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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
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platforms/nuttx/src/px4/stm/stm32_common/tone_alarm/ToneAlarmInterfaceGPIO.cpp
+2 -1
View File
@@ -44,9 +44,10 @@ void init()
px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
}
void start_note(unsigned frequency)
hrt_abstime start_note(unsigned frequency)
{
px4_arch_gpiowrite(GPIO_TONE_ALARM_GPIO, 1);
return hrt_absolute_time();
}
void stop_note()
platforms/nuttx/src/px4/stm/stm32_common/tone_alarm/ToneAlarmInterfacePWM.cpp
+6 -1
View File
@@ -299,7 +299,7 @@ void init()
rCR1 = GTIM_CR1_CEN; // Ensure the timer is running.
}
void start_note(unsigned frequency)
hrt_abstime start_note(unsigned frequency)
{
// Calculate the signal switching period.
// (Signal switching period is one half of the frequency period).
@@ -321,7 +321,12 @@ void start_note(unsigned frequency)
rCCER |= TONE_CCER; // Enable the output.
// Configure the GPIO to enable timer output.
hrt_abstime time_started = hrt_absolute_time();
irqstate_t flags = enter_critical_section();
px4_arch_configgpio(GPIO_TONE_ALARM);
leave_critical_section(flags);
return time_started;
}
void stop_note()