Add battery warning beeper. Update MSP_MISC/MSP_SET_MISC.

Note the old beeper was essentially 'battery critical'.

src/main/config/config.c

@@ -104,7 +104,7 @@ profile_t *currentProfile;
 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;
 
-static const uint8_t EEPROM_CONF_VERSION = 86;
+static const uint8_t EEPROM_CONF_VERSION = 87;
 
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -216,6 +216,7 @@ void resetBatteryConfig(batteryConfig_t *batteryConfig)
     batteryConfig->vbatscale = VBAT_SCALE_DEFAULT;
     batteryConfig->vbatmaxcellvoltage = 43;
     batteryConfig->vbatmincellvoltage = 33;
+    batteryConfig->vbatwarningcellvoltage = 35;
     batteryConfig->currentMeterOffset = 0;
     batteryConfig->currentMeterScale = 400; // for Allegro ACS758LCB-100U (40mV/A)
     batteryConfig->batteryCapacity = 0;

src/main/io/beeper.c

@@ -24,6 +24,7 @@
 #include "drivers/sound_beeper.h"
 #include "drivers/system.h"
 #include "flight/failsafe.h"
+#include "sensors/battery.h"
 #include "sensors/sensors.h"
 
 #include "rx/rx.h"
@@ -60,7 +61,7 @@ void beepcodeInit(failsafe_t *initialFailsafe)
     failsafe = initialFailsafe;
 }
 
-void beepcodeUpdateState(bool warn_vbat)
+void beepcodeUpdateState(batteryState_e batteryState)
 {
     static uint8_t beeperOnBox;
 #ifdef GPS
@@ -117,7 +118,9 @@ void beepcodeUpdateState(bool warn_vbat)
 #endif
     else if (beeperOnBox == 1)
         beep_code('S','S','S','M');                 // beeperon
-    else if (warn_vbat)
+    else if (batteryState == BATTERY_CRITICAL)
+        beep_code('S','S','M','D');
+    else if (batteryState == BATTERY_WARNING)
         beep_code('S','M','M','D');
     else if (FLIGHT_MODE(AUTOTUNE_MODE))
         beep_code('S','M','S','M');

src/main/io/beeper.h

@@ -17,5 +17,5 @@
 
 #pragma once
 
-void beepcodeUpdateState(bool warn_vbat);
+void beepcodeUpdateState(batteryState_e batteryState);
 void queueConfirmationBeep(uint8_t duration);

src/main/io/ledstrip.c

@@ -570,7 +570,7 @@ void applyLedWarningLayer(uint8_t updateNow)
 
     if (updateNow && warningFlashCounter == 0) {
         warningFlags = WARNING_FLAG_NONE;
-        if (feature(FEATURE_VBAT) && shouldSoundBatteryAlarm()) {
+        if (feature(FEATURE_VBAT) && calculateBatteryState() != BATTERY_OK) {
             warningFlags |= WARNING_FLAG_LOW_BATTERY;
         }
         if (failsafe->vTable->hasTimerElapsed()) {

src/main/io/rc_controls.c

@@ -33,6 +33,7 @@
 
 #include "drivers/accgyro.h"
 
+#include "sensors/battery.h"
 #include "sensors/sensors.h"
 #include "sensors/gyro.h"
 #include "sensors/acceleration.h"

src/main/io/serial_cli.c

@@ -286,6 +286,7 @@ const clivalue_t valueTable[] = {
     { "vbat_scale",                 VAR_UINT8  | MASTER_VALUE,  &masterConfig.batteryConfig.vbatscale, VBAT_SCALE_MIN, VBAT_SCALE_MAX },
     { "vbat_max_cell_voltage",      VAR_UINT8  | MASTER_VALUE,  &masterConfig.batteryConfig.vbatmaxcellvoltage, 10, 50 },
     { "vbat_min_cell_voltage",      VAR_UINT8  | MASTER_VALUE,  &masterConfig.batteryConfig.vbatmincellvoltage, 10, 50 },
+    { "vbat_warning_cell_voltage",  VAR_UINT8  | MASTER_VALUE,  &masterConfig.batteryConfig.