CF2: Buzzer

ROMFS/px4fmu_common/init.d/rcS

@@ -934,12 +934,19 @@ then
 	fi
 	unset FEXTRAS
 
-	# Run no SD alarm
+	if ver hwcmp CRAZYFLIE
-	if [ $LOG_FILE == /dev/null ]
 	then
-		# Play SOS
+		# CF2 shouldn't have an sd card
-		tone_alarm error
+	else
-	fi
+
+		# Run no SD alarm
+		if [ $LOG_FILE == /dev/null ]
+		then
+			# Play SOS
+			tone_alarm error
+		fi
+
+	else
 
 # End of autostart
 fi

src/drivers/boards/crazyflie/board_config.h

@@ -126,6 +126,13 @@ __BEGIN_DECLS
 #define ADC_BATTERY_CURRENT_CHANNEL	((uint8_t)(-1))
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	((uint8_t)(-1))
 
+/* Tone alarm output : These are only applicable when the buzzer deck is attached */
+#define TONE_ALARM_TIMER	5	/* timer 5 */
+#define TONE_ALARM_CHANNEL 3	/* channel 3 */
+#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_TONE_ALARM_NEG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
+
 /* PWM
 *
 * Four PWM motor outputs are configured.

src/drivers/stm32/tone_alarm/tone_alarm.cpp

@@ -441,6 +441,11 @@ ToneAlarm::init()
 	/* configure the GPIO to the idle state */
 	px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
 
+#ifdef GPIO_TONE_ALARM_NEG
+
+	px4_arch_configgpio(GPIO_TONE_ALARM_NEG);
+#endif
+
 	/* clock/power on our timer */
 	modifyreg32(TONE_ALARM_CLOCK_POWER_REG, 0, TONE_ALARM_CLOCK_ENABLE);