAlarm : public device::CDev
-{
-public:
- ToneAlarm();
- ~ToneAlarm();
-
- virtual int init();
- void status();
-
- enum {
- CBRK_OFF = 0,
- CBRK_ON,
- CBRK_UNINIT
- };
-
-private:
- volatile bool _running;
- volatile bool _should_run;
- bool _play_tone;
-
- Tunes _tunes;
-
- unsigned _silence_length; // if nonzero, silence before next note
-
- int _cbrk; ///< if true, no audio output
- int _tune_control_sub;
-
- tune_control_s _tune;
-
- static work_s _work;
-
- // Convert a frequency value into a divisor for the configured timer's clock.
- //
- unsigned frequency_to_divisor(unsigned frequency);
-
- // Start playing the note
- //
- void start_note(unsigned frequency);
-
- // Stop playing the current note and make the player 'safe'
- //
- void stop_note();
-
- // Parse the next note out of the string and play it
- //
- void next_note();
-
- // work queue trampoline for next_note
- //
- static void next_trampoline(void *arg);
-
-};
-
-struct work_s ToneAlarm::_work = {};
-
-/*
- * Driver 'main' command.
- */
-extern "C" __EXPORT int tone_alarm_main(int argc, char *argv[]);
-
-
-ToneAlarm::ToneAlarm() :
- CDev("tone_alarm", TONEALARM0_DEVICE_PATH),
- _running(false),
- _should_run(true),
- _play_tone(false),
- _tunes(),
- _silence_length(0),
- _cbrk(CBRK_UNINIT),
- _tune_control_sub(-1)
-{
- // enable debug() calls
- //_debug_enabled = true;
-}
-
-ToneAlarm::~ToneAlarm()
-{
- _should_run = false;
- int counter = 0;
-
- while (_running && ++counter < 10) {
- usleep(100000);
- }
-}
-
-int ToneAlarm::init()
-{
- int ret;
-
- ret = CDev::init();
-
- if (ret != OK) {
- return ret;
- }
-
- /* configure the GPIO to the idle state */
- px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
-
-#ifdef GPIO_TONE_ALARM_NEG
-
- px4_arch_configgpio(GPIO_TONE_ALARM_NEG);
-#endif
-
-
- /* Select a the clock source to the TPM */
-
- uint32_t regval = _REG(KINETIS_SIM_SOPT2);
- regval &= ~(SIM_SOPT2_TPMSRC_MASK);
- regval |= BOARD_TPM_CLKSRC;
- _REG(KINETIS_SIM_SOPT2) = regval;
-
-
- /* Enabled System Clock Gating Control for TPM */
-
- regval = _REG(KINETIS_SIM_SCGC2);
- regval |= TONE_ALARM_SIM_SCGC2_TPM;
- _REG(KINETIS_SIM_SCGC2) = regval;
-
- /* disable and configure the timer */
-
- rSC = TPM_SC_TOF;
-
- rCNT = 0;
- rMOD = TONE_ALARM_COUNTER_PERIOD - 1;
-
- rSTATUS = (TPM_STATUS_TOF | STATUS);
-
- /* Configure for output compare to toggle on over flow */
-
- rCNSC = (TPM_CnSC_CHF | TPM_CnSC_MSA | TPM_CnSC_ELSA);
-
- rCOMBINE = 0;
- rPOL = 0;
- rFILTER = 0;
- rQDCTRL = 0;
- rCONF = TPM_CONF_DBGMODE_CONT;
-
- /* toggle the CC output each time the count passes 0 */
-
- rCNV = 0;
-
- /* enable the timer */
-
- rSC |= (TPM_SC_CMOD_LPTPM_CLK | TONE_ALARM_TIMER_PRESCALE);
-
-
- /* default the timer to a modulo value of 1; playing notes will change this */
- rMOD = 0;
-
- DEVICE_DEBUG("ready");
- _running = true;
- work_queue(HPWORK, &_work, (worker_t)&ToneAlarm::next_trampoline, this, 0);
- return OK;
-}
-
-void ToneAlarm::status()
-{
- if (_running) {
- PX4_INFO("running");
-
- } else {
- PX4_INFO("stopped");
- }
-}
-
-unsigned ToneAlarm::frequency_to_divisor(unsigned frequency)
-{
- float period = 0.5f / frequency;
-
- // and the divisor, rounded to the nearest integer
- unsigned divisor = (period * TONE_ALARM_TIMER_FREQ) + 0.5f;
-
- return divisor;
-}
-
-void ToneAlarm::start_note(unsigned frequency)
-{
- // check if circuit breaker is enabled
- if (_cbrk == CBRK_UNINIT) {
- _cbrk = circuit_breaker_enabled("CBRK_BUZZER", CBRK_BUZZER_KEY);
- }
-
- if (_cbrk != CBRK_OFF) { return; }
-
- // compute the divisor
- unsigned divisor = frequency_to_divisor(frequency);
-
- rCNT = 0;
- rMOD = divisor; // load new toggle period
-
- rSC |= (TPM_SC_CMOD_LPTPM_CLK);
-
- // configure the GPIO to enable timer output
- px4_arch_configgpio(GPIO_TONE_ALARM);
-}
-
-void ToneAlarm::stop_note()
-{
- /* stop the current note */
- rSC &= ~TPM_SC_CMOD_MASK;
-
- /*
- * Make sure the GPIO is not driving the speaker.
- */
- px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
-}
-
-void ToneAlarm::next_note()
-{
- if (!_should_run) {
- if (_tune_control_sub >= 0) {
- orb_unsubscribe(_tune_control_sub);
- }
-
- _running = false;
- return;
- }
-
- // subscribe to tune_control
- if (_tune_control_sub < 0) {
- _tune_control_sub = orb_subscribe(ORB_ID(tune_control));
- }
-
- // do we have an inter-note gap to wait for?
