/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
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* 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
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****************************************************************************/
/**
* Driver for the PX4 audio alarm port, /dev/tone_alarm.
*
* The tone_alarm driver supports a set of predefined "alarm"
* tunes and one user-supplied tune.
*
* The TONE_SET_ALARM ioctl can be used to select a predefined
* alarm tune, from 1 - <TBD>. Selecting tune zero silences
* the alarm.
*
* Tunes follow the syntax of the Microsoft GWBasic/QBasic PLAY
* statement, with some exceptions and extensions.
*
* From Wikibooks:
*
* PLAY "[string expression]"
*
* Used to play notes and a score ... The tones are indicated by letters A through G.
* Accidentals are indicated with a "+" or "#" (for sharp) or "-" (for flat)
* immediately after the note letter. See this example:
*
* PLAY "C C# C C#"
*
* Whitespaces are ignored inside the string expression. There are also codes that
* set the duration, octave and tempo. They are all case-insensitive. PLAY executes
* the commands or notes the order in which they appear in the string. Any indicators
* that change the properties are effective for the notes following that indicator.
*
* Ln Sets the duration (length) of the notes. The variable n does not indicate an actual duration
* amount but rather a note type; L1 - whole note, L2 - half note, L4 - quarter note, etc.
* (L8, L16, L32, L64, ...). By default, n = 4.
* For triplets and quintets, use L3, L6, L12, ... and L5, L10, L20, ... series respectively.
* The shorthand notation of length is also provided for a note. For example, "L4 CDE L8 FG L4 AB"
* can be shortened to "L4 CDE F8G8 AB". F and G play as eighth notes while others play as quarter notes.
* On Sets the current octave. Valid values for n are 0 through 6. An octave begins with C and ends with B.
* Remember that C- is equivalent to B.
* < > Changes the current octave respectively down or up one level.
* Nn Plays a specified note in the seven-octave range. Valid values are from 0 to 84. (0 is a pause.)
* Cannot use with sharp and flat. Cannot use with the shorthand notation neither.
* MN Stand for Music Normal. Note duration is 7/8ths of the length indicated by Ln. It is the default mode.
* ML Stand for Music Legato. Note duration is full length of that indicated by Ln.
* MS Stand for Music Staccato. Note duration is 3/4ths of the length indicated by Ln.
* Pn Causes a silence (pause) for the length of note indicated (same as Ln).
* Tn Sets the number of "L4"s per minute (tempo). Valid values are from 32 to 255. The default value is T120.
* . When placed after a note, it causes the duration of the note to be 3/2 of the set duration.
* This is how to get "dotted" notes. "L4 C#." would play C sharp as a dotted quarter note.
* It can be used for a pause as well.
*
* Extensions/variations:
*
* MB MF The MF command causes the tune to play once and then stop. The MB command causes the
* tune to repeat when it ends.
*
*/
#include <nuttx/config.h>
#include <debug.h>
#include <drivers/device/device.h>
#include <drivers/drv_tone_alarm.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <stdio.h>
#include <unistd.h>
#include <math.h>
#include <ctype.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <arch/stm32/chip.h>
#include <up_internal.h>
#include <up_arch.h>
#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
#include <systemlib/err.h>
/* Tone alarm configuration */
#if TONE_ALARM_TIMER == 2
# define TONE_ALARM_BASE STM32_TIM2_BASE
# define TONE_ALARM_CLOCK STM32_APB1_TIM2_CLKIN
# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM2EN
# ifdef CONFIG_STM32_TIM2
# error Must not set CONFIG_STM32_TIM2 when TONE_ALARM_TIMER is 2
# endif
#elif TONE_ALARM_TIMER == 3
# define TONE_ALARM_BASE STM32_TIM3_BASE
# define TONE_ALARM_CLOCK STM32_APB1_TIM3_CLKIN
# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM3EN
