AP_Notify: ensure ToneAlarm is not disabled when UAVCAN is available

libraries/AP_Notify/AP_Notify.cpp

@@ -94,12 +94,17 @@ AP_Notify *AP_Notify::_singleton;
 #endif // BUILD_DEFAULT_LED_TYPE
 
 #ifndef BUZZER_ENABLE_DEFAULT
-#define BUZZER_ENABLE_DEFAULT 1
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
+// Enable Buzzer messages over UAVCAN
+#define BUZZER_ENABLE_DEFAULT (Notify_Buzz_Builtin | Notify_Buzz_UAVCAN)
+#else
+#define BUZZER_ENABLE_DEFAULT Notify_Buzz_Builtin
+#endif
 #endif
 
 #ifndef BUILD_DEFAULT_BUZZER_TYPE
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && HAL_DSHOT_ALARM
-  #define BUILD_DEFAULT_BUZZER_TYPE (BUZZER_ENABLE_DEFAULT | (HAL_DSHOT_ALARM << 1))
+  #define BUILD_DEFAULT_BUZZER_TYPE (BUZZER_ENABLE_DEFAULT | Notify_Buzz_DShot)
 #else
   #define BUILD_DEFAULT_BUZZER_TYPE BUZZER_ENABLE_DEFAULT
 #endif
@@ -134,7 +139,7 @@ const AP_Param::GroupInfo AP_Notify::var_info[] = {
     // @Param: BUZZ_TYPES
     // @DisplayName: Buzzer Driver Types
     // @Description: Controls what types of Buzzer will be enabled
-    // @Bitmask: 0:Built-in buzzer, 1:DShot
+    // @Bitmask: 0:Built-in buzzer, 1:DShot, 2:UAVCAN
     // @User: Advanced
     AP_GROUPINFO("BUZZ_TYPES", 1, AP_Notify, _buzzer_type, BUILD_DEFAULT_BUZZER_TYPE),
 

libraries/AP_Notify/AP_Notify.h

@@ -76,6 +76,13 @@ public:
         Notify_LED_MAX
     };
 
+    enum Notify_Buzz_Type {
+        Notify_Buzz_None                    = 0,
+        Notify_Buzz_Builtin                 = (1 << 0), // Built in default Alarm Out
+        Notify_Buzz_DShot                   = (1 << 1), // DShot Alarm
+        Notify_Buzz_UAVCAN                  = (1 << 2), // UAVCAN Alarm
+    };
+
     /// notify_flags_type - bitmask of notification flags
     struct notify_flags_and_values_type {
         bool initialising;        // true if initialising and the vehicle should not be moved

libraries/AP_Notify/MMLPlayer.cpp

@@ -70,7 +70,8 @@ void MMLPlayer::start_note(float duration, float frequency, float volume)
 
     for (uint8_t i = 0; i < can_num_drivers; i++) {
         AP_UAVCAN *uavcan = AP_UAVCAN::get_uavcan(i);
-        if (uavcan != nullptr) {
+        if (uavcan != nullptr &&
+            (AP::notify().get_buzzer_types() & AP_Notify::Notify_Buzz_UAVCAN)) {
             uavcan->set_buzzer_tone(frequency, _note_duration_us*1.0e-6);
         }
     }

libraries/AP_Notify/ToneAlarm.cpp

@@ -105,9 +105,14 @@ bool AP_ToneAlarm::init()
     if (pNotify->buzzer_enabled() == false) {
         return false;
     }
+#if ((defined(HAL_PWM_ALARM) || HAL_DSHOT_ALARM) && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS) || \
+    CONFIG_HAL_BOARD == HAL_BOARD_LINUX || \
+    CONFIG_HAL_BOARD == HAL_BOARD_SITL
     if (!hal.util->toneAlarm_init(pNotify->get_buzzer_types())) {
         return false;
     }
+#endif
+
 
     // set initial boot states. This prevents us issuing a arming
     // warning in plane and rover on every boot