merged changes from multiwii_dev 20120504. this means new serial protocol, new buzzer code

fixed spacing in ledring.c defaulted acc_lpf to 100 correction in vtail4 mix (from multiwii_dev) trashed more unused LOG_VALUES crap no binary build since this is untested / non-flight-tested. git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@152 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2025-07-18 22:05:17 +03:00 · 2012-05-05 12:47:52 +00:00 · 2012-05-05 12:47:52 +00:00 · 0d7460960e
commit 0d7460960e
parent 910df63a7f
13 changed files with 694 additions and 172 deletions
--- a/src/buzzer.c
+++ b/src/buzzer.c
@ -0,0 +1,115 @@
+#include "board.h"
+#include "mw.h"
+
+void buzzer(uint8_t warn_vbat)
+{
+    static uint16_t ontime, offtime, beepcount, repeat, repeatcounter;
+    static uint32_t buzzerLastToggleTime;
+    static uint8_t buzzerIsOn = 0, activateBuzzer, beeperOnBox, i, last_rcOptions[CHECKBOXITEMS], warn_noGPSfix = 0, warn_failsafe = 0;
+
+    //===================== Beeps for changing rcOptions =====================
+#if defined(RCOPTIONSBEEP)
+    if (last_rcOptions[i] != rcOptions[i]) {
+        toggleBeep = 1;
+    }
+    last_rcOptions[i] = rcOptions[i];
+    i++;
+    if (i >= CHECKBOXITEMS)
+        i = 0;
+#endif
+    //=====================  BeeperOn via rcOptions =====================
+    if (rcOptions[BOXBEEPERON]) {       // unconditional beeper on via AUXn switch 
+        beeperOnBox = 1;
+    } else {
+        beeperOnBox = 0;
+    }
+    //===================== Beeps for failsafe =====================
+#if defined(FAILSAFE)
+    if (failsafeCnt > (5 * FAILSAVE_DELAY) && armed == 1) {
+        warn_failsafe = 1;      //set failsafe warning level to 1 while landing
+        if (failsafeCnt > 5 * (FAILSAVE_DELAY + FAILSAVE_OFF_DELAY))
+            warn_failsafe = 2;  //start "find me" signal after landing   
+    }
+    if (failsafeCnt > (5 * FAILSAVE_DELAY) && armed == 0)
+        warn_failsafe = 2;      // tx turned off while motors are off: start "find me" signal
+    if (failsafeCnt == 0)
+        warn_failsafe = 0;      // turn off alarm if TX is okay
+#endif
+    //===================== GPS fix notification handling =====================
+    if (sensors(SENSOR_GPS)) {
+        if ((GPSModeHome || GPSModeHold) && !GPS_fix) {     //if no fix and gps funtion is activated: do warning beeps.
+            warn_noGPSfix = 1;
+        } else {
+            warn_noGPSfix = 0;
+        }
+    }
+    //===================== Main Handling Block =====================
+    repeat = 1;                 // set repeat to default
+    ontime = 100;               // set offtime to default
+
+    //the order of the below is the priority from high to low, the last entry has the lowest priority, only one option can be active at the same time
+    if (warn_failsafe == 2) {
+        activateBuzzer = 1;
+        offtime = 2000;
+        ontime = 300;
+        repeat = 1;
+    }                           //failsafe "find me" signal
+    else if (warn_failsafe == 1) {
+        activateBuzzer = 1;
+        offtime = 50;
+    }                           //failsafe landing active         
+    else if (warn_noGPSfix == 1) {
+        activateBuzzer = 1;
+        offtime = 10;
+    } else if (beeperOnBox == 1) {
+        activateBuzzer = 1;
+        offtime = 50;
+    }                           //beeperon
+    else if (warn_vbat == 4) {
+        activateBuzzer = 1;
+        offtime = 500;
+        repeat = 3;
+    } else if (warn_vbat == 2) {
+        activateBuzzer = 1;
+        offtime = 1000;
+        repeat = 2;
+    } else if (warn_vbat == 1) {
+        activateBuzzer = 1;
+        offtime = 2000;
+    } else if (toggleBeep > 0) {
+        activateBuzzer = 1;
+        ontime = 50;
+        offtime = 50;
+    }                           //fast confirmation beep
+    else {
+        activateBuzzer = 0;
+    }
+
+    if (activateBuzzer) {
+        if (repeatcounter > 1 && !buzzerIsOn && (millis() >= (buzzerLastToggleTime + 80))) {    // if the buzzer is off and there is a short pause neccessary (multipe buzzes)
+            buzzerIsOn = 1;
+            BEEP_ON;
+            buzzerLastToggleTime = millis();    // save the time the buzer turned on
+            repeatcounter--;
+        } else if (!buzzerIsOn && (millis() >= (buzzerLastToggleTime + offtime))) {     // Buzzer is off and long pause time is up -> turn it on
+            buzzerIsOn = 1;
+            BEEP_ON;
+            buzzerLastToggleTime = millis();    // save the time the buzer turned on
+            repeatcounter = repeat;     //set the amount of repeats
+        } else if (buzzerIsOn && (millis() >= buzzerLastToggleTime + ontime)) { //Buzzer is on and time is up -> turn it off
+            buzzerIsOn = 0;
+            BEEP_OFF;
+            buzzerLastToggleTime = millis();    // save the time the buzer turned on
+            if (toggleBeep > 0)
+                beepcount++;    // only increment if confirmation beep, the rest is endless while the condition is given
+        }
+        if (beepcount >= toggleBeep) {  //confirmation flag is 0,1 or 2 
+            beepcount = 0;      //reset the counter for the next time
+            toggleBeep = 0;     //reset the flag after all beeping is done
+        }
+    } else {                    //no beeping neccessary:reset everything (just in case)
+        beepcount = 0;          //reset the counter for the next time 
+        BEEP_OFF;
+        buzzerIsOn = 0;
+    }
+}