fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 07:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

tone_alarm_sim readd to sitl and drop DriverFramework

Browse Source 
- fixes #10925
This commit is contained in:
Daniel Agar
2018-11-29 07:40:22 -05:00
parent 370371767f
commit 02c34763f0
3 changed files with 11 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/posix/drivers/tonealrmsim/CMakeLists.txt
-42
View File
@@ -1,42 +0,0 @@
############################################################################
#
# Copyright (c) 2015 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_module(
MODULE platforms__posix__drivers__tonealrmsim
MAIN tone_alarm
COMPILE_FLAGS
SRCS
tone_alarm.cpp
DEPENDS
git_driverframework
)
src/platforms/posix/drivers/tonealrmsim/tone_alarm.cpp
-366
View File
@@ -1,366 +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 <px4_config.h>
#include <px4_posix.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>
#include "VirtDevObj.hpp"
using namespace DriverFramework;
#if !defined(UNUSED)
# define UNUSED(a) ((void)(a))
#endif
#define CBRK_BUZZER_KEY 782097
class ToneAlarm : public VirtDevObj
{
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() :
VirtDevObj("tone_alarm", TONEALARM0_DEVICE_PATH, nullptr, 0),
_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) {
usleep(100000);
}
}
int ToneAlarm::init()
{
int ret;
ret = VirtDevObj::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;
}