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Even more cleanups to the new beeper code. Seperate beeper mode and

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priority via simpler static declaration - removes giant switch
statement.  Use a new method when beeping out GPS status.  Lower memory
usage. Smaller code size.  Beeper priority now only handled in a single
place.
This commit is contained in:
Dominic Clifton 2015-04-25 10:39:14 +02:00
parent 85b524fa18
commit 064de090a0
3 changed files with 106 additions and 93 deletions
Download patch file Download diff file Expand all files Collapse all files

190
src/main/io/beeper.c
View file

@ -110,14 +110,11 @@ static const uint8_t beep_3shortBeeps[] = {
5, 5, 5, 5, 5, 5, BEEPER_COMMAND_STOP
};
// array used for variable # of beeps (reporting GPS sat count, etc)
static uint8_t beep_multiBeeps[MAX_MULTI_BEEPS+2];
static uint8_t beep_multiBeeps[MAX_MULTI_BEEPS + 2];
// Current Beeper mode
static uint8_t beeperMode = BEEPER_STOPPED;
// Beeper off = 0 Beeper on = 1
static uint8_t beeperIsOn = 0;
// Pointer to current sequence
static const uint8_t *beeperPtr = NULL;
// Place in current sequence
static uint16_t beeperPos = 0;
// Time when beeper routine must act next time
@ -125,7 +122,36 @@ static uint32_t beeperNextToggleTime = 0;
// Time of last arming beep in microseconds (for blackbox)
static uint32_t armingBeepTimeMicros = 0;
static void beeperCalculations(void);
static void beeperProcessCommand(void);
typedef struct beeperTableEntry_s {
uint8_t mode;
uint8_t priority; // 0 = Highest
const uint8_t *sequence;
} beeperTableEntry_t;
static const beeperTableEntry_t const beeperTable[] = {
{ BEEPER_RX_LOST_LANDING, 0, beep_sos },
{ BEEPER_RX_LOST, 1, beep_txLostBeep },
{ BEEPER_DISARMING, 2, beep_disarmBeep },
{ BEEPER_ARMING, 3, beep_armingBeep },
{ BEEPER_ARMING_GPS_FIX, 4, beep_armedGpsFix },
{ BEEPER_BAT_CRIT_LOW, 5, beep_critBatteryBeep },
{ BEEPER_BAT_LOW, 6, beep_lowBatteryBeep },
{ BEEPER_GPS_STATUS, 7, beep_multiBeeps },
{ BEEPER_RX_SET, 8, beep_shortBeep },
{ BEEPER_DISARM_REPEAT, 9, beep_disarmRepeatBeep },
{ BEEPER_ACC_CALIBRATION, 10, beep_2shortBeeps },
{ BEEPER_ACC_CALIBRATION_FAIL, 11, beep_3shortBeeps },
{ BEEPER_READY_BEEP, 12, beep_readyBeep },
{ BEEPER_CONFIRM_BEEP, 13, beep_confirmBeep },
{ BEEPER_MULTI_BEEPS, 14, beep_multiBeeps }, // FIXME having this listed makes no sense since the beep array will not be initialised.
{ BEEPER_ARMED, 15, beep_armedBeep },
};
static const beeperTableEntry_t *currentBeeperEntry = NULL;
#define BEEPER_TABLE_ENTRY_COUNT (sizeof(beeperTable) / sizeof(beeperTableEntry_t))
/*
* Called to activate/deactivate beeper, using the given "BEEPER_..." value.
@ -133,76 +159,37 @@ static void beeperCalculations(void);
*/
void beeper(beeperMode_e mode)
{
// Just return if same or higher priority sound is active.
if (beeperMode <= mode)
if (mode == BEEPER_SILENCE) {
beeperSilence();
return;
switch (mode) {
case BEEPER_READY_BEEP:
beeperPtr = beep_readyBeep;
break;
case BEEPER_ARMING:
beeperPtr = beep_armingBeep;
break;
case BEEPER_DISARMING:
beeperPtr = beep_disarmBeep;
break;
case BEEPER_DISARM_REPEAT:
beeperPtr = beep_disarmRepeatBeep;
break;
case BEEPER_ACC_CALIBRATION:
beeperPtr = beep_2shortBeeps;
break;
case BEEPER_ACC_CALIBRATION_FAIL:
beeperPtr = beep_3shortBeeps;
break;
case BEEPER_RX_LOST_LANDING:
beeperPtr = beep_sos;
break;
case BEEPER_RX_LOST:
beeperPtr = beep_txLostBeep;
break;
case BEEPER_BAT_LOW:
beeperPtr = beep_lowBatteryBeep;
break;
case BEEPER_BAT_CRIT_LOW:
beeperPtr = beep_critBatteryBeep;
break;
case BEEPER_ARMED:
beeperPtr = beep_armedBeep;
break;
case BEEPER_ARMING_GPS_FIX:
beeperPtr = beep_armedGpsFix;
break;
case BEEPER_CONFIRM_BEEP:
beeperPtr = beep_confirmBeep;
