/
Sangak
/
ardupilot
Обзор
Документация
Войти
/
Sangak
/
ardupilot
Код
Запросы
0
Задачи
Вики
Пакеты
0
Релизы
0
Аналитика
Безопасность
master
libraries/AP_HAL_Linux/ToneAlarm.cpp
52 строки
2 KB
Vinicius Juvinski
AP_HAL_Linux: Fix PWM FS to follow the Kernel's 4.X instead 3.9
27 окт 2020, 08:55
27 окт 2020, 08:55
36204e5
Код
Авторство
О чём код?
#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"); } }