add code to control the audio buzzer

diff --git a/Makefile b/Makefile
index c7ea9a7..4883bb4 100644 (file)
--- a/Makefile
+++ b/Makefile
@@ -18,6 +18,7 @@ SRC += parse_neighbor.c
 SRC += parse_atcmd.c
 SRC += parse_monitor.c
 SRC += cmdline.c
+SRC += beep.c
 
 CFLAGS += -W -Wall -Werror
 

diff --git a/beep.c b/beep.c
new file mode 100644 (file)
index 0000000..f34219c
--- /dev/null
+++ b/beep.c
@@ -0,0 +1,104 @@
+/*
+ * Copyright (c) 2011, Olivier MATZ <zer0@droids-corp.org>
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * 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.
+ *     * Neither the name of the University of California, Berkeley 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 REGENTS 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 REGENTS AND 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.
+ */
+
+#include <stdint.h>
+#include <stdio.h>
+
+#include <aversive.h>
+#include <aversive/wait.h>
+
+#include <scheduler.h>
+#include <cirbuf.h>
+
+#include "main.h"
+
+/* 100 ms */
+#define BEEP_PERIOD (100000UL/SCHEDULER_UNIT)
+
+static struct cirbuf beep_fifo;
+static char beep_fifo_buf[16];
+volatile uint8_t beep_mask = 1; /* init beep */
+
+union beep_t {
+       uint8_t u08;
+       struct {
+               uint8_t tone:2;
+               uint8_t len:3;
+               uint8_t pause:3;
+       };
+};
+static volatile union beep_t current_beep;
+
+/* called by the scheduler */
+static void beep_cb(void *arg)
+{
+       (void)arg;
+
+       beep_mask = 0;
+       if (current_beep.len == 0 && current_beep.pause == 0) {
+               if (CIRBUF_GET_LEN(&beep_fifo) == 0)
+                       return;
+               current_beep.u08 = cirbuf_get_head(&beep_fifo);
+               cirbuf_del_head(&beep_fifo);
+       }
+
+       if (current_beep.len > 0) {
+               current_beep.len --;
+               switch (current_beep.tone) {
+                       case 0: beep_mask = 1; break;
+                       case 1: beep_mask = 2; break;
+                       case 2: beep_mask = 4; break;
+                       case 3: beep_mask = 8; break;
+                       default: break;
+               }
+               return;
+       }
+
+       if (current_beep.pause > 0) {
+               current_beep.pause --;
+       }
+}
+
+void beep(uint8_t tone, uint8_t len, uint8_t pause)
+{
+       uint8_t flags;
+       union beep_t b;
+
+       b.tone = tone;
+       b.len = len;
+       b.pause = pause;
+       IRQ_LOCK(flags);
+       cirbuf_add_tail(&beep_fifo, b.u08);
+       IRQ_UNLOCK(flags);
+}
+
+void beep_init(void)
+{
+       cirbuf_init(&beep_fifo, beep_fifo_buf, 0, sizeof(beep_fifo_buf));
+       scheduler_add_periodical_event_priority(&beep_cb, NULL,
+                                           BEEP_PERIOD, BEEP_PRIO);
+}

diff --git a/beep.h b/beep.h
new file mode 100644 (file)
index 0000000..50e5750
--- /dev/null
+++ b/beep.h
@@ -0,0 +1,32 @@
+/*
+ * Copyright (c) 2013, Olivier MATZ <zer0@droids-corp.org>
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * 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.
+ *     * Neither the name of the University of California, Berkeley 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 REGENTS 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 REGENTS AND 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.
+ */
+
+extern volatile uint8_t beep_mask;
+
+/* tone between 0 and 3, len between 0 and 7, pause between 0 and 7 */
+void beep(uint8_t tone, uint8_t len, uint8_t pause);
+void beep_init(void);

diff --git a/commands.c b/commands.c
index c9d415f..b58594a 100644 (file)
--- a/commands.c
+++ b/commands.c
@@ -51,6 +51,7 @@
 #include "rc_proto.h"
 #include "main.h"
 #include "cmdline.h"
+#include "beep.h"
 