- if (_silence_length > 0) {
- stop_note();
- work_queue(HPWORK, &_work, (worker_t)&ToneAlarm::next_trampoline, this, USEC2TICK(_silence_length));
- _silence_length = 0;
- return;
- }
-
- // check for updates
- bool updated = false;
- orb_check(_tune_control_sub, &updated);
-
- if (updated) {
- orb_copy(ORB_ID(tune_control), _tune_control_sub, &_tune);
- _play_tone = _tunes.set_control(_tune) == 0;
- }
-
- unsigned frequency = 0;
- unsigned duration = 0;
-
- if (_play_tone) {
- _play_tone = false;
- int parse_ret_val = _tunes.get_next_tune(frequency, duration, _silence_length);
-
- if (parse_ret_val >= 0) {
- // a frequency of 0 correspond to stop_note
- if (frequency > 0) {
- // start playing the note
- start_note(frequency);
-
- } else {
- stop_note();
- }
-
-
- if (parse_ret_val > 0) {
- // continue playing
- _play_tone = true;
- }
- }
-
- } else {
- // schedule a call with the tunes max interval
- duration = _tunes.get_maximum_update_interval();
- // stop playing the last note after the duration elapsed
- stop_note();
- }
-
- // and arrange a callback when the note should stop
- work_queue(HPWORK, &_work, (worker_t)&ToneAlarm::next_trampoline, this, USEC2TICK(duration));
-}
-
-void ToneAlarm::next_trampoline(void *arg)
-{
- ToneAlarm *ta = (ToneAlarm *)arg;
- ta->next_note();
-}
-
-/**
- * Local functions in support of the shell command.
- */
-namespace
-{
-
-ToneAlarm *g_dev;
-
-} // namespace
-
-void tone_alarm_usage();
-
-void tone_alarm_usage()
-{
- PX4_INFO("missing command, try 'start', status, 'stop'");
-}
-
-int tone_alarm_main(int argc, char *argv[])
-{
-
- if (argc > 1) {
- const char *argv1 = argv[1];
-
- if (!strcmp(argv1, "start")) {
- if (g_dev != nullptr) {
- PX4_ERR("already started");
- return 1;
- }
-
- if (g_dev == nullptr) {
- g_dev = new ToneAlarm();
-
- if (g_dev == nullptr) {
- PX4_ERR("couldn't allocate the ToneAlarm driver");
- return 1;
- }
-
- if (OK != g_dev->init()) {
- delete g_dev;
- g_dev = nullptr;
- PX4_ERR("ToneAlarm init failed");
- return 1;
- }
- }
-
- return 0;
- }
-
- if (!strcmp(argv1, "stop")) {
- delete g_dev;
- g_dev = nullptr;
- return 0;
- }
-
- if (!strcmp(argv1, "status")) {
- g_dev->status();
- return 0;
- }
-
- }
-
- tone_alarm_usage();
- return 0;
-}
diff --git a/src/drivers/sim/tone_alarm/CMakeLists.txt b/src/drivers/sim/tone_alarm/CMakeLists.txt
new file mode 100644
index 0000000000..5251d3910a
--- /dev/null
+++ b/src/drivers/sim/tone_alarm/CMakeLists.txt
@@ -0,0 +1,36 @@
+############################################################################
+#
+# Copyright (c) 2015-2019 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.
+#
+############################################################################
+
+px4_add_library(tone_alarm_interface
+ ToneAlarmInterface.cpp
+)
diff --git a/src/drivers/sim/tone_alarm/ToneAlarmInterface.cpp b/src/drivers/sim/tone_alarm/ToneAlarmInterface.cpp
new file mode 100644
index 0000000000..7e25fc774f
--- /dev/null
+++ b/src/drivers/sim/tone_alarm/ToneAlarmInterface.cpp
@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ToneAlarmInterface.cpp
+ */
+
+#include <lib/drivers/tone_alarm/ToneAlarmInterface.h>
+#include <px4_defines.h>
+
+void ToneAlarmInterface::init()
+{
+ // Nothing to be done in simulation.
+}
+
+void ToneAlarmInterface::start_note(unsigned frequency)
+{
+ // Nothing to be done in simulation.
+}
+
+void ToneAlarmInterface::stop_note()
+{
+ // Nothing to be done in simulation.
+}
diff --git a/src/drivers/stm32/tone_alarm/CMakeLists.txt b/src/drivers/stm32/tone_alarm/CMakeLists.txt
index c54cbdd3ec..5251d3910a 100644
--- a/src/drivers/stm32/tone_alarm/CMakeLists.txt
+++ b/src/drivers/stm32/tone_alarm/CMakeLists.txt
@@ -1,6 +1,6 @@
############################################################################
#
-# Copyright (c) 2015 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015-2019 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
@@ -31,12 +31,6 @@
#
############################################################################
-px4_add_module(
- MODULE drivers__tone_alarm
- MAIN tone_alarm
- SRCS
- tone_alarm.cpp
- DEPENDS
- circuit_breaker
- tunes
- )
\ No newline at end of file
+px4_add_library(tone_alarm_interface
+ ToneAlarmInterface.cpp
+)
diff --git a/src/drivers/stm32/tone_alarm/ToneAlarmInterface.cpp b/src/drivers/stm32/tone_alarm/ToneAlarmInterface.cpp
new file mode 100644
index 0000000000..ddec21b4fd
--- /dev/null
+++ b/src/drivers/stm32/tone_alarm/ToneAlarmInterface.cpp
@@ -0,0 +1,289 @@
+/****************************************************************************
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ToneAlarmInterface.cpp
+ */
+
+#include <drivers/device/device.h>
+#include <lib/drivers/tone_alarm/ToneAlarmInterface.h>
+#include <px4_defines.h>
+
+/* Check that tone alarm and HRT timers are different */
+#if defined(TONE_ALARM_TIMER) && defined(HRT_TIMER)
+# if TONE_ALARM_TIMER == HRT_TIMER
+# error TONE_ALARM_TIMER and HRT_TIMER must use different timers.
