1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
|
/****************************************************************************
*
* Copyright (C) 2012 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.
*
****************************************************************************/
/*
* Speaker driver supporting alarm sequences.
*
* Works with any of the 'generic' STM32 timers that has an output
* pin, does not require an interrupt.
*
* Depends on the HRT timer.
*/
#include <nuttx/config.h>
#include <nuttx/arch.h>
#include <nuttx/irq.h>
#include <sys/types.h>
#include <stdbool.h>
#include <assert.h>
#include <debug.h>
#include <time.h>
#include <queue.h>
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <arch/board/board.h>
#include <arch/board/drv_tone_alarm.h>
#include <arch/board/up_hrt.h>
#include "chip.h"
#include "up_internal.h"
#include "up_arch.h"
#include "stm32_internal.h"
#include "stm32_gpio.h"
#include "stm32_tim.h"
#ifdef CONFIG_TONE_ALARM
# ifndef CONFIG_HRT_TIMER
# error CONFIG_TONE_ALARM requires CONFIG_HRT_TIMER
# endif
/* 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 if CONFIG_TONE_ALARM is set
#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
#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)
#define TONE_MAX_PATTERN 6
#define TONE_MAX_PATTERN_LEN 40
/* predefined patterns for alarms 1-TONE_MAX_PATTERN */
const struct tone_note patterns[TONE_MAX_PATTERN][TONE_MAX_PATTERN_LEN] = {
{
{TONE_NOTE_A7, 12},
{TONE_NOTE_D8, 12},
{TONE_NOTE_C8, 12},
{TONE_NOTE_A7, 12},
{TONE_NOTE_D8, 12},
{TONE_NOTE_C8, 12},
{TONE_NOTE_D8, 4},
{TONE_NOTE_C8, 4},
{TONE_NOTE_D8, 4},
{TONE_NOTE_C8, 4},
{TONE_NOTE_D8, 4},
{TONE_NOTE_C8, 4},
},
{{TONE_NOTE_B6, 100}},
{{TONE_NOTE_C7, 100}},
{{TONE_NOTE_D7, 100}},
{{TONE_NOTE_E7, 100}},
{ //This is tetris ;)
{TONE_NOTE_C6, 40},
{TONE_NOTE_G5, 20},
{TONE_NOTE_G5S, 20},
{TONE_NOTE_A5S, 40},
{TONE_NOTE_G5S, 20},
{TONE_NOTE_G5, 20},
{TONE_NOTE_F5, 40},
{TONE_NOTE_F5, 20},
{TONE_NOTE_G5S, 20},
{TONE_NOTE_C6, 40},
{TONE_NOTE_A5S, 20},
{TONE_NOTE_G5S, 20},
{TONE_NOTE_G5, 60},
{TONE_NOTE_G5S, 20},
{TONE_NOTE_A5S, 40},
{TONE_NOTE_C6, 40},
{TONE_NOTE_G5S, 40},
{TONE_NOTE_F5, 40},
{TONE_NOTE_F5, 60},
{TONE_NOTE_A5S, 40},
{TONE_NOTE_C6S, 20},
{TONE_NOTE_F6, 40},
{TONE_NOTE_D6S, 20},
{TONE_NOTE_C6S, 20},
{TONE_NOTE_C6, 60},
{TONE_NOTE_G5S, 20},
{TONE_NOTE_C6, 40},
{TONE_NOTE_A5S, 20},
{TONE_NOTE_G5S, 20},
{TONE_NOTE_G5, 40},
{TONE_NOTE_G5, 20},
{TONE_NOTE_G5S, 20},
{TONE_NOTE_A5S, 40},
{TONE_NOTE_C6, 40},
{TONE_NOTE_G5S, 40},
{TONE_NOTE_F5, 40},
{TONE_NOTE_F5, 60},
}
};
static uint16_t notes[TONE_NOTE_MAX] = {
63707, /* E4 */
60132, /* F4 */
56758, /* F#4/Gb4 */
53571, /* G4 */
50565, /* G#4/Ab4 */
47727, /* A4 */
45048, /* A#4/Bb4 */
42520, /* B4 */
40133, /* C5 */
37880, /* C#5/Db5 */
35755, /* D5 */
33748, /* D#5/Eb5 */
31853, /* E5 */
30066, /* F5 */
28378, /* F#5/Gb5 */
26786, /* G5 */
25282, /* G#5/Ab5 */
23863, /* A5 */
22524, /* A#5/Bb5 */
21260, /* B5 */
20066, /* C6 */
18940, /* C#6/Db6 */
17877, /* D6 */
16874, /* D#6/Eb6 */
15927, /* E6 */
15033, /* F6 */
14189, /* F#6/Gb6 */
13393, /* G6 */
12641, /* G#6/Ab6 */
11931, /* A6 */
11262, /* A#6/Bb6 */
10630, /* B6 */
10033, /* C7 */
9470, /* C#7/Db7 */
8938, /* D7 */
8437, /* D#7/Eb7 */
7963, /* E7 */
7516, /* F7 */
7094, /* F#7/Gb7 */
6696, /* G7 */
6320, /* G#7/Ab7 */
5965, /* A7 */
5631, /* A#7/Bb7 */
5315, /* B7 */
5016, /* C8 */
4735, /* C#8/Db8 */
4469, /* D8 */
4218 /* D#8/Eb8 */
};
/* current state of the tone driver */
struct state {
int pattern; /* current pattern */
#define PATTERN_NONE -1
#define PATTERN_USER 0
int note; /* next note to play */
struct hrt_call note_end;
struct tone_note user_pattern[TONE_MAX_PATTERN_LEN]; /* user-supplied pattern (plays at pattern 0) */
};
static struct state tone_state;
static int tone_write(struct file *filp, const char *buffer, size_t len);
static int tone_ioctl(struct file *filep, int cmd, unsigned long arg);
static const struct file_operations tone_fops = {
.write = tone_write,
.ioctl = tone_ioctl
};
static void tone_next(void);
static bool tone_ok(struct tone_note *pattern);
int
tone_alarm_init(void)
{
/* configure the GPIO */
stm32_configgpio(GPIO_TONE_ALARM);
/* clock/power on our timer */
modifyreg32(STM32_RCC_APB1ENR, 0, TONE_ALARM_CLOCK_ENABLE);
/* default the state */
tone_state.pattern = -1;
/* initialise the timer */
rCR1 = 0;
rCR2 = 0;
rSMCR = 0;
rDIER = 0;
rCCER = 0; /* 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;
/*
* Configure the timebase to free-run at half max frequency.