# ifdef CONFIG_STM32_TIM3
# error Must not set CONFIG_STM32_TIM3 when TONE_ALARM_TIMER is 3
# endif
#elif TONE_ALARM_TIMER == 4
# define TONE_ALARM_BASE STM32_TIM4_BASE
# define TONE_ALARM_CLOCK STM32_APB1_TIM4_CLKIN
# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM4EN
# ifdef CONFIG_STM32_TIM4
# error Must not set CONFIG_STM32_TIM4 when TONE_ALARM_TIMER is 4
# endif
#elif TONE_ALARM_TIMER == 5
# define TONE_ALARM_BASE STM32_TIM5_BASE
# define TONE_ALARM_CLOCK STM32_APB1_TIM5_CLKIN
# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM5EN
# ifdef CONFIG_STM32_TIM5
# error Must not set CONFIG_STM32_TIM5 when TONE_ALARM_TIMER is 5
# endif
#elif TONE_ALARM_TIMER == 9
# define TONE_ALARM_BASE STM32_TIM9_BASE
# define TONE_ALARM_CLOCK STM32_APB1_TIM9_CLKIN
# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM9EN
# ifdef CONFIG_STM32_TIM9
# error Must not set CONFIG_STM32_TIM9 when TONE_ALARM_TIMER is 9
# endif
#elif TONE_ALARM_TIMER == 10
# define TONE_ALARM_BASE STM32_TIM10_BASE
# define TONE_ALARM_CLOCK STM32_APB1_TIM10_CLKIN
# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM10EN
# ifdef CONFIG_STM32_TIM10
# error Must not set CONFIG_STM32_TIM10 when TONE_ALARM_TIMER is 10
# endif
#elif TONE_ALARM_TIMER == 11
# define TONE_ALARM_BASE STM32_TIM11_BASE
# define TONE_ALARM_CLOCK STM32_APB1_TIM11_CLKIN
# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM11EN
# ifdef CONFIG_STM32_TIM11
# error Must not set CONFIG_STM32_TIM11 when TONE_ALARM_TIMER is 11
# endif
#else
# error Must set TONE_ALARM_TIMER to a generic timer in order to use this driver.
#endif
#if TONE_ALARM_CHANNEL == 1
# define TONE_CCMR1 (3 << 4)
# define TONE_CCMR2 0
# define TONE_CCER (1 << 0)
# define TONE_rCCR rCCR1
#elif TONE_ALARM_CHANNEL == 2
# define TONE_CCMR1 (3 << 12)
# define TONE_CCMR2 0
# define TONE_CCER (1 << 4)
# define TONE_rCCR rCCR2
#elif TONE_ALARM_CHANNEL == 3
# define TONE_CCMR1 0
# define TONE_CCMR2 (3 << 4)
# define TONE_CCER (1 << 8)
# define TONE_rCCR rCCR3
#elif TONE_ALARM_CHANNEL == 4
# define TONE_CCMR1 0
# define TONE_CCMR2 (3 << 12)
# define TONE_CCER (1 << 12)
# define TONE_rCCR rCCR4
#else
# error Must set TONE_ALARM_CHANNEL to a value between 1 and 4 to use this driver.
#endif
/*
* Timer register accessors
*/
#define REG(_reg) (*(volatile uint32_t *)(TONE_ALARM_BASE + _reg))
#define rCR1 REG(STM32_GTIM_CR1_OFFSET)
#define rCR2 REG(STM32_GTIM_CR2_OFFSET)
#define rSMCR REG(STM32_GTIM_SMCR_OFFSET)
#define rDIER REG(STM32_GTIM_DIER_OFFSET)
#define rSR REG(STM32_GTIM_SR_OFFSET)
#define rEGR REG(STM32_GTIM_EGR_OFFSET)
#define rCCMR1 REG(STM32_GTIM_CCMR1_OFFSET)
#define rCCMR2 REG(STM32_GTIM_CCMR2_OFFSET)
#define rCCER REG(STM32_GTIM_CCER_OFFSET)
#define rCNT REG(STM32_GTIM_CNT_OFFSET)
#define rPSC REG(STM32_GTIM_PSC_OFFSET)
#define rARR REG(STM32_GTIM_ARR_OFFSET)
#define rCCR1 REG(STM32_GTIM_CCR1_OFFSET)
#define rCCR2 REG(STM32_GTIM_CCR2_OFFSET)
#define rCCR3 REG(STM32_GTIM_CCR3_OFFSET)
#define rCCR4 REG(STM32_GTIM_CCR4_OFFSET)
#define rDCR REG(STM32_GTIM_DCR_OFFSET)
#define rDMAR REG(STM32_GTIM_DMAR_OFFSET)
class ToneAlarm : public device::CDev
{
public:
ToneAlarm();
~ToneAlarm();
virtual int init();
virtual int ioctl(file *filp, int cmd, unsigned long arg);
virtual ssize_t write(file *filp, const char *buffer, size_t len);
private:
static const unsigned _tune_max = 1024; // be reasonable about user tunes
static const char * const _default_tunes[];
static const unsigned _default_ntunes;
static const uint8_t _note_tab[];
const char *_user_tune;
const char *_tune; // current tune string
const char *_next; // next note in the string
unsigned _tempo;
unsigned _note_length;
enum { MODE_NORMAL, MODE_LEGATO, MODE_STACCATO} _note_mode;
unsigned _octave;
unsigned _silence_length; // if nonzero, silence before next note
bool _repeat; // if true, tune restarts at end
hrt_call _note_call; // HRT callout for note completion
// Convert a note value in the range C1 to B7 into a divisor for
// the configured timer's clock.
