Line data    Source code

       1             : #include "ToneAlarm.h"
       2             : 
       3             : #include <fcntl.h>
       4             : #include <iostream>
       5             : #include <stdio.h>
       6             : #include <stdlib.h>
       7             : #include <sys/stat.h>
       8             : #include <sys/types.h>
       9             : #include <unistd.h>
      10             : 
      11             : #include <AP_Math/AP_Math.h>
      12             : #include <AP_HAL/AP_HAL.h>
      13             : 
      14             : using namespace Linux;
      15             : 
      16             : extern const AP_HAL::HAL& hal;
      17             : 
      18          48 : ToneAlarm::ToneAlarm()
      19             : {
      20             : #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
      21             :     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
      22             :     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
      23             :     period_fd = open("/sys/class/pwm/pwmchip0/pwm0/period",O_WRONLY|O_CLOEXEC);
      24             :     duty_fd = open("/sys/class/pwm/pwmchip0/pwm0/duty_cycle",O_WRONLY|O_CLOEXEC);
      25             :     run_fd = open("/sys/class/pwm/pwmchip0/pwm0/enable",O_WRONLY|O_CLOEXEC);
      26             : #endif
      27          48 : }
      28             : 
      29           0 : bool ToneAlarm::init()
      30             : {
      31           0 :     if ((period_fd == -1) || (duty_fd == -1) || (run_fd == -1)) {
      32             : #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
      33             :     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
      34             :     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
      35             :         hal.console->printf("ToneAlarm: Error!! please check if PWM overlays are loaded correctly");
      36             : #endif
      37           0 :         return false;
      38             :     }
      39           0 :     return true;
      40             : }
      41             : 
      42           0 : void ToneAlarm::set_buzzer_tone(float frequency, float volume, uint32_t duration_ms)
      43             : {
      44           0 :     if (is_zero(frequency) || is_zero(volume)) {
      45           0 :         dprintf(run_fd,"0");
      46             :     } else {
      47           0 :         dprintf(run_fd,"0");
      48           0 :         dprintf(period_fd,"%u",(unsigned int)roundf(1000000000/frequency));
      49           0 :         dprintf(duty_fd,"%u",(unsigned int)roundf(volume*500000000/frequency));
      50           0 :         dprintf(run_fd,"1");
      51             :     }
      52           0 : }