 /* commands_gen.c */
 extern const parse_inst_t PROGMEM cmd_reset;
@@ -1299,6 +1300,45 @@ const parse_inst_t PROGMEM cmd_baudrate = {
        },
 };
 
+
+/**********************************************************/
+
+/* this structure is filled when cmd_beep is parsed successfully */
+struct cmd_beep_result {
+       fixed_string_t beep;
+};
+
+/* function called when cmd_beep is parsed successfully */
+static void cmd_beep_parsed(void *parsed_result, void *data)
+{
+       (void)parsed_result;
+       (void)data;
+
+       beep(0, 3, 3);
+       beep(1, 3, 3);
+       beep(2, 3, 3);
+       beep(0, 1, 1);
+       beep(1, 1, 1);
+       beep(2, 1, 1);
+}
+
+const char PROGMEM str_beep[] = "beep";
+const parse_token_string_t PROGMEM cmd_beep_beep =
+       TOKEN_STRING_INITIALIZER(struct cmd_beep_result, beep,
+                                str_beep);
+
+const char PROGMEM help_beep[] = "Send a beep";
+
+const parse_inst_t PROGMEM cmd_beep = {
+       .f = cmd_beep_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_beep,
+       .tokens = {        /* token list, NULL terminated */
+               (PGM_P)&cmd_beep_beep,
+               NULL,
+       },
+};
+
 /**********************************************************/
 
 /* this structure is filled when cmd_servo is parsed successfully */
@@ -1546,6 +1586,7 @@ const parse_ctx_t PROGMEM main_ctx[] = {
        &cmd_dump,
        &cmd_debug,
        &cmd_baudrate,
+       &cmd_beep,
        &cmd_servo_set,
        &cmd_servo_bypassppm,
        &cmd_servo_show,

diff --git a/main.c b/main.c
index 0e52717..8e2aa0e 100644 (file)
--- a/main.c
+++ b/main.c
@@ -52,6 +52,7 @@
 #include <rdline.h>
 #include <timer.h>
 
+#include "beep.h"
 #include "main.h"
 
 struct xbeeboard xbeeboard;
@@ -588,6 +589,8 @@ static void main_timer_interrupt(void)
        static uint16_t cycles;
        static uint8_t cpt;
 
+       cpt++;
+
        /* interrupt every 2048 cycles */
        cycles += 2048;
        if (cycles >= 12000) {
@@ -601,6 +604,11 @@ static void main_timer_interrupt(void)
        else
                LED1_OFF();
 
+       if (cpt & beep_mask)
+               BUZZER_ON();
+       else
+               BUZZER_OFF();
+
        /* call scheduler every 682us with interrupt unlocked */
        sei();
        if ((cpt & 0x3) == 0)
@@ -614,7 +622,7 @@ int main(void)
        int8_t err;
        struct xbee_dev dev;
 
-       DDRA = 0x07; /* LEDs */
+       DDRA = 0x07 /* LEDs */ | 0x10 /* buzzer */;
 
        uart_init();
        uart_register_rx_event(CMDLINE_UART, emergency);
@@ -627,6 +635,7 @@ int main(void)
 
        cmdline_init();
        spi_servo_init();
+       beep_init();
 
        printf_P(PSTR("\r\n"));
        rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);

diff --git a/main.h b/main.h
index 87070a3..9ba70de 100644 (file)
--- a/main.h
+++ b/main.h
@@ -64,9 +64,13 @@ extern volatile uint16_t global_ms;
 #define LED3_ON()       sbi(PORTA, 0)
 #define LED3_OFF()      cbi(PORTA, 0)
 
+#define BUZZER_ON()       sbi(PORTA, 4)
+#define BUZZER_OFF()      cbi(PORTA, 4)
+
 /* highest priority */
 #define LED_PRIO           170
 #define TIME_PRIO          160
+#define BEEP_PRIO          130
 #define SPI_PRIO           100 /* users of spi_servo must have lower prio */
 /* lowest priority */