AP_Notify: add PX4's tone_alarm

Sounds added for arming, disarming and low battery events

libraries/AP_Notify/AP_Notify.cpp

@@ -26,6 +26,9 @@ void AP_Notify::init(void)
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
     toshibaled.init();
 #endif
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+    tonealarm.init();
+#endif
 }
 
 // main update function, called at 50Hz
@@ -36,4 +39,8 @@ void AP_Notify::update(void)
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
     toshibaled.update();
 #endif
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+    tonealarm.update();
+#endif
 }

libraries/AP_Notify/AP_Notify.h

@@ -23,6 +23,7 @@
 #include <ToshibaLED.h>
 #include <ToshibaLED_I2C.h>
 #include <ToshibaLED_PX4.h>
+#include <ToneAlarm_PX4.h>
 
 class AP_Notify
 {
@@ -56,6 +57,7 @@ private:
     ToshibaLED_I2C toshibaled;
 #elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
     ToshibaLED_PX4 toshibaled;
+    ToneAlarm_PX4 tonealarm;
 #endif
 };
 

libraries/AP_Notify/ToneAlarm_PX4.cpp

@@ -0,0 +1,85 @@
+/*
+  ToneAlarm PX4 driver
+*/
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#include "ToneAlarm_PX4.h"
+#include "AP_Notify.h"
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <drivers/drv_tone_alarm.h>
+#include <stdio.h>
+#include <errno.h>
+
+extern const AP_HAL::HAL& hal;
+
+bool ToneAlarm_PX4::init()
+{
+    // open the tone alarm device
+    _tonealarm_fd = open(TONEALARM_DEVICE_PATH, 0);
+    if (_tonealarm_fd == -1) {
+        hal.console->printf("Unable to open " TONEALARM_DEVICE_PATH);
+        return false;
+    }
+    return true;
+}
+
+// play_tune - play one of the pre-defined tunes
+bool ToneAlarm_PX4::play_tune(const uint8_t tune_number)
+{
+    int ret = ioctl(_tonealarm_fd, TONE_SET_ALARM, tune_number);
+    return (ret == 0);
+}
+
+
+// update - updates led according to timed_updated.  Should be called at 50Hz
+void ToneAlarm_PX4::update()
+{
+    // exit immediately if we haven't initialised successfully
+    if (_tonealarm_fd <= 0 ) {
+        return;
+    }
+
+    // check if arming status has changed
+    if (flags.armed != AP_Notify::flags.armed) {
+        flags.armed = AP_Notify::flags.armed;
+        if (flags.armed) {
+            // arming tune
+            play_tune(TONE_ARMING_WARNING_TUNE);
+        }else{
+            // disarming tune
+            play_tune(TONE_NOTIFY_NEUTRAL_TUNE);
+        }
+    }
+
+    // check if battery status has changed
+    if (flags.failsafe_battery != AP_Notify::flags.failsafe_battery) {
+        flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
+        if (flags.failsafe_battery) {
+            // low battery warning tune
+            play_tune(TONE_BATTERY_WARNING_FAST_TUNE);
+        }
+    }
+}
+
+#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4

libraries/AP_Notify/ToneAlarm_PX4.h

@@ -0,0 +1,45 @@
+/*
+  ToneAlarm PX4 driver
+*/
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#ifndef __TONE_ALARM_PX4_H__
+#define __TONE_ALARM_PX4_H__
+
+#include "ToneAlarm_PX4.h"
+
+class ToneAlarm_PX4
+{
+public:
+    /// init - initialised the tone alarm
+    bool init(void);
+
+    /// play_tune - play one of the pre-defined tunes
+    bool play_tune(const uint8_t tune_number);
+
+    /// update - updates led according to timed_updated.  Should be called at 50Hz
+    void update();
+
+private:
+    int _tonealarm_fd;      // file descriptor for the tone alarm
+
+    /// tonealarm_type - bitmask of states we track
+    struct tonealarm_type {
+        uint8_t armed              : 1;    // 0 = disarmed, 1 = armed
+        uint8_t failsafe_battery   : 1;    // 1 if battery failsafe
+    } flags;
+};
+
+#endif // __TONE_ALARM_PX4_H__