//
unsigned note_to_divisor(unsigned note);
// Calculate the duration in microseconds of play and silence for a
// note given the current tempo, length and mode and the number of
// dots following in the play string.
//
unsigned note_duration(unsigned &silence, unsigned note_length, unsigned dots);
// Calculate the duration in microseconds of a rest corresponding to
// a given note length.
//
unsigned rest_duration(unsigned rest_length, unsigned dots);
// Start playing the note
//
void start_note(unsigned note);
// Stop playing the current note and make the player 'safe'
//
void stop_note();
// Start playing the tune
//
void start_tune(const char *tune);
// Parse the next note out of the string and play it
//
void next_note();
// Find the next character in the string, discard any whitespace and
// return the canonical (uppercase) version.
//
int next_char();
// Extract a number from the string, consuming all the digit characters.
//
unsigned next_number();
// Consume dot characters from the string, returning the number consumed.
//
unsigned next_dots();
// hrt_call trampoline for next_note
//
static void next_trampoline(void *arg);
};
// predefined tune array
const char * const ToneAlarm::_default_tunes[] = {
"MFT240L8 O4aO5dc O4aO5dc O4aO5dc L16dcdcdcdc", // startup tune
"MBT200a8a8a8PaaaP", // ERROR tone
"MFT200e8a8a", // NotifyPositive tone
"MFT200e8e", // NotifyNeutral tone
"MFT200e8c8e8c8e8c8", // NotifyNegative tone
"MFT90O3C16.C32C16.C32C16.C32G16.E32G16.E32G16.E32C16.C32C16.C32C16.C32G16.E32G16.E32G16.E32C4", // charge!
"MFT60O3C32O2A32F16F16F32G32A32A+32O3C16C16C16O2A16", // dixie
"MFT90O2C16C16C16F8.A8C16C16C16F8.A4P16P8", // cucuracha
"MNT150L8O2GGABGBADGGABL4GL8F+", // yankee
"MFT200O3C4.O2A4.G4.F4.D8E8F8D4F8C2.O2G4.O3C4.O2A4.F4.D8E8F8G4A8G2P8", // daisy
"T200O2B4P8B16B16B4P8B16B16B8G+8E8G+8B8G+8B8O3E8" // william tell
"O2B8G+8E8G+8B8G+8B8O3E8O2B4P8B16B16B4P8B16"
"O2B16B4P8B16B16B4P8B16B16B8B16B16B8B8B8B16"
"O2B16B8B8B8B16B16B8B8B8B16B16B8B8B2B2B8P8"
"P4P4P8O1B16B16B8B16B16B8B16B16O2E8F+8G+8"
"O1B16B16B8B16B16O2E8G+16G+16F+8D+8O1B8B16"
"O1B16B8B16B16B8B16B16O2E8F+8G+8E16G+16B4"
"O2B16A16G+16F+16E8G+8E8O3B16B16B8B16B16B8"
"O3B16B16O4E8F+8G+8O3B16B16B8B16B16O4E8G+16"
"O4G+16F+8D+8O3B8B16B16B8B16B16B8B16B16O4E8"
"O4F+8G+8E16G+16B4B16A16G+16F+16E8G+8E8O3G+16"
"O3G+16G+8G+16G+16G+8G+16G+16G+8O4C+8O3G+8"
"O4C+8O3G+8O4C+8O3G+8F+8E8D+8C+8G+16G+16G+8"