+# endif
+#endif
+
+/* Period of the free-running counter, in microseconds. */
+#ifndef TONE_ALARM_COUNTER_PERIOD
+#define TONE_ALARM_COUNTER_PERIOD 65536
+#endif
+
+/* Tone alarm configuration */
+#if TONE_ALARM_TIMER == 1
+# define TONE_ALARM_BASE STM32_TIM1_BASE
+# 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_TIM12_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_TIM12_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);
+}
diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
deleted file mode 100644
index af9dddf0f9..0000000000
--- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ /dev/null
@@ -1,586 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2013, 2016, 2018 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.
- *
- ****************************************************************************/
-
-/*
- * Low Level Driver for the PX4 audio alarm port. Subscribes to
- * tune_control and plays notes on this architecture specific
- * timer HW
- */
-
-#include <px4_config.h>
-#include <px4_log.h>
-#include <debug.h>
-
-#include <drivers/device/device.h>
-#include <drivers/drv_tone_alarm.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <stdio.h>
-#include <unistd.h>
-#include <math.h>
-#include <ctype.h>
-
-#include <board_config.h>
-#include <drivers/drv_hrt.h>
-
-#include <systemlib/err.h>
-#include <circuit_breaker/circuit_breaker.h>
-
-#include <px4_workqueue.h>
-
-#include <lib/tunes/tunes.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/tune_control.h>
-
-/* Check that tone alarm and HRT timers are different */
-#if defined(TONE_ALARM_TIMER) && defined(HRT_TIMER)
-# if TONE_ALARM_TIMER == HRT_TIMER
-# error TONE_ALARM_TIMER and HRT_TIMER must use different timers.
-# endif
-#endif
-
-/* Tone alarm configuration */
-#if TONE_ALARM_TIMER == 1
-# define TONE_ALARM_BASE STM32_TIM1_BASE
-# define TONE_ALARM_CLOCK STM32_APB2_TIM1_CLKIN
-# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB2ENR
-# define TONE_ALARM_CLOCK_ENABLE RCC_APB2ENR_TIM1EN
-# ifdef 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_POWER_REG STM32_RCC_APB1ENR
-# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM2EN
-# ifdef 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_POWER_REG STM32_RCC_APB1ENR
-# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM3EN
-# ifdef 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_POWER_REG STM32_RCC_APB1ENR
-# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM4EN
-# ifdef 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_POWER_REG STM32_RCC_APB1ENR
-# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM5EN
-# ifdef 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_POWER_REG STM32_RCC_APB2ENR
-# define TONE_ALARM_CLOCK_ENABLE RCC_APB2ENR_TIM8EN
-# ifdef 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_POWER_REG STM32_RCC_APB2ENR
-# define TONE_ALARM_CLOCK_ENABLE RCC_APB2ENR_TIM9EN
-# ifdef 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_POWER_REG STM32_RCC_APB2ENR
-# define TONE_ALARM_CLOCK_ENABLE RCC_APB2ENR_TIM10EN
-# ifdef 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_POWER_REG STM32_RCC_APB2ENR
-# define TONE_ALARM_CLOCK_ENABLE RCC_APB2ENR_TIM11EN
-# ifdef 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_POWER_REG STM32_RCC_APB1ENR
-# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM12EN
-# ifdef 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_TIM12_CLKIN
-# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB1ENR
-# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM13EN
-# ifdef 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_TIM12_CLKIN
-# define TONE_ALARM_CLOCK_POWER_REG STM32_RCC_APB1ENR
-# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM14EN
-# ifdef 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
-
-#if TONE_ALARM_CHANNEL == 1
-# define TONE_CCMR1 (3 << 4)
-# define TONE_CCMR2 0
-# define TONE_CCER (1 << 0)
-# define TONE_rCCR rCCR1
-#elif TONE_ALARM_CHANNEL == 2
-# define TONE_CCMR1 (3 << 12)
-# define TONE_CCMR2 0
-# define TONE_CCER (1 << 4)
-# define TONE_rCCR rCCR2
-#elif TONE_ALARM_CHANNEL == 3
-# define TONE_CCMR1 0
-# define TONE_CCMR2 (3 << 4)
-# define TONE_CCER (1 << 8)
-# define TONE_rCCR rCCR3
-#elif TONE_ALARM_CHANNEL == 4
-# define TONE_CCMR1 0
-# define TONE_CCMR2 (3 << 12)
-# define TONE_CCER (1 << 12)
-# define TONE_rCCR rCCR4
-#else
-# error Must set TONE_ALARM_CHANNEL to a value between 1 and 4 to use this driver.
