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drivers/tone_alarm and tune_control small improvements/cleanup

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- drivers/tone_alarm: move to ModuleBase and purge CDev (/dev/tone_alarm0)
 - drivers/tone_alarm: only run on tune_control publication (or scheduled note) rather than continuously
 - drivers/tone_alarm: use HRT to schedule tone stop (prevents potential disruption)
 - msg/tune_control: add tune_id numbering
 - systemcmds/tune_control: add "error" special case tune_id
 - move all tune_control publication to new uORB::PublicationQueued<>
 - start tone_alarm immediately after board defaults are loaded to fix potential startup issues
 - for SITL (or other boards with no TONE output) print common messages (startup, error, etc)
This commit is contained in:
Daniel Agar
2020-10-05 21:39:26 -04:00
committed by GitHub
parent c7072b61a3
commit 08bf71b73d
39 changed files with 429 additions and 577 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/rc.interface
+6 -9
View File
@@ -77,8 +77,7 @@ then
if ! mkblctrl $MKBLCTRL_ARG
then
# Error tune.
tune_control play -t 2
tune_control play error
fi
fi
@@ -86,8 +85,7 @@ then
then
if ! pwm_out_sim start -m $OUTPUT_MODE
then
# Error tune.
tune_control play -t 2
tune_control play error
fi
fi
@@ -96,8 +94,7 @@ then
if ! $OUTPUT_CMD mode_$FMU_MODE
then
echo "$OUTPUT_CMD start failed" >> $LOG_FILE
# Error tune.
tune_control play -t 2
tune_control play error
fi
fi
@@ -176,7 +173,7 @@ then
else
echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}"
echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}" >> $LOG_FILE
tune_control play -t 20
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
fi
else
@@ -184,7 +181,7 @@ else
then
echo "ERROR [init] Mixer undefined"
echo "ERROR [init] Mixer undefined" >> $LOG_FILE
tune_control play -t 20
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
fi
fi
@@ -234,7 +231,7 @@ then
fi
else
echo "ERROR: Could not start: pwm_out mode_pwm" >> $LOG_FILE
tune_control play -t 20
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
set PWM_AUX_OUT none
set FAILSAFE_AUX none
fi
ROMFS/px4fmu_common/init.d/rc.io
+1 -1
View File
@@ -18,6 +18,6 @@ then
px4io recovery
else
echo "PX4IO start failed" >> $LOG_FILE
tune_control play -t 20
tune_control play -t 18 # PROG_PX4IO_ERR
fi
fi
ROMFS/px4fmu_common/init.d/rcS
+22 -27
View File
@@ -130,14 +130,14 @@ then
else
# tune SD_INIT
set STARTUP_TUNE 16
set STARTUP_TUNE 14 # tune 14 = SD_INIT
if mkfatfs /dev/mmcsd0
then
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "INFO [init] card formatted"
else
set STARTUP_TUNE 17
set STARTUP_TUNE 15 # tune 15 = SD_ERROR
echo "ERROR [init] format failed"
set LOG_FILE /dev/null
fi
@@ -186,15 +186,6 @@ else
set AUTOCNF yes
fi
#
# Play the startup tune (if not disabled or there is an error)
#
param compare CBRK_BUZZER 782090
if [ $? != 0 -o $STARTUP_TUNE != 1 ]
then
tune_control play -t $STARTUP_TUNE
fi
#
# Optional board defaults: rc.board_defaults
#
@@ -206,6 +197,21 @@ else
fi
unset BOARD_RC_DEFAULTS
#
# Start the tone_alarm driver.
# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
#
tone_alarm start
#
# Play the startup tune (if not disabled or there is an error)
#
param compare CBRK_BUZZER 782090
if [ $? != 0 -o $STARTUP_TUNE != 1 ]
then
tune_control play -t $STARTUP_TUNE
fi
#
# Waypoint storage.
# REBOOTWORK this needs to start in parallel.
@@ -236,13 +242,6 @@ else
fi
fi
#
# Start the tone_alarm driver.
# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
# Note that this will still play the already published startup tone.
#
tone_alarm start
#
# Set parameters and env variables for selected AUTOSTART.
#
@@ -286,7 +285,7 @@ else
set IO_PRESENT yes
else
# tune Program PX4IO
tune_control play -t 18
tune_control play -t 16 # tune 16 = PROG_PX4IO
if px4io start
then
@@ -305,8 +304,7 @@ else
if px4io checkcrc ${IOFW}
then
echo "PX4IO CRC OK after updating" >> $LOG_FILE
#tune MLL8CDE Program PX4IO success
tune_control play -t 19
tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
set IO_PRESENT yes
fi
fi
@@ -314,8 +312,7 @@ else
if [ $IO_PRESENT = no ]
then
echo "PX4IO update failed" >> $LOG_FILE
# Error tune.
tune_control play -t 20
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
fi
fi
fi
@@ -332,8 +329,7 @@ else
if [ $USE_IO = yes -a $IO_PRESENT = no ]
then
echo "PX4IO not found" >> $LOG_FILE
# Error tune.
tune_control play -t 2
tune_control play error
fi
#
@@ -447,8 +443,7 @@ else
fi
fi
else
# Error tune.
tune_control play -t 2
tune_control play error
fi
fi
ROMFS/px4fmu_test/init.d/rcS
+6 -7
View File
@@ -30,11 +30,10 @@ if [ $? = 0 ]
then
echo "[i] card mounted at /fs/microsd"
# Start playing the startup tune
tune_control play -t 1
tune_control play -t 1 # tune 1 = STARTUP
else
echo "[i] no microSD card found"
# Play SOS
tune_control play -t 2
tune_control play error
fi
#
@@ -90,22 +89,22 @@ then
echo "PX4IO CRC OK"
else
echo "PX4IO CRC failure"
tune_control play -t 18
tune_control play -t 16 # tune 16 = PROG_PX4IO
if px4io forceupdate 14662 $io_file
then
if px4io start
then
echo "PX4IO restart OK"
tune_control play -t 19
tune_control play-t 17 # tune 17 = PROG_PX4IO_OK
else
echo "PX4IO restart failed"
tune_control play -t 20
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
fi
else
echo "PX4IO update failed"
tune_control play -t 20
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
fi