"O3G+16G+16G+8G+16G+16G+8O4C+8O3G+8O4C+8O3G+8"
"O4C+8O3B8A+8B8A+8B8G+16G+16G+8G+16G+16G+8"
"O3G+16G+16G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3G+8"
"O3F+8E8D+8C+8G+16G+16G+8G+16G+16G+8G+16G+16"
"O3G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3B8A+8B8O2B16"
"O2B16B8F+16F+16F+8F+16F+16F+8G+8A8F+4A8G+8"
"O2E4G+8F+8F+8F+8O3F+16F+16F+8F+16F+16F+8"
"O3G+8A8F+4A8G+8E4G+8F+8O2B16B16B8O1B16B16"
"O1B8B16B16B8B16B16O2E8F+8G+8O1B16B16B8B16"
"O1B16O2E8G+16G+16F+8D+8O1B8B16B16B8B16B16"
"O1B8B16B16O2E8F+8G+8E16G+16B4B16A16G+16F+16"
"O2E8G+8E8O3B16B16B8B16B16B8B16B16O4E8F+8"
"O4G+8O3B16B16B8B16B16O4E8G+16G+16F+8D+8O3B8"
"O3B16B16B8B16B16B8B16B16O4E8F+8G+8E16G+16"
"O4B4B16A16G+16F+16E8G+8E8O3E64F64G64A64B64"
"O4C64D64E8E16E16E8E8G+4.F+8E8D+8E8C+8O3B16"
"O4C+16O3B16O4C+16O3B16O4C+16D+16E16O3A16"
"O3B16A16B16A16B16O4C+16D+16O3G+16A16G+16"
"O3A16G+16A16B16O4C+16O3F+16G+16F+16G+16F+16"
"O3G+16F+16G+16F+16G+16F+16D+16O2B16O3B16"
"O4C+16D+16E8D+8E8C+8O3B16O4C+16O3B16O4C+16"
"O3B16O4C+16D+16E16O3A16B16A16B16A16B16O4C+16"
"O4D+16O3G+16A16G+16A16G+16A16B16O4C+16O3F+16"
"O3G+16F+16G+16F+16A16F+16E16E8P8C+4C+16O2C16"
"O3C+16O2C16O3D+16C+16O2B16A16A16G+16E16C+16"
"O2C+16C+16C+16C+16E16D+16O1C16G+16G+16G+16"
"O1G+16G+16G+16O2C+16E16G+16O3C+16C+16C+16"
"O3C+16C+16O2C16O3C+16O2C16O3D+16C+16O2B16"
"O2A16A16G+16E16C+16C+16C+16C+16C+16E16D+16"
"O1C16G+16G+16G+16G+16G+16G+16O2C+16E16G+16"
"O3C+16E16D+16C+16D+16O2C16G+16G+16G+16O3G+16"
"O3E16C+16D+16O2C16G+16G+16G+16O3G+16E16C+16"
"O3D+16O2B16G+16G+16A+16G16D+16D+16G+16G16"
"O2G+16G16G+16A16G+16F+16E16O1B16A+16B16O2E16"
"O1B16O2F+16O1B16O2G+16E16D+16E16G+16E16A16"
"O2F+16B16O3G+16F+16E16D+16F+16E16C+16O2B16"
"O3C+16O2B16O3C+16D+16E16F+16G+16O2A16B16"
"O2A16B16O3C+16D+16E16F+16O2G+16A16G+16A16"
"O2C16O3C+16D+16E16O2F+16G+16F+16G+16F+16"
"O2G+16F+16G+16F+16G+16F+16D+16O1B16C16O2C+16"
"O2D+16E16O1B16A+16B16O2E16O1B16O2F+16O1B16"
"O2G+16E16D+16E16G+16E16A16F+16B16O3G+16F+16"
"O3E16D+16F+16E16C+16O2B16O3C+16O2B16O3C+16"
"O3D+16E16F+16G+16O2A16B16A16B16O3C+16D+16"
"O3E16F+16O2G+16A16G+16A16B16O3C+16D+16E16"
"O2F+16O3C+16O2C16O3C+16D+16C+16O2A16F+16"
"O2E16O3E16F+16G+16A16B16O4C+16D+16E8E16E16"
"O4E8E8G+4.F8E8D+8E8C+8O3B16O4C+16O3B16O4C+16"
"O3B16O4C+16D+16E16O3A16B16A16B16A16B16O4C+16"
"O4D+16O3G+16A16G+16A16G+16A16B16O4C+16O3F+16"
"O3G+16F+16G+16F+16G+16F+16G+16F+16G+16F+16"
"O3D+16O2B16O3B16O4C+16D+16E8E16E16E8E8G+4."