-#endif
-
-
-/*
- * 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 rCR1 REG(STM32_ATIM_CR1_OFFSET)
-# define rCR2 REG(STM32_ATIM_CR2_OFFSET)
-# define rSMCR REG(STM32_ATIM_SMCR_OFFSET)
-# define rDIER REG(STM32_ATIM_DIER_OFFSET)
-# define rSR REG(STM32_ATIM_SR_OFFSET)
-# define rEGR REG(STM32_ATIM_EGR_OFFSET)
-# define rCCMR1 REG(STM32_ATIM_CCMR1_OFFSET)
-# define rCCMR2 REG(STM32_ATIM_CCMR2_OFFSET)
-# define rCCER REG(STM32_ATIM_CCER_OFFSET)
-# define rCNT REG(STM32_ATIM_CNT_OFFSET)
-# define rPSC REG(STM32_ATIM_PSC_OFFSET)
-# define rARR REG(STM32_ATIM_ARR_OFFSET)
-# define rRCR REG(STM32_ATIM_RCR_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 rBDTR REG(STM32_ATIM_BDTR_OFFSET)
-# define rDCR REG(STM32_ATIM_DCR_OFFSET)
-# define rDMAR REG(STM32_ATIM_DMAR_OFFSET)
-#else
-# define rCR1 REG(STM32_GTIM_CR1_OFFSET)
-# define rCR2 REG(STM32_GTIM_CR2_OFFSET)
-# define rSMCR REG(STM32_GTIM_SMCR_OFFSET)
-# define rDIER REG(STM32_GTIM_DIER_OFFSET)
-# define rSR REG(STM32_GTIM_SR_OFFSET)
-# define rEGR REG(STM32_GTIM_EGR_OFFSET)
-# define rCCMR1 REG(STM32_GTIM_CCMR1_OFFSET)
-# define rCCMR2 REG(STM32_GTIM_CCMR2_OFFSET)
-# define rCCER REG(STM32_GTIM_CCER_OFFSET)
-# define rCNT REG(STM32_GTIM_CNT_OFFSET)
-# define rPSC REG(STM32_GTIM_PSC_OFFSET)
-# define rARR REG(STM32_GTIM_ARR_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 rDCR REG(STM32_GTIM_DCR_OFFSET)
-# define rDMAR REG(STM32_GTIM_DMAR_OFFSET)
-#endif
-
-#define CBRK_BUZZER_KEY 782097
-
-class ToneAlarm : public cdev::CDev
-{
-public:
- ToneAlarm();
- ~ToneAlarm();
-
- virtual int init();
- void status();
-
- enum {
- CBRK_OFF = 0,
- CBRK_ON,
- CBRK_UNINIT
- };
-
-private:
- volatile bool _running;
- volatile bool _should_run;
- bool _play_tone;
-
- Tunes _tunes;
-
- unsigned _silence_length; // if nonzero, silence before next note
-
- int _cbrk; ///< if true, no audio output
- int _tune_control_sub;
-
- tune_control_s _tune;
-
- static work_s _work;
-
- // Convert a frequency value into a divisor for the configured timer's clock.
- //
- unsigned frequency_to_divisor(unsigned frequency);
-
- // Start playing the note
- //
- void start_note(unsigned frequency);
-
- // Stop playing the current note and make the player 'safe'
- //
- void stop_note();
-
- // Parse the next note out of the string and play it
- //
- void next_note();
-
- // work queue trampoline for next_note
- //
- static void next_trampoline(void *arg);
-
-};
-
-struct work_s ToneAlarm::_work = {};
-
-/*
- * Driver 'main' command.
- */
-extern "C" __EXPORT int tone_alarm_main(int argc, char *argv[]);
-
-
-ToneAlarm::ToneAlarm() :
- CDev(TONEALARM0_DEVICE_PATH),
- _running(false),
- _should_run(true),
- _play_tone(false),
- _tunes(),
- _silence_length(0),
- _cbrk(CBRK_UNINIT),
- _tune_control_sub(-1)
-{
- // enable debug() calls
- //_debug_enabled = true;
-}
-
-ToneAlarm::~ToneAlarm()
-{
- _should_run = false;
- int counter = 0;
-
- while (_running && ++counter < 10) {
- px4_usleep(100000);
- }
-}
-
-int ToneAlarm::init()
-{
- int ret;
-
- ret = CDev::init();
-
- if (ret != OK) {
- return ret;
- }
-
- /* configure the GPIO to the idle state */
- px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
-
-#ifdef GPIO_TONE_ALARM_NEG
-
- px4_arch_configgpio(GPIO_TONE_ALARM_NEG);
-#endif
-
- /* clock/power on our timer */
- modifyreg32(TONE_ALARM_CLOCK_POWER_REG, 0, TONE_ALARM_CLOCK_ENABLE);
-
- /* initialise the timer */
- rCR1 = 0;
- rCR2 = 0;
- rSMCR = 0;
- rDIER = 0;
- rCCER &= TONE_CCER; /* unlock CCMR* registers */
- rCCMR1 = TONE_CCMR1;
- rCCMR2 = TONE_CCMR2;
- rCCER = TONE_CCER;
- rDCR = 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
-
- /* toggle the CC output each time the count passes 1 */
- TONE_rCCR = 1;
-
- /* default the timer to a prescale value of 1; playing notes will change this */
- rPSC = 0;
-
- /* make sure the timer is running */
- rCR1 = GTIM_CR1_CEN;
-
- PX4_DEBUG("ready");
-
- _running = true;
- work_queue(HPWORK, &_work, (worker_t)&ToneAlarm::next_trampoline, this, 0);
- return OK;
-}
-
-void ToneAlarm::status()
-{
- if (_running) {
- PX4_INFO("running");
-
- } else {
- PX4_INFO("stopped");
- }
-}
-
-unsigned ToneAlarm::frequency_to_divisor(unsigned frequency)
-{
- float period = 0.5f / frequency;
-
- // and the divisor, rounded to the nearest integer
- unsigned divisor = (period * TONE_ALARM_CLOCK) + 0.5f;
-
- return divisor;
-}
-
-void ToneAlarm::start_note(unsigned frequency)
-{
- // check if circuit breaker is enabled
- if (_cbrk == CBRK_UNINIT) {
- _cbrk = circuit_breaker_enabled("CBRK_BUZZER", CBRK_BUZZER_KEY);
- }
-
- if (_cbrk != CBRK_OFF) { return; }
-
- // compute the divisor
- unsigned divisor = frequency_to_divisor(frequency);
-
- // pick the lowest prescaler value that we can use
- // (note that the effective prescale value is 1 greater)
- unsigned prescale = divisor / 65536;
-
- // calculate the timer period for the selected prescaler value
- unsigned 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 ToneAlarm::stop_note()
-{
- /* stop the current note */
- rCCER &= ~TONE_CCER;
-
- /*
- * Make sure the GPIO is not driving the speaker.
