You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
52 lines
1.6 KiB
52 lines
1.6 KiB
#include "ToneAlarm.h" |
|
|
|
#include <fcntl.h> |
|
#include <iostream> |
|
#include <stdio.h> |
|
#include <stdlib.h> |
|
#include <sys/stat.h> |
|
#include <sys/types.h> |
|
#include <unistd.h> |
|
|
|
#include <AP_Math/AP_Math.h> |
|
#include <AP_HAL/AP_HAL.h> |
|
|
|
using namespace Linux; |
|
|
|
extern const AP_HAL::HAL& hal; |
|
|
|
ToneAlarm::ToneAlarm() |
|
{ |
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \ |
|
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \ |
|
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI |
|
period_fd = open("/sys/class/pwm/pwmchip0/pwm0/period",O_WRONLY|O_CLOEXEC); |
|
duty_fd = open("/sys/class/pwm/pwmchip0/pwm0/duty_cycle",O_WRONLY|O_CLOEXEC); |
|
run_fd = open("/sys/class/pwm/pwmchip0/pwm0/enable",O_WRONLY|O_CLOEXEC); |
|
#endif |
|
} |
|
|
|
bool ToneAlarm::init() |
|
{ |
|
if ((period_fd == -1) || (duty_fd == -1) || (run_fd == -1)) { |
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \ |
|
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \ |
|
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI |
|
hal.console->printf("ToneAlarm: Error!! please check if PWM overlays are loaded correctly"); |
|
#endif |
|
return false; |
|
} |
|
return true; |
|
} |
|
|
|
void ToneAlarm::set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) |
|
{ |
|
if (is_zero(frequency) || is_zero(volume)) { |
|
dprintf(run_fd,"0"); |
|
} else { |
|
dprintf(run_fd,"0"); |
|
dprintf(period_fd,"%u",(unsigned int)roundf(1000000000/frequency)); |
|
dprintf(duty_fd,"%u",(unsigned int)roundf(volume*500000000/frequency)); |
|
dprintf(run_fd,"1"); |
|
} |
|
}
|
|
|