"O4F+8E8D+8E8C+8O3B16O4C+16O3B16O4C+16O3B16"
"O4C+16D+16E16O3A16B16A16B16A16B16O4C+16D+16"
"O3G+16A16G+16A16G+16A16B16O4C+16O3F+16G+16"
"O3F+16G+16F+16A16G+16F+16E8O2B8O3E8G+16G+16"
"O3G+8G+16G+16G+8G+16G+16G+8O4C+8O3G+8O4C+8"
"O3G+8O4C+8O3G+8F+8E8D+8C+8G+16G+16G+8G+16"
"O3G+16G+8G+16G+16G+8O4C+8O3G+8O4C+8O3G+8"
"O4C+8O3B8A+8B8A+8B8G+16G+16G+8G+16G+16G+8"
"O3G+16G+16G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3G+8"
"O3F+8E8D+8C+8G+16G+16G+8G+16G+16G+8G+16G+16"
"O3G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3B8A+8B8A+8"
"O3B8O2F+16F+16F+8F+16F+16F+8G+8A8F+4A8G+8"
"O2E4G+8F+8B8O1B8O2F+16F+16F+8F+16F+16F+8"
"O2G+8A8F+4A8G+8E4G+8F+8B16B16B8O1B16B16B8"
"O1B16B16B8B16B16O2E8F+8G+8O1B16B16B8B16B16"
"O2E8G+16G+16F+8D+8O1B8B16B16B8B16B16B8B16"
"O1B16O2E8F+8G+8E16G+16B4B16A16G+16F+16E8"
"O1B8O2E8O3B16B16B8B16B16B8B16B16O4E8F+8G+8"
"O3B16B16B8B16B16O4E8G+16G+16F+8D+8O3B8B16"
"O3B16B8B16B16B8B16B16O4E8F+8G+8O3E16G+16"
"O3B4B16A16G+16F+16E16F+16G+16A16G+16A16B16"
"O4C+16O3B16O4C+16D+16E16D+16E16F+16G+16A16"
"O3B16O4A16O3B16O4A16O3B16O4A16O3B16O4A16"
"O3B16O4A16O3B16O4A16O3B16O4A16O3B16E16F+16"
"O3G+16A16G+16A16B16O4C+16O3B16O4C+16D+16"
"O4E16D+16E16F+16G+16A16O3B16O4A16O3B16O4A16"
"O3B16O4A16O3B16O4A16O3B16O4A16O3B16O4A16"
"O3B16O4A16O3B16P16G+16O4G+16O3G+16P16D+16"
"O4D+16O3D+16P16E16O4E16O3E16P16A16O4A16O3A16"
"P16O3G+16O4G+16O3G+16P16D+16O4D+16O3D+16"
"P16O3E16O4E16O3E16P16A16O4A16O3A16O4G16O3G16"
"O4G16O3G16O4G16O3G16O4G16O3G16O4G8E8C8E8"
"O4G+16O3G+16O4G+16O3G+16O4G+16O3G+16O4G+16"
"O3G+16O4G+8E8O3B8O4E8G+16O3G+16O4G+16O3G+16"
"O4G+16O3G+16O4G+16O3G+16O4G+8F8C+8F8A+16"
"O3A+16O4A+16O3A+16O4A+16O3A+16O4A+16O3A+16"
"O4A+8G8E8G8B8P16A+16P16A16P16G+16P16F+16"
"P16O4E16P16D+16P16C+16P16O3B16P16A+16P16"
"O3A16P16G+16P16F+16P16E16P16D+16P16F+16E16"
"O3F+16G+16A16G+16A16B16O4C+16O3B16O4C+16"
"O4D+16E16D+16E16F+16G+16A16O3B16O4A16O3B16"
"O4A16O3B16O4A16O3B16O4A16O3B16O4A16O3B16"
"O4A16O3B16O4A16O3B16E16F+16G+16A16G+16A16"
"O3B16O4C+16O3B16O4C+16D+16E16D+16E16F+16"
"O4G+16A16O3B16O4A16O3B16O4A16O3B16O4A16O3B16"
"O4A16O3B16O4A16O3B16O4A16O3B16O4A16O3B16"
"P16O3G+16O4G+16O3G+16P16D+16O4D+16O3D+16"
"P16O3E16O4E16O3E16P16A16O4A16O3A16P16G+16"
"O4G+16O3G+16P16D+16O4D+16O3D+16P16E16O4E16"
"O3E16P16A16O4A16O3A16O4G16O3G16O4G16O3G16"
"O4G16O3G16O4G16O3G16O4G8E8C8E8G+16O3G+16"
"O4G+16O3G+16O4G+16O3G+16O4G+16O3G+16O4G+8"
"O4E8O3B8O4E8G+16O3G+16O4G+16O3G+16O4G+16"
"O3G+16O4G+16O3G+16O4G+8F8C+8F8A+16O3A+16"
"O4A+16O3A+16O4A+16O3A+16O4A+16O3A+16O4A+8"
"O4G8E8G8B8P16A+16P16A16P16G+16P16F+16P16"
"O4E16P16D+16P16C+16P16O3B16P16A+16P16A16"
"P16O3G+16P16F+16P16E16P16D+16P16F16E16D+16"
"O3E16D+16E8B16B16B8B16B16B8B16B16O4E8F+8"
"O4G+8O3B16B16B8B16B16B8B16B16O4G+8A8B8P8"
"O4E8F+8G+8P8O3G+8A8B8P8P2O2B16C16O3C+16D16"
"O3D+16E16F16F+16G16G+16A16A+16B16C16O4C+16"
"O4D+16E16D+16F+16D+16E16D+16F+16D+16E16D+16"
"O4F+16D+16E16D+16F+16D+16E16D+16F+16D+16"
"O4E16D+16F+16D+16E16D+16F+16D+16E16D+16F+16"
"O4D+16E8E16O3E16O4E16O3E16O4E16O3E16O4E8"
"O3B16O2B16O3B16O2B16O3B16O2B16O3B8G+16O2G+16"
"O3G+16O2G+16O3G+16O2G+16O3G8E16O2E16O3E16"
"O2E16O3E16O2E16O3E8E16E16E8E8E8O2B16B16B8"
"O2B8B8G+16G+16G+8G+8G+8E16E16E8E8E8O1B8O2E8"
"O1B8O2G+8E8B8G+8O3E8O2B8O3E8O2B8O3G+8E8B8"
"O3G+8O4E4P8E16E16E8E8E8E8E4P8E16E4P8O2E16"