- */
- px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
-}
-
-void ToneAlarm::next_note()
-{
- if (!_should_run) {
- if (_tune_control_sub >= 0) {
- orb_unsubscribe(_tune_control_sub);
- }
-
- _running = false;
- return;
- }
-
- // subscribe to tune_control
- if (_tune_control_sub < 0) {
- _tune_control_sub = orb_subscribe(ORB_ID(tune_control));
- }
-
- // do we have an inter-note gap to wait for?
- if (_silence_length > 0) {
- stop_note();
- work_queue(HPWORK, &_work, (worker_t)&ToneAlarm::next_trampoline, this, USEC2TICK(_silence_length));
- _silence_length = 0;
- return;
- }
-
- // check for updates
- bool updated = false;
- orb_check(_tune_control_sub, &updated);
-
- if (updated) {
- orb_copy(ORB_ID(tune_control), _tune_control_sub, &_tune);
- _play_tone = _tunes.set_control(_tune) == 0;
- }
-
- unsigned frequency = 0;
- unsigned duration = 0;
-
- if (_play_tone) {
- _play_tone = false;
- int parse_ret_val = _tunes.get_next_tune(frequency, duration, _silence_length);
-
- if (parse_ret_val >= 0) {
- // a frequency of 0 correspond to stop_note
- if (frequency > 0) {
- // start playing the note
- start_note(frequency);
-
- } else {
- stop_note();
- }
-
-
- if (parse_ret_val > 0) {
- // continue playing
- _play_tone = true;
- }
- }
-
- } else {
- // schedule a call with the tunes max interval
- duration = _tunes.get_maximum_update_interval();
- // stop playing the last note after the duration elapsed
- stop_note();
- }
-
- // and arrange a callback when the note should stop
- work_queue(HPWORK, &_work, (worker_t)&ToneAlarm::next_trampoline, this, USEC2TICK(duration));
-}
-
-void ToneAlarm::next_trampoline(void *arg)
-{
- ToneAlarm *ta = (ToneAlarm *)arg;
- ta->next_note();
-}
-
-/**
- * Local functions in support of the shell command.
- */
-namespace
-{
-
-ToneAlarm *g_dev;
-
-} // namespace
-
-void tone_alarm_usage();
-
-void tone_alarm_usage()
-{
- PX4_INFO("missing command, try 'start', status, 'stop'");
-}
-
-int tone_alarm_main(int argc, char *argv[])
-{
-
- if (argc > 1) {
- const char *argv1 = argv[1];
-
- if (!strcmp(argv1, "start")) {
- if (g_dev != nullptr) {
- PX4_ERR("already started");
- return 1;
- }
-
- if (g_dev == nullptr) {
- g_dev = new ToneAlarm();
-
- if (g_dev == nullptr) {
- PX4_ERR("couldn't allocate the ToneAlarm driver");
- return 1;
- }
-
- if (OK != g_dev->init()) {
- delete g_dev;
- g_dev = nullptr;
- PX4_ERR("ToneAlarm init failed");
- return 1;
- }
- }
-
- return 0;
- }
-
- if (!strcmp(argv1, "stop")) {
- delete g_dev;
- g_dev = nullptr;
- return 0;
- }
-
- if (!strcmp(argv1, "status")) {
- g_dev->status();
- return 0;
- }
-
- }
-
- tone_alarm_usage();
- return 0;
-}
diff --git a/src/drivers/tone_alarm_sim/CMakeLists.txt b/src/drivers/tone_alarm/CMakeLists.txt
similarity index 91%
rename from src/drivers/tone_alarm_sim/CMakeLists.txt
rename to src/drivers/tone_alarm/CMakeLists.txt
index 85ae11cee6..f51963a178 100644
--- a/src/drivers/tone_alarm_sim/CMakeLists.txt
+++ b/src/drivers/tone_alarm/CMakeLists.txt
@@ -1,6 +1,6 @@
############################################################################
#
-# Copyright (c) 2015 PX4 Development Team. All rights reserved.
+# Copyright (C) 2015-2019 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
@@ -30,11 +30,14 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
+
px4_add_module(
- MODULE drivers__tone_alarm_sim
+ MODULE drivers__tone_alarm
MAIN tone_alarm
SRCS
- tone_alarm.cpp
+ ToneAlarm.cpp
DEPENDS
- git_driverframework
+ circuit_breaker
+ tone_alarm_interface
+ tunes
)
diff --git a/src/drivers/tone_alarm/ToneAlarm.cpp b/src/drivers/tone_alarm/ToneAlarm.cpp
new file mode 100644
index 0000000000..851a456bef
--- /dev/null
+++ b/src/drivers/tone_alarm/ToneAlarm.cpp
@@ -0,0 +1,242 @@
+/****************************************************************************
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ToneAlarm.cpp
+ */
+
+#include "ToneAlarm.h"
+
+#include <px4_time.h>
+
+ToneAlarm::ToneAlarm() :
+ CDev(TONE_ALARM0_DEVICE_PATH)
+{
+}
+
+ToneAlarm::~ToneAlarm()
+{
+ _should_run = false;
+ int counter = 0;
+
+ while (_running && counter < 10) {
+ px4_usleep(100000);
+ counter++;
+ }
+}
+
+int ToneAlarm::init()
+{
+ if (CDev::init() != OK) {
+ return PX4_ERROR;
+ }
+
+ // NOTE: Implement hardware specific detail in the ToneAlarmInterface class implementation.
+ ToneAlarmInterface::init();
+
+ _running = true;
+ work_queue(HPWORK, &_work, (worker_t)&ToneAlarm::next_trampoline, this, 0);
+ return OK;
+}
+
+void ToneAlarm::next_note()
+{
+ if (!_should_run) {
+ if (_tune_control_sub >= 0) {
+ orb_unsubscribe(_tune_control_sub);
+ }
+
+ _running = false;
+ return;
+ }
+
+ // Subscribe to tune_control.