* XXX this should be more flexible in order to get a better
* frequency range, but for the F4 with the APB1 timers based
* at 42MHz, this gets us down to ~320Hz or so.
*/
rPSC = 1;
tone_state.pattern = PATTERN_NONE;
tone_state.note = 0;
/* play the startup tune */
tone_ioctl(NULL, TONE_SET_ALARM, 1);
/* register the device */
return register_driver("/dev/tone_alarm", &tone_fops, 0666, NULL);
}
static int
tone_ioctl(struct file *filep, int cmd, unsigned long arg)
{
int result = 0;
int new = (int)arg;
irqstate_t flags = irqsave();
/* decide whether to increase the alarm level to cmd or leave it alone */
switch (cmd) {
case TONE_SET_ALARM:
if (new == 0) {
/* cancel any current alarm */
tone_state.pattern = PATTERN_NONE;
tone_next();
} else if (new > TONE_MAX_PATTERN) {
/* not a legal alarm value */
result = -ERANGE;
} else if (new > tone_state.pattern) {
/* higher priority than the current alarm */
tone_state.pattern = new;
tone_state.note = 0;
/* and start playing it */
tone_next();
}
break;
default:
result = -EINVAL;
break;
}
irqrestore(flags);
return result;
}
static int
tone_write(struct file *filp, const char *buffer, size_t len)
{
irqstate_t flags;
/* sanity-check the size of the write */
if (len > (TONE_MAX_PATTERN_LEN * sizeof(struct tone_note)))
return -EFBIG;
if ((len % sizeof(struct tone_note)) || (len == 0))
return -EIO;
if (!tone_ok((struct tone_note *)buffer))
return -EIO;
flags = irqsave();
/* if we aren't playing an alarm tone */
if (tone_state.pattern <= PATTERN_USER) {
/* reset the tone state to play the new user pattern */
tone_state.pattern = PATTERN_USER;
tone_state.note = 0;
/* copy in the new pattern */
memset(tone_state.user_pattern, 0, sizeof(tone_state.user_pattern));
memcpy(tone_state.user_pattern, buffer, len);
/* and start it */
tone_next();
}
irqrestore(flags);
return len;
}
static void
tone_next(void)
{
const struct tone_note *np;
/* stop the current note */
rCR1 = 0;
/* if we are no longer playing a pattern, we have nothing else to do here */
if (tone_state.pattern == PATTERN_NONE) {
return;
}
/* if the current pattern has ended, clear the pattern and stop */
if (tone_state.note == TONE_NOTE_MAX) {
tone_state.pattern = PATTERN_NONE;
return;
}
/* find the note to play */
if (tone_state.pattern == PATTERN_USER) {
np = &tone_state.user_pattern[tone_state.note];
} else {
np = &patterns[tone_state.pattern - 1][tone_state.note];
}
/* work out which note is next */
tone_state.note++;
if (tone_state.note >= TONE_NOTE_MAX) {
/* hit the end of the pattern, stop */
tone_state.pattern = PATTERN_NONE;
} else if (np[1].duration == DURATION_END) {
/* hit the end of the pattern, stop */
tone_state.pattern = PATTERN_NONE;
} else if (np[1].duration == DURATION_REPEAT) {
/* next note is a repeat, rewind in preparation */
tone_state.note = 0;
}
/* set the timer to play the note, if required */
if (np->pitch <= TONE_NOTE_SILENCE) {
/* set reload based on the pitch */
rARR = notes[np->pitch];
/* force an update, reloads the counter and all registers */
rEGR = GTIM_EGR_UG;
/* start the timer */
rCR1 = GTIM_CR1_CEN;
}
/* arrange a callback when the note/rest is done */
hrt_call_after(&tone_state.note_end, (hrt_abstime)10000 * np->duration, (hrt_callout)tone_next, NULL);
}
static bool
tone_ok(struct tone_note *pattern)
{
int i;
for (i = 0; i < TONE_NOTE_MAX; i++) {
/* first note must not be repeat or end */
if ((i == 0) &&
((pattern[i].duration == DURATION_END) || (pattern[i].duration == DURATION_REPEAT)))
return false;
if (pattern[i].duration == DURATION_END)
break;
/* pitch must be legal */
if (pattern[i].pitch >= TONE_NOTE_MAX)
return false;
}
return true;
}
#endif /* CONFIG_TONE_ALARM */
|