uavcan: add tune_control/beep

ROMFS/px4fmu_common/init.d/rcS

@@ -441,7 +441,7 @@ else
 			then
 				# Start UAVCAN firmware update server and dynamic node ID allocation server.
 				uavcan start fw
-
+				tune_control play -t 1
 				if param greater UAVCAN_ENABLE 2
 				then
 					set OUTPUT_MODE uavcan_esc

src/drivers/uavcan/CMakeLists.txt

@@ -121,6 +121,8 @@ px4_add_module(
 		${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include
 		${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver/include
 	SRCS
+		beep.cpp
+		beep.hpp
 		rgbled.cpp
 		rgbled.hpp
 		safety_state.cpp

src/drivers/uavcan/beep.cpp

@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file beep.cpp
+ *
+ * @author CUAVcaijie <caijie@cuav.net>
+ */
+
+#include "beep.hpp"
+
+UavcanBeep::UavcanBeep(uavcan::INode &node) :
+	_beep_pub(node),
+	_timer(node)
+{
+}
+
+int UavcanBeep::init()
+{
+	/*
+	 * Setup timer and call back function for periodic updates
+	 */
+	if (!_timer.isRunning()) {
+		_timer.setCallback(TimerCbBinder(this, &UavcanBeep::periodic_update));
+		_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
+	}
+
+	return 0;
+}
+
+void UavcanBeep::periodic_update(const uavcan::TimerEvent &)
+{
+	if (_tune_control_sub.updated()) {
+		_tune_control_sub.copy(&_tune);
+
+		if (_tune.timestamp > 0) {
+			_play_tone = (_tunes.set_control(_tune) == Tunes::ControlResult::Success);
+		}
+	}
+
+	const hrt_abstime timestamp_now = hrt_absolute_time();
+
+	if ((timestamp_now - _interval_timestamp <= _duration) || !_play_tone) {
+		return;
+	}
+
+	_interval_timestamp = timestamp_now;
+
+	if (_silence_length > 0) {
+		_duration = _silence_length;
+		_silence_length = 0;
+
+	} else if (_play_tone) {
+		Tunes::Status parse_ret_val = _tunes.get_next_note(_frequency, _duration, _silence_length);
+
+		if (parse_ret_val == Tunes::Status::Continue) {
+			// Continue playing.
+			_play_tone = true;
+
+			if (_frequency > 0) {
+				// Start playing the note.
+				uavcan::equipment::indication::BeepCommand cmd{};
+				cmd.frequency = _frequency;
+				cmd.duration = _duration / 1000000.f;
+				_beep_pub.broadcast(cmd);
+			}
+
+		} else {
+			_play_tone = false;
+		}
+	}
+}

src/drivers/uavcan/beep.hpp

@@ -0,0 +1,93 @@
+/****************************************************************************
+*
+*   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+* 2. Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in
+*    the documentation and/or other materials provided with the
+*    distribution.
+* 3. Neither the name PX4 nor the names of its contributors may be
+*    used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+****************************************************************************/
+
+/**
+ * @file beep.hpp
+ *
+ * @author CUAVcaijie <caijie@cuav.net>
+ *
+ * @brief Control CAN buzzer by subscribing to tune_control
+ *
+ */
+
+#pragma once
+
+#include <uavcan/uavcan.hpp>
+#include <uavcan/equipment/indication/BeepCommand.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/tune_control.h>
+#include <lib/tunes/tunes.h>
+
+class UavcanBeep
+{
+public:
+	UavcanBeep(uavcan::INode &node);
+
+	/*
+	* setup periodic updater
+	*/
+	int init();
+
+private:
+	/*
+	 * Max update rate to avoid excessive bus traffic
+	 */
+	static constexpr unsigned MAX_RATE_HZ = 100;
+
+	/*
+	 * Setup timer and call back function for periodic updates
+	 */
+	void periodic_update(const uavcan::TimerEvent &);
+
+	typedef uavcan::MethodBinder<UavcanBeep *, void (UavcanBeep::*)(const uavcan::TimerEvent &)> TimerCbBinder;
+
+	/*
+	 * Subscription tune_control
+	 */
+	uORB::Subscription _tune_control_sub{ORB_ID(tune_control)};
+
+	/*
+	 * Publish CAN Beep
+	 */
+	uavcan::Publisher<uavcan::equipment::indication::BeepCommand> _beep_pub;
+
+	uavcan::TimerEventForwarder<TimerCbBinder> _timer;
+
+	hrt_abstime _interval_timestamp{0};
+	tune_control_s _tune{};
+	Tunes _tunes{};
+	bool _play_tone{false};
+	unsigned int _silence_length{0};	///< If nonzero, silence before next note.
+	unsigned int _frequency{0};
+	unsigned int _duration{0};
+};

src/drivers/uavcan/uavcan_main.cpp

@@ -82,6 +82,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
 	_node(can_driver, system_clock, _pool_allocator),
 	_esc_controller(_node),
 	_hardpoint_controller(_node),
+	_beep_controller(_node),
 	_safety_state_controller(_node),
 	_rgbled_controller(_node),
 	_time_sync_master(_node),
@@ -623,6 +624,12 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
 		return ret;
 	}
 
+	ret = _beep_controller.init();
+
+	if (ret < 0) {
+		return ret;
+	}
+
 	ret = _safety_state_controller.init();
 
 	if (ret < 0) {

src/drivers/uavcan/uavcan_main.hpp

@@ -46,6 +46,7 @@
 #include <px4_platform_common/atomic.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
+#include "beep.hpp"
 #include "rgbled.hpp"
 #include "safety_state.hpp"
 #include "uavcan_driver.hpp"
@@ -205,6 +206,7 @@ private:
 	UavcanEscController		_esc_controller;
 	UavcanMixingInterface 		_mixing_interface{_node_mutex, _esc_controller};
 	UavcanHardpointController	_hardpoint_controller;
+	UavcanBeep			_beep_controller;
 	UavcanSafetyState         	_safety_state_controller;
 	UavcanRGBController             _rgbled_controller;
 	uavcan::GlobalTimeSyncMaster	_time_sync_master;