+ if (_tune_control_sub < 0) {
+ _tune_control_sub = orb_subscribe(ORB_ID(tune_control));
+ }
+
+ // Check for updates
+ orb_update();
+
+ unsigned int frequency = 0;
+ unsigned int duration = 0;
+
+ // Does an inter-note silence occur?
+ if (_silence_length > 0) {
+ stop_note();
+ duration = _silence_length;
+ _silence_length = 0;
+
+ } else if (_play_tone) {
+ int parse_ret_val = _tunes.get_next_tune(frequency, duration, _silence_length);
+
+ if (parse_ret_val > 0) {
+ // Continue playing.
+ _play_tone = true;
+
+ // A frequency of 0 corresponds to stop_note();
+ if (frequency > 0) {
+ // Start playing the note.
+ start_note(frequency);
+ }
+
+ } else {
+ _play_tone = false;
+ stop_note();
+ }
+
+ } else {
+ // Schedule a callback with the tunes max interval.
+ duration = _tunes.get_maximum_update_interval();
+ stop_note();
+ }
+
+ // Schedule a callback when the note should stop.
+ work_queue(HPWORK, &_work, (worker_t)&ToneAlarm::next_trampoline, this, USEC2TICK(duration));
+}
+
+void ToneAlarm::next_trampoline(void *argv)
+{
+ ToneAlarm *toneAlarm = (ToneAlarm *)argv;
+ toneAlarm->next_note();
+}
+
+void ToneAlarm::orb_update()
+{
+ // Check for updates
+ bool updated = false;
+ orb_check(_tune_control_sub, &updated);
+
+ if (updated) {
+ orb_copy(ORB_ID(tune_control), _tune_control_sub, &_tune);
+ _play_tone = _tunes.set_control(_tune) == 0;
+ }
+}
+
+void ToneAlarm::status()
+{
+ if (_running) {
+ PX4_INFO("running");
+
+ } else {
+ PX4_INFO("stopped");
+ }
+}
+
+void ToneAlarm::start_note(unsigned frequency)
+{
+ // Check if circuit breaker is enabled.
+ if (_cbrk == CBRK_UNINIT) {
+ _cbrk = circuit_breaker_enabled("CBRK_BUZZER", CBRK_BUZZER_KEY);
+ }
+
+ if (_cbrk != CBRK_OFF) {
+ return;
+ }
+
+ // NOTE: Implement hardware specific detail in the ToneAlarmInterface class implementation.
+ ToneAlarmInterface::start_note(frequency);
+}
+
+void ToneAlarm::stop_note()
+{
+ // NOTE: Implement hardware specific detail in the ToneAlarmInterface class implementation.
+ ToneAlarmInterface::stop_note();
+}
+
+
+struct work_s ToneAlarm::_work = {};
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace
+{
+
+ToneAlarm *g_dev;
+
+} // namespace
+
+/**
+ * Tone alarm Driver 'main' command.
+ * Entry point for the tone_alarm driver module.
+ */
+extern "C" __EXPORT int tone_alarm_main(int argc, char *argv[])
+{
+ if (argc > 1) {
+ const char *argv1 = argv[1];
+
+ if (!strcmp(argv1, "start")) {
+ if (g_dev == nullptr) {
+ g_dev = new ToneAlarm();
+
+ if (g_dev == nullptr) {
+ PX4_ERR("could not allocate the driver.");
+ }
+
+ if (g_dev->init() != OK) {
+ delete g_dev;
+ g_dev = nullptr;
+ PX4_ERR("driver init failed.");
+ }
+
+ } else {
+ PX4_INFO("already started");
+ }
+
+ return 0;
+ }
+
+ if (!strcmp(argv1, "stop")) {
+ delete g_dev;
+ g_dev = nullptr;
+ return 0;
+ }
+
+ if (!strcmp(argv1, "status")) {
+ if (g_dev != nullptr) {
+ g_dev->status();
+
+ } else {
+ PX4_INFO("driver stopped");
+ }
+
+ return 0;
+ }
+
+ } else {
+ PX4_INFO("missing command, try 'start', status, 'stop'");
+ }
+
+ return 0;
+};
diff --git a/src/drivers/tone_alarm/ToneAlarm.h b/src/drivers/tone_alarm/ToneAlarm.h
new file mode 100644
index 0000000000..9bb533cd7a
--- /dev/null
+++ b/src/drivers/tone_alarm/ToneAlarm.h
@@ -0,0 +1,120 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2018-2019 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ToneAlarm.h
+ *
+ * Low Level Driver for the PX4 audio alarm port. Subscribes to
+ * tune_control and plays notes on this architecture specific timer HW.
+ */
+
+#pragma once
+
+#include <circuit_breaker/circuit_breaker.h>
+#include <drivers/device/device.h>
+#include <drivers/drv_tone_alarm.h>
+#include <lib/drivers/tone_alarm/ToneAlarmInterface.h>
+#include <lib/tunes/tunes.h>
+#include <px4_defines.h>
+#include <px4_workqueue.h>
+#include <string.h>
+
+
+#if !defined(UNUSED)
+# define UNUSED(a) ((void)(a))
+#endif
+
+class ToneAlarm : public cdev::CDev
+{
+public:
+ ToneAlarm();
+ ~ToneAlarm();
+
+ /**
+ * @brief Initializes the character device and hardware registers.
+ */
+ int init();
+
+ /**
+ * @brief Prints the driver status to the console.
+ */
+ void status();
+
+protected:
+
+ /**
+ * @brief Parses the next note out of the string and plays it.
+ */
+ void next_note();
+
+ /**
+ * @brief Trampoline for the work queue.
+ * @param argv Pointer to the task startup arguments.
+ */
+ static void next_trampoline(void *argv);
+
+ /**
+ * @brief Updates the uORB topics for local subscribers.
+ */
+ void orb_update();
+
+ /**
+ * @brief Starts playing the note.