break;
case BEEPER_MULTI_BEEPS:
beeperPtr = beep_multiBeeps;
break;
case BEEPER_RX_SET:
#ifdef GPS
// if GPS fix then beep out number of satellites
if (feature(FEATURE_GPS) && STATE(GPS_FIX) && GPS_numSat >= 5) {
uint8_t i = 0;
do {
beep_multiBeeps[i++] = 5;
beep_multiBeeps[i++] = 10;
} while (i < MAX_MULTI_BEEPS && GPS_numSat > i / 2);
beep_multiBeeps[i-1] = 50; // extend last pause
beep_multiBeeps[i] = BEEPER_COMMAND_STOP;
beeperPtr = beep_multiBeeps;
break;
}
#endif
beeperPtr = beep_shortBeep;
break;
default:
return;
}
const beeperTableEntry_t *selectedCandidate = NULL;
for (uint32_t i = 0; i < BEEPER_TABLE_ENTRY_COUNT; i++) {
const beeperTableEntry_t *candidate = &beeperTable[i];
if (candidate->mode != mode) {
continue;
}
if (!currentBeeperEntry) {
selectedCandidate = candidate;
break;
}
if (candidate->priority < currentBeeperEntry->priority) {
selectedCandidate = candidate;
}
break;
}
if (!selectedCandidate) {
return;
}
currentBeeperEntry = selectedCandidate;
beeperPos = 0;
beeperMode = mode;
beeperNextToggleTime = 0;
}
@ -211,10 +198,10 @@ void beeperSilence(void)
BEEP_OFF;
beeperIsOn = 0;
beeperMode = BEEPER_STOPPED;
beeperNextToggleTime = 0;
beeperPtr = NULL;
beeperPos = 0;
currentBeeperEntry = NULL;
}
/*
* Emits the given number of 20ms beeps (with 200ms spacing).
@ -241,6 +228,24 @@ void queueConfirmationBeep(uint8_t beepCount)
}
}
void beeperGpsStatus(void)
{
// if GPS fix then beep out number of satellites
if (STATE(GPS_FIX) && GPS_numSat >= 5) {
uint8_t i = 0;
do {
beep_multiBeeps[i++] = 5;
beep_multiBeeps[i++] = 10;
} while (i < MAX_MULTI_BEEPS && GPS_numSat > i / 2);
beep_multiBeeps[i-1] = 50; // extend last pause
beep_multiBeeps[i] = BEEPER_COMMAND_STOP;
beeper(BEEPER_MULTI_BEEPS); //initiate sequence
} else {
beeper(BEEPER_RX_SET);
}
}
/*
* Beeper handler function to be called periodically in loop. Updates beeper
* state via time schedule.
@ -249,12 +254,19 @@ void beeperUpdate(void)
{
// If beeper option from AUX switch has been selected
if (IS_RC_MODE_ACTIVE(BOXBEEPERON)) {
if (beeperMode > BEEPER_RX_SET)
#ifdef GPS
if (feature(FEATURE_GPS)) {
beeperGpsStatus();
} else {
beeper(BEEPER_RX_SET);
}
#else
beeper(BEEPER_RX_SET);
#endif
}
// Beeper routine doesn't need to update if there aren't any sounds ongoing
if (beeperMode == BEEPER_STOPPED || beeperPtr == NULL) {
if (currentBeeperEntry == NULL) {
return;
}
@ -265,38 +277,38 @@ void beeperUpdate(void)
if (!beeperIsOn) {
beeperIsOn = 1;
if (beeperPtr[beeperPos] != 0) {
if (currentBeeperEntry->sequence[beeperPos] != 0) {
BEEP_ON;
//if this was arming beep then mark time (for blackbox)
if (beeperPos == 0 && (beeperMode == BEEPER_ARMING ||
beeperMode == BEEPER_ARMING_GPS_FIX)) {
if (
beeperPos == 0
&& (currentBeeperEntry->mode == BEEPER_ARMING || currentBeeperEntry->mode == BEEPER_ARMING_GPS_FIX)
) {
armingBeepTimeMicros = micros();
}
}
} else {
beeperIsOn = 0;
if (beeperPtr[beeperPos] != 0) {
if (currentBeeperEntry->sequence[beeperPos] != 0) {
BEEP_OFF;
}
}
beeperCalculations();
beeperProcessCommand();
}
/*
* Calculates array position when next to change beeper state is due.
*/
void beeperCalculations(void)
static void beeperProcessCommand(void)
{
if (beeperPtr[beeperPos] == BEEPER_COMMAND_REPEAT) {
if (currentBeeperEntry->sequence[beeperPos] == BEEPER_COMMAND_REPEAT) {
beeperPos = 0;
} else if (beeperPtr[beeperPos] == BEEPER_COMMAND_STOP) {
beeperMode = BEEPER_STOPPED;
BEEP_OFF;
beeperIsOn = 0;
} else if (currentBeeperEntry->sequence[beeperPos] == BEEPER_COMMAND_STOP) {
beeperSilence();
} else {
// Otherwise advance the sequence and calculate next toggle time
beeperNextToggleTime = millis() + 10 * beeperPtr[beeperPos];
beeperNextToggleTime = millis() + 10 * currentBeeperEntry->sequence[beeperPos];
beeperPos++;
}
}