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Code Issues Wiki Activity

de-duplicate failsafe code. extract failsafe code to seperate files.

Browse source 
remove dependency on board.h and mw.h on a few files.

Moved rx configuration paramaters into rxConfig in order to remove the
dependency on config_t from the sbus rx code  - sumd/spektrum to follow.

Avoided use of YAW/PITCH/ROLL in some files since those constants are
from an unrelated enum type.

Replaced some magic numbers with constants to remove comments and
improve code readability.

Note, due to the tight coupling and global variable usage it was
difficult to create a smaller commit.
This commit is contained in:
Dominic Clifton 2014-04-17 23:02:22 +01:00
parent d7eb416aa9
commit 0f02e12f40
26 changed files with 606 additions and 437 deletions
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53
src/buzzer.c
View file

@ -1,16 +1,37 @@
#include "board.h"
#include "mw.h"
#include "stdbool.h"
#include "stdint.h"
#include "platform.h"
#include "drivers/sound_beeper.h"
#include "drivers/system_common.h"
#include "drivers/serial_common.h" // FIXME this file should not have a dependency on serial ports, see core_t from runtime_config.h
#include "failsafe.h"
#include "sensors_common.h"
#include "runtime_config.h"
#include "config.h"
#include "buzzer.h"
#define LONG_PAUSE_DELAY 50
static uint8_t buzzerIsOn = 0, beepDone = 0;
static uint32_t buzzerLastToggleTime;
static void beep(uint16_t pulse);
static void beep_code(char first, char second, char third, char pause);
uint8_t toggleBeep = 0;
typedef enum {
FAILSAFE_IDLE = 0,
FAILSAFE_LANDING,
FAILSAFE_FIND_ME
} failsafeBuzzerWarnings_e;
void buzzer(bool warn_vbat)
{
static uint8_t beeperOnBox;
static uint8_t warn_noGPSfix = 0;
static uint8_t warn_failsafe = 0;
static failsafeBuzzerWarnings_e warn_failsafe = FAILSAFE_IDLE;
static uint8_t warn_runtime = 0;
//===================== BeeperOn via rcOptions =====================
@ -21,15 +42,21 @@ void buzzer(bool warn_vbat)
}
//===================== Beeps for failsafe =====================
if (feature(FEATURE_FAILSAFE)) {
if (failsafeCnt > (5 * cfg.failsafe_delay) && f.ARMED) {
warn_failsafe = 1; //set failsafe warning level to 1 while landing
if (failsafeCnt > 5 * (cfg.failsafe_delay + cfg.failsafe_off_delay))
warn_failsafe = 2; //start "find me" signal after landing
if (shouldFailsafeForceLanding(f.ARMED)) {
warn_failsafe = FAILSAFE_LANDING;
if (shouldFailsafeHaveCausedLandingByNow()) {
warn_failsafe = FAILSAFE_FIND_ME;
}
}
if (hasFailsafeTimerElapsed() && !f.ARMED) {
warn_failsafe = FAILSAFE_FIND_ME;
}
if (isFailsafeIdle()) {
warn_failsafe = FAILSAFE_IDLE; // turn off alarm if TX is okay
}
if (failsafeCnt > (5 * cfg.failsafe_delay) && !f.ARMED)
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
}
//===================== GPS fix notification handling =====================
@ -88,7 +115,7 @@ void beep_code(char first, char second, char third, char pause)
Duration = 0;
break;
default:
Duration = 50;
Duration = LONG_PAUSE_DELAY;
break;
}
@ -109,7 +136,7 @@ void beep_code(char first, char second, char third, char pause)
static void beep(uint16_t pulse)
{
if (!buzzerIsOn && (millis() >= (buzzerLastToggleTime + 50))) { // Buzzer is off and long pause time is up -> turn it on
if (!buzzerIsOn && (millis() >= (buzzerLastToggleTime + LONG_PAUSE_DELAY))) { // 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