+ */
+ void start_note(unsigned frequency);
+
+ /**
+ * @brief Stops playing the current note and makes the player 'safe'.
+ */
+ void stop_note();
+
+ volatile bool _running{false}; ///< Flag to indicate the current driver status.
+
+ int _cbrk{CBRK_UNINIT}; ///< If true, no audio output.
+
+private:
+
+ volatile bool _should_run{true};
+
+ bool _play_tone{false};
+
+ unsigned int _silence_length{0}; ///< If nonzero, silence before next note.
+
+ int _tune_control_sub{-1};
+
+ tune_control_s _tune{};
+
+ Tunes _tunes = Tunes();
+
+ static work_s _work;
+};
diff --git a/src/drivers/tone_alarm_sim/tone_alarm.cpp b/src/drivers/tone_alarm_sim/tone_alarm.cpp
deleted file mode 100644
index c5dc913b11..0000000000
--- a/src/drivers/tone_alarm_sim/tone_alarm.cpp
+++ /dev/null
@@ -1,341 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2013, 2017-2018 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.
- *
- ****************************************************************************/
-
-/*
- * Simulated Low Level Driver for the PX4 audio alarm port. Subscribes to
- * tune_control and plays notes on this architecture specific
- * timer HW
- */
-
-#include <circuit_breaker/circuit_breaker.h>
-#include <drivers/device/device.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_tone_alarm.h>
-#include <lib/cdev/CDev.hpp>
-#include <lib/tunes/tunes.h>
-#include <px4_config.h>
-#include <px4_posix.h>
-#include <px4_workqueue.h>
-#include <uORB/topics/tune_control.h>
-
-#if !defined(UNUSED)
-# define UNUSED(a) ((void)(a))
-#endif
-
-#define CBRK_BUZZER_KEY 782097
-
-class ToneAlarm : public cdev::CDev
-{
-public:
- ToneAlarm();
- ~ToneAlarm();
-
- virtual int init();
- void status();
-
- enum {
- CBRK_OFF = 0,
- CBRK_ON,
- CBRK_UNINIT
- };
-
-private:
- volatile bool _running;
- volatile bool _should_run;
- bool _play_tone;
-
- Tunes _tunes;
-
- unsigned _silence_length; // if nonzero, silence before next note
-
- int _cbrk; ///< if true, no audio output
- int _tune_control_sub;
-
- tune_control_s _tune;
-
- static work_s _work;
-
- // Convert a frequency value into a divisor for the configured timer's clock.
- //
- unsigned frequency_to_divisor(unsigned frequency);
-
- // Start playing the note
- //
- void start_note(unsigned frequency);
-
- // Stop playing the current note and make the player 'safe'
- //
- void stop_note();
-
- // Parse the next note out of the string and play it
- //
- void next_note();
-
- // work queue trampoline for next_note
- //
- static void next_trampoline(void *arg);
-
- // Unused
- virtual void _measure() {}
-};
-
-struct work_s ToneAlarm::_work = {};
-
-/*
- * Driver 'main' command.
- */
-extern "C" __EXPORT int tone_alarm_main(int argc, char *argv[]);
-
-
-ToneAlarm::ToneAlarm() :
- CDev(TONEALARM0_DEVICE_PATH),
- _running(false),
- _should_run(true),
- _play_tone(false),
- _tunes(),
- _silence_length(0),
- _cbrk(CBRK_UNINIT),
- _tune_control_sub(-1)
-{
-}
-
-ToneAlarm::~ToneAlarm()
-{
- _should_run = false;
- int counter = 0;
-
- while (_running && ++counter < 10) {
- px4_usleep(100000);
- }
-}
-
-int ToneAlarm::init()
-{
- int ret = CDev::init();
-
- if (ret != OK) {
- return ret;
- }
-
- _running = true;
- work_queue(HPWORK, &_work, (worker_t)&ToneAlarm::next_trampoline, this, 0);
- return OK;
-}
-
-void ToneAlarm::status()
-{
- if (_running) {
- PX4_INFO("running");
-
- } else {
- PX4_INFO("stopped");
- }
-}
-
-unsigned ToneAlarm::frequency_to_divisor(unsigned frequency)
-{
- const int TONE_ALARM_CLOCK = 120000000ul / 4;
-
- float period = 0.5f / frequency;
-
- // and the divisor, rounded to the nearest integer
- unsigned divisor = (period * TONE_ALARM_CLOCK) + 0.5f;
-
- return divisor;
-}
-
-void ToneAlarm::start_note(unsigned frequency)
-{
- // check if circuit breaker is enabled
- if (_cbrk == CBRK_UNINIT) {
- _cbrk = circuit_breaker_enabled("CBRK_BUZZER", CBRK_BUZZER_KEY);
- }
-
- if (_cbrk != CBRK_OFF) { return; }
-
- // compute the divisor
- unsigned divisor = frequency_to_divisor(frequency);
-
- // pick the lowest prescaler value that we can use
- // (note that the effective prescale value is 1 greater)
- unsigned prescale = divisor / 65536;
-
- // calculate the timer period for the selected prescaler value
- unsigned period = (divisor / (prescale + 1)) - 1;
-
- // Silence warning of unused var
- UNUSED(period);
- PX4_DEBUG("ToneAlarm::start_note %u", period);
-}
-
-void ToneAlarm::stop_note()
-{
-}
-
-void ToneAlarm::next_note()
-{
- if (!_should_run) {
- if (_tune_control_sub >= 0) {
- orb_unsubscribe(_tune_control_sub);
- }
-
- _running = false;
- return;
- }
-
- // subscribe to tune_control
- if (_tune_control_sub < 0) {
- _tune_control_sub = orb_subscribe(ORB_ID(tune_control));
- }
-
- // do we have an inter-note gap to wait for?
