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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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08bf71b73d
- 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)
84 lines
2.9 KiB
C++
84 lines
2.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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namespace px4
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{
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ScheduledWorkItem::~ScheduledWorkItem()
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{
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ScheduleClear();
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}
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void ScheduledWorkItem::schedule_trampoline(void *arg)
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{
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ScheduledWorkItem *dev = static_cast<ScheduledWorkItem *>(arg);
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dev->ScheduleNow();
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}
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void ScheduledWorkItem::ScheduleDelayed(uint32_t delay_us)
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{
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hrt_call_after(&_call, delay_us, (hrt_callout)&ScheduledWorkItem::schedule_trampoline, this);
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}
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void ScheduledWorkItem::ScheduleOnInterval(uint32_t interval_us, uint32_t delay_us)
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{
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hrt_call_every(&_call, delay_us, interval_us, (hrt_callout)&ScheduledWorkItem::schedule_trampoline, this);
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}
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void ScheduledWorkItem::ScheduleAt(hrt_abstime time_us)
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{
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hrt_call_at(&_call, time_us, (hrt_callout)&ScheduledWorkItem::schedule_trampoline, this);
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}
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void ScheduledWorkItem::ScheduleClear()
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{
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// first clear any scheduled hrt call, then remove the item from the runnable queue
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hrt_cancel(&_call);
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WorkItem::ScheduleClear();
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}
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void ScheduledWorkItem::print_run_status()
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{
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if (_call.period > 0) {
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PX4_INFO_RAW("%-26s %8.1f Hz %12.0f us (%" PRId64 " us)\n", _item_name, (double)average_rate(),
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(double)average_interval(), _call.period);
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} else {
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WorkItem::print_run_status();
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}
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}
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} // namespace px4
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