drivers/tone_alarm and tune_control small improvements/cleanup

- drivers/tone_alarm: move to ModuleBase and purge CDev (/dev/tone_alarm0)
 - drivers/tone_alarm: only run on tune_control publication (or scheduled note) rather than continuously
 - drivers/tone_alarm: use HRT to schedule tone stop (prevents potential disruption)
 - msg/tune_control: add tune_id numbering
 - systemcmds/tune_control: add "error" special case tune_id
 - move all tune_control publication to new uORB::PublicationQueued<>
 - start tone_alarm immediately after board defaults are loaded to fix potential startup issues
 - for SITL (or other boards with no TONE output) print common messages (startup, error, etc)

platforms/common/include/px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp

@@ -44,6 +44,8 @@ class ScheduledWorkItem : public WorkItem
 {
 public:
 
+	bool Scheduled() { return !hrt_called(&_call); }
+
 	/**
 	 * Schedule next run with a delay in microseconds.
 	 *
@@ -59,6 +61,13 @@ public:
 	 */
 	void ScheduleOnInterval(uint32_t interval_us, uint32_t delay_us = 0);
 
+	/**
+	 * Schedule next run at a specific time.
+	 *
+	 * @param time_us		The time in microseconds.
+	 */
+	void ScheduleAt(hrt_abstime time_us);
+
 	/**
 	 * Clear any scheduled work.
 	 */

platforms/common/px4_work_queue/ScheduledWorkItem.cpp

@@ -57,6 +57,11 @@ void ScheduledWorkItem::ScheduleOnInterval(uint32_t interval_us, uint32_t delay_
 	hrt_call_every(&_call, delay_us, interval_us, (hrt_callout)&ScheduledWorkItem::schedule_trampoline, this);
 }
 
+void ScheduledWorkItem::ScheduleAt(hrt_abstime time_us)
+{
+	hrt_call_at(&_call, time_us, (hrt_callout)&ScheduledWorkItem::schedule_trampoline, this);
+}
+
 void ScheduledWorkItem::ScheduleClear()
 {
 	// first clear any scheduled hrt call, then remove the item from the runnable queue

platforms/nuttx/src/px4/nxp/imxrt/tone_alarm/ToneAlarmInterface.cpp

@@ -163,8 +163,9 @@ void init()
 #endif /* TONE_ALARM_TIMER */
 }
 
-void start_note(unsigned frequency)
+hrt_abstime start_note(unsigned frequency)
 {
+	hrt_abstime time_started = 0;
 #if defined(TONE_ALARM_TIMER)
 	float period = 0.5f / frequency;
 
@@ -182,8 +183,13 @@ void start_note(unsigned frequency)
 	rCR  |= GPT_CR_EN;
 
 	// configure the GPIO to enable timer output
+	irqstate_t flags = enter_critical_section();
+	time_started = hrt_absolute_time();
 	px4_arch_configgpio(GPIO_TONE_ALARM);
+	leave_critical_section(flags);
 #endif /* TONE_ALARM_TIMER */
+
+	return time_started;
 }
 
 void stop_note()

platforms/nuttx/src/px4/nxp/kinetis/tone_alarm/ToneAlarmInterface.cpp

@@ -159,7 +159,7 @@ void init()
 	rMOD      = 0;  // Default the timer to a modulo value of 1; playing notes will change this.
 }
 
-void start_note(unsigned frequency)
+hrt_abstime start_note(unsigned frequency)
 {
 	// Calculate the signal switching period.
 	// (Signal switching period is one half of the frequency period).
@@ -173,7 +173,12 @@ void start_note(unsigned frequency)
 	rSC |= (TPM_SC_CMOD_LPTPM_CLK);
 
 	// Configure the GPIO to enable timer output.
+	irqstate_t flags = enter_critical_section();
+	const hrt_abstime time_started = hrt_absolute_time();
 	px4_arch_configgpio(GPIO_TONE_ALARM);
+	leave_critical_section(flags);
+
+	return time_started;
 }
 
 void stop_note()

platforms/nuttx/src/px4/nxp/s32k1xx/tone_alarm/ToneAlarmInterface.cpp

@@ -159,7 +159,7 @@ void init()
 	rMOD      = 0;  // Default the timer to a modulo value of 1; playing notes will change this.
 }
 
-void start_note(unsigned frequency)
+hrt_abstime start_note(unsigned frequency)
 {
 	// Calculate the signal switching period.
 	// (Signal switching period is one half of the frequency period).
@@ -173,7 +173,12 @@ void start_note(unsigned frequency)
 	rSC |= (TPM_SC_CMOD_LPTPM_CLK);
 
 	// Configure the GPIO to enable timer output.
+	irqstate_t flags = enter_critical_section();
+	hrt_abstime time_started = hrt_absolute_time();
 	px4_arch_configgpio(GPIO_TONE_ALARM);
+	leave_critical_section(flags);
+
+	return time_started;
 }
 
 void stop_note()

platforms/nuttx/src/px4/stm/stm32_common/tone_alarm/ToneAlarmInterfaceGPIO.cpp

@@ -44,9 +44,10 @@ void init()
 	px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
 }
 
-void start_note(unsigned frequency)
+hrt_abstime start_note(unsigned frequency)
 {
 	px4_arch_gpiowrite(GPIO_TONE_ALARM_GPIO, 1);
+	return hrt_absolute_time();
 }
 
 void stop_note()

platforms/nuttx/src/px4/stm/stm32_common/tone_alarm/ToneAlarmInterfacePWM.cpp

@@ -299,7 +299,7 @@ void init()
 	rCR1 = GTIM_CR1_CEN;	// Ensure the timer is running.
 }
 
-void start_note(unsigned frequency)
+hrt_abstime start_note(unsigned frequency)
 {
 	// Calculate the signal switching period.
 	// (Signal switching period is one half of the frequency period).
@@ -321,7 +321,12 @@ void start_note(unsigned frequency)
 	rCCER |= TONE_CCER; 	// Enable the output.
 
 	// Configure the GPIO to enable timer output.
+	hrt_abstime time_started = hrt_absolute_time();
+	irqstate_t flags = enter_critical_section();
 	px4_arch_configgpio(GPIO_TONE_ALARM);
+	leave_critical_section(flags);
+
+	return time_started;
 }
 
 void stop_note()

platforms/posix/src/px4/generic/generic/tone_alarm/ToneAlarmInterface.cpp

@@ -46,9 +46,10 @@ void init()
 	// Nothing to be done in simulation.
 }
 
-void start_note(unsigned frequency)
+hrt_abstime start_note(unsigned frequency)
 {
 	// Nothing to be done in simulation.
+	return 0;
 }
 
 void stop_note()