- if (_silence_length > 0) {
- stop_note();
- work_queue(HPWORK, &_work, (worker_t)&ToneAlarm::next_trampoline, this, USEC2TICK(_silence_length));
- _silence_length = 0;
- return;
- }
-
- // check for updates
- bool updated = false;
- orb_check(_tune_control_sub, &updated);
-
- if (updated) {
- orb_copy(ORB_ID(tune_control), _tune_control_sub, &_tune);
- }
-
- unsigned frequency = 0;
- unsigned duration = 0;
-
- if (_play_tone) {
- _play_tone = false;
- int parse_ret_val = _tunes.get_next_tune(frequency, duration, _silence_length);
-
- if (parse_ret_val >= 0) {
- // a frequency of 0 correspond to stop_note
- if (frequency > 0) {
- // start playing the note
- start_note(frequency);
-
- } else {
- stop_note();
- }
-
-
- if (parse_ret_val > 0) {
- // continue playing
- _play_tone = true;
- }
- }
-
- } else {
- // schedule a call with the tunes max interval
- duration = _tunes.get_maximum_update_interval();
- // stop playing the last note after the duration elapsed
- stop_note();
- }
-
- // and arrange a callback when the note should stop
- work_queue(HPWORK, &_work, (worker_t)&ToneAlarm::next_trampoline, this, USEC2TICK(duration));
-}
-
-void ToneAlarm::next_trampoline(void *arg)
-{
- ToneAlarm *ta = (ToneAlarm *)arg;
- ta->next_note();
-}
-
-/**
- * Local functions in support of the shell command.
- */
-namespace
-{
-
-ToneAlarm *g_dev;
-
-} // namespace
-
-void tone_alarm_usage();
-
-void tone_alarm_usage()
-{
- PX4_INFO("missing command, try 'start', status, 'stop'");
-}
-
-int tone_alarm_main(int argc, char *argv[])
-{
-
- if (argc > 1) {
- const char *argv1 = argv[1];
-
- if (!strcmp(argv1, "start")) {
- if (g_dev != nullptr) {
- PX4_ERR("already started");
- return 1;
- }
-
- if (g_dev == nullptr) {
- g_dev = new ToneAlarm();
-
- if (g_dev == nullptr) {
- PX4_ERR("couldn't allocate the ToneAlarm driver");
- return 1;
- }
-
- if (OK != g_dev->init()) {
- delete g_dev;
- g_dev = nullptr;
- PX4_ERR("ToneAlarm init failed");
- return 1;
- }
- }
-
- return 0;
- }
-
- if (!strcmp(argv1, "stop")) {
- delete g_dev;
- g_dev = nullptr;
- return 0;
- }
-
- if (!strcmp(argv1, "status")) {
- g_dev->status();
- return 0;
- }
-
- }
-
- tone_alarm_usage();
- return 0;
-}
diff --git a/src/lib/drivers/CMakeLists.txt b/src/lib/drivers/CMakeLists.txt
index 489f563ef3..30ecbfc1d0 100644
--- a/src/lib/drivers/CMakeLists.txt
+++ b/src/lib/drivers/CMakeLists.txt
@@ -39,3 +39,4 @@ add_subdirectory(led)
add_subdirectory(linux_gpio)
add_subdirectory(magnetometer)
add_subdirectory(smbus)
+add_subdirectory(tone_alarm)
diff --git a/src/lib/drivers/tone_alarm/CMakeLists.txt b/src/lib/drivers/tone_alarm/CMakeLists.txt
new file mode 100644
index 0000000000..53b343a25e
--- /dev/null
+++ b/src/lib/drivers/tone_alarm/CMakeLists.txt
@@ -0,0 +1,34 @@
+############################################################################
+#
+# Copyright (c) 2015-2019 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.
+#
+############################################################################
+
+# ToneAlarmInterface Library - Intentionally Blank
diff --git a/src/lib/drivers/tone_alarm/ToneAlarmInterface.h b/src/lib/drivers/tone_alarm/ToneAlarmInterface.h
new file mode 100644
index 0000000000..9d2b35d3bd
--- /dev/null
+++ b/src/lib/drivers/tone_alarm/ToneAlarmInterface.h
@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ToneAlarmInterface.cpp
+ */
+
+namespace ToneAlarmInterface
+{
+/**
+ * @brief Activates/configures the hardware registers.
+ */
+void init();
+
+/**
+ * @brief Starts playing the note.
+ */
+void start_note(unsigned frequency);
+
+/**
+ * @brief Stops playing the current note and makes the player 'safe'.
+ */
+void stop_note();
+}; // ToneAlarmInterface
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 43eb00a44e..9c365da8f4 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1696,7 +1696,7 @@ MavlinkReceiver::handle_message_play_tune(mavlink_message_t *msg)
play_tune.target_component == 0)) {
if (*tune == 'M') {
- int fd = px4_open(TONEALARM0_DEVICE_PATH, PX4_F_WRONLY);
+ int fd = px4_open(TONE_ALARM0_DEVICE_PATH, PX4_F_WRONLY);
if (fd >= 0) {
px4_write(fd, tune, strlen(tune) + 1);
diff --git a/src/systemcmds/tests/test_hrt.cpp b/src/systemcmds/tests/test_hrt.cpp
index 8f51804b9d..e1711b3074 100644
--- a/src/systemcmds/tests/test_hrt.cpp
+++ b/src/systemcmds/tests/test_hrt.cpp
@@ -124,10 +124,10 @@ int test_tone(int argc, char *argv[])
int fd, result;
unsigned long tone;
- fd = px4_open(TONEALARM0_DEVICE_PATH, O_WRONLY);
+ fd = px4_open(TONE_ALARM0_DEVICE_PATH, O_WRONLY);
if (fd < 0) {
- printf("failed opening " TONEALARM0_DEVICE_PATH "\n");
+ printf("failed opening " TONE_ALARM0_DEVICE_PATH "\n");
goto out;
}
--
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