"O2E2P64",
};
const unsigned ToneAlarm::_default_ntunes = sizeof(_default_tunes) / sizeof(_default_tunes[0]);
// semitone offsets from C for the characters 'A'-'G'
const uint8_t ToneAlarm::_note_tab[] = {9, 11, 0, 2, 4, 5, 7};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int tone_alarm_main(int argc, char *argv[]);
ToneAlarm::ToneAlarm() :
CDev("tone_alarm", "/dev/tone_alarm"),
_user_tune(nullptr),
_tune(nullptr),
_next(nullptr)
{
// enable debug() calls
//_debug_enabled = true;
}
ToneAlarm::~ToneAlarm()
{
}
int
ToneAlarm::init()
{
int ret;
ret = CDev::init();
if (ret != OK)
return ret;
/* configure the GPIO to the idle state */
stm32_configgpio(GPIO_TONE_ALARM_IDLE);
/* clock/power on our timer */
modifyreg32(STM32_RCC_APB1ENR, 0, TONE_ALARM_CLOCK_ENABLE);
/* initialise the timer */
rCR1 = 0;
rCR2 = 0;
rSMCR = 0;
rDIER = 0;
rCCER &= TONE_CCER; /* unlock CCMR* registers */
rCCMR1 = TONE_CCMR1;
rCCMR2 = TONE_CCMR2;
rCCER = TONE_CCER;
rDCR = 0;
/* toggle the CC output each time the count passes 1 */
TONE_rCCR = 1;
/* default the timer to a prescale value of 1; playing notes will change this */
rPSC = 0;
/* make sure the timer is running */
rCR1 = GTIM_CR1_CEN;
debug("ready");
return OK;
}
unsigned
ToneAlarm::note_to_divisor(unsigned note)
{
// compute the frequency first (Hz)
float freq = 880.0f * expf(logf(2.0f) * ((int)note - 46) / 12.0f);
float period = 0.5f / freq;
// and the divisor, rounded to the nearest integer
unsigned divisor = (period * TONE_ALARM_CLOCK) + 0.5f;
return divisor;
}
unsigned
ToneAlarm::note_duration(unsigned &silence, unsigned note_length, unsigned dots)
{
unsigned whole_note_period = (60 * 1000000 * 4) / _tempo;
if (note_length == 0)
note_length = 1;
unsigned note_period = whole_note_period / note_length;
switch (_note_mode) {
case MODE_NORMAL:
silence = note_period / 8;
break;
case MODE_STACCATO:
silence = note_period / 4;
break;
default:
case MODE_LEGATO:
silence = 0;
break;
}
note_period -= silence;
unsigned dot_extension = note_period / 2;
while (dots--) {
note_period += dot_extension;
dot_extension /= 2;
}
return note_period;
}
unsigned
ToneAlarm::rest_duration(unsigned rest_length, unsigned dots)
{
unsigned whole_note_period = (60 * 1000000 * 4) / _tempo;
if (rest_length == 0)
rest_length = 1;
unsigned rest_period = whole_note_period / rest_length;
unsigned dot_extension = rest_period / 2;
while (dots--) {
rest_period += dot_extension;
dot_extension /= 2;
}
return rest_period;
}
void
ToneAlarm::start_note(unsigned note)
{
// compute the divisor
unsigned divisor = note_to_divisor(note);
// pick the lowest prescaler value that we can use
// (note that the effective prescale value is 1 greater)
unsigned prescale = divisor / 65536;
// calculate the timer period for the selected prescaler value
unsigned period = (divisor / (prescale + 1)) - 1;
rPSC = prescale; // load new prescaler
rARR = period; // load new toggle period
rEGR = GTIM_EGR_UG; // force a reload of the period
rCCER |= TONE_CCER; // enable the output
// configure the GPIO to enable timer output
stm32_configgpio(GPIO_TONE_ALARM);
}
void
ToneAlarm::stop_note()
{
/* stop the current note */
rCCER &= ~TONE_CCER;
/*
* Make sure the GPIO is not driving the speaker.
*/
stm32_configgpio(GPIO_TONE_ALARM_IDLE);
}
void
ToneAlarm::start_tune(const char *tune)
{
// kill any current playback
hrt_cancel(&_note_call);
// record the tune
_tune = tune;
_next = tune;
// initialise player state
_tempo = 120;
_note_length = 4;
_note_mode = MODE_NORMAL;
_octave = 4;
_silence_length = 0;
_repeat = false; // otherwise command-line tunes repeat forever...
// schedule a callback to start playing
hrt_call_after(&_note_call, 0, (hrt_callout)next_trampoline, this);
}
void
ToneAlarm::next_note()
{
// do we have an inter-note gap to wait for?
if (_silence_length > 0) {
stop_note();
hrt_call_after(&_note_call, (hrt_abstime)_silence_length, (hrt_callout)next_trampoline, this);
_silence_length = 0;
return;
}
// make sure we still have a tune - may be removed by the write / ioctl handler
if ((_next == nullptr) || (_tune == nullptr)) {
stop_note();
return;
}
// parse characters out of the string until we have resolved a note
unsigned note = 0;
unsigned note_length = _note_length;
unsigned duration;
while (note == 0) {
// we always need at least one character from the string
int c = next_char();
if (c == 0)
goto tune_end;
_next++;
switch (c) {
case 'L': // select note length
_note_length = next_number();
if (_note_length < 1)
goto tune_error;
break;
case 'O': // select octave
_octave = next_number();
if (_octave > 6)
_octave = 6;
break;
case '<': // decrease octave
if (_octave > 0)
_octave--;
break;
case '>': // increase octave
if (_octave < 6)
_octave++;
break;
case 'M': // select inter-note gap
c = next_char();
if (c == 0)
goto tune_error;
_next++;
switch (c) {
case 'N':
_note_mode = MODE_NORMAL;
break;
case 'L':
_note_mode = MODE_LEGATO;
break;
case 'S':
_note_mode = MODE_STACCATO;
break;
case 'F':
_repeat = false;
break;
case 'B':
_repeat = true;
break;
default:
goto tune_error;
}
break;
case 'P': // pause for a note length
stop_note();
hrt_call_after(&_note_call,
(hrt_abstime)rest_duration(next_number(), next_dots()),
(hrt_callout)next_trampoline,
this);
return;
case 'T': { // change tempo
unsigned nt = next_number();
if ((nt >= 32) && (nt <= 255)) {
_tempo = nt;
} else {
goto tune_error;
}
break;
}
case 'N': // play an arbitrary note
note = next_number();
if (note > 84)
goto tune_error;
if (note == 0) {
// this is a rest - pause for the current note length
hrt_call_after(&_note_call,
(hrt_abstime)rest_duration(_note_length, next_dots()),
(hrt_callout)next_trampoline,
this);
return;
}
break;
case 'A'...'G': // play a note in the current octave
note = _note_tab[c - 'A'] + (_octave * 12) + 1;
c = next_char();
switch (c) {
case '#': // up a semitone
case '+':
if (note < 84)
note++;
_next++;
break;
case '-': // down a semitone
if (note > 1)
note--;
_next++;
break;
default:
// 0 / no next char here is OK
break;
}
// shorthand length notation
note_length = next_number();
if (note_length == 0)
note_length = _note_length;
break;
default:
goto tune_error;
}
}
// compute the duration of the note and the following silence (if any)
duration = note_duration(_silence_length, note_length, next_dots());
// start playing the note
start_note(note);
// and arrange a callback when the note should stop
hrt_call_after(&_note_call, (hrt_abstime)duration, (hrt_callout)next_trampoline, this);
return;
// tune looks bad (unexpected EOF, bad character, etc.)
tune_error:
lowsyslog("tune error\n");
_repeat = false; // don't loop on error
// stop (and potentially restart) the tune
tune_end:
stop_note();
if (_repeat)
start_tune(_tune);
return;
}
int
ToneAlarm::next_char()
{
while (isspace(*_next)) {
_next++;
}
return toupper(*_next);
}
unsigned
ToneAlarm::next_number()
{
unsigned number = 0;
int c;
for (;;) {
c = next_char();
if (!isdigit(c))
return number;
_next++;
number = (number * 10) + (c - '0');
}
}
unsigned
ToneAlarm::next_dots()
{
unsigned dots = 0;
while (next_char() == '.') {
_next++;
dots++;
}
return dots;
}
void
ToneAlarm::next_trampoline(void *arg)
{
ToneAlarm *ta = (ToneAlarm *)arg;
ta->next_note();
}
int
ToneAlarm::ioctl(file *filp, int cmd, unsigned long arg)
{
int result = OK;
debug("ioctl %i %u", cmd, arg);
// irqstate_t flags = irqsave();
/* decide whether to increase the alarm level to cmd or leave it alone */
switch (cmd) {
case TONE_SET_ALARM:
debug("TONE_SET_ALARM %u", arg);
if (arg <= _default_ntunes) {
if (arg == 0) {
// stop the tune
_tune = nullptr;
_next = nullptr;
} else {
// play the selected tune
start_tune(_default_tunes[arg - 1]);
}
} else {
result = -EINVAL;
}
break;
default:
result = -ENOTTY;
break;
}
// irqrestore(flags);
/* give it to the superclass if we didn't like it */
if (result == -ENOTTY)
result = CDev::ioctl(filp, cmd, arg);
return result;
}
int
ToneAlarm::write(file *filp, const char *buffer, size_t len)
{
// sanity-check the buffer for length and nul-termination
if (len > _tune_max)
return -EFBIG;
// if we have an existing user tune, free it
if (_user_tune != nullptr) {
// if we are playing the user tune, stop
if (_tune == _user_tune) {
_tune = nullptr;
_next = nullptr;
}
// free the old user tune
free((void *)_user_tune);
_user_tune = nullptr;
}
// if the new tune is empty, we're done
if (buffer[0] == '\0')
return OK;
// allocate a copy of the new tune
_user_tune = strndup(buffer, len);
if (_user_tune == nullptr)
return -ENOMEM;
// and play it
start_tune(_user_tune);
return len;
}
/**
* Local functions in support of the shell command.
*/
namespace
{
ToneAlarm *g_dev;
int
play_tune(unsigned tune)
{
int fd, ret;
fd = open("/dev/tone_alarm", 0);
if (fd < 0)
err(1, "/dev/tone_alarm");
ret = ioctl(fd, TONE_SET_ALARM, tune);
close(fd);
if (ret != 0)
err(1, "TONE_SET_ALARM");
exit(0);
}
int
play_string(const char *str)
{
int fd, ret;
fd = open("/dev/tone_alarm", O_WRONLY);
if (fd < 0)
err(1, "/dev/tone_alarm");
ret = write(fd, str, strlen(str) + 1);
close(fd);
if (ret < 0)
err(1, "play tune");
exit(0);
}
} // namespace
int
tone_alarm_main(int argc, char *argv[])
{
unsigned tune;
/* start the driver lazily */
if (g_dev == nullptr) {
g_dev = new ToneAlarm;
if (g_dev == nullptr)
errx(1, "couldn't allocate the ToneAlarm driver");
if (g_dev->init() != OK) {
delete g_dev;
errx(1, "ToneAlarm init failed");
}
}
if ((argc > 1) && !strcmp(argv[1], "start"))
play_tune(1);
if ((argc > 1) && !strcmp(argv[1], "stop"))
play_tune(0);
if ((tune = strtol(argv[1], nullptr, 10)) != 0)
play_tune(tune);
/* if it looks like a PLAY string... */
if (strlen(argv[1]) > 2) {
const char *str = argv[1];
if (str[0] == 'M') {
play_string(str);
}
}
errx(1, "unrecognised command, try 'start', 'stop' or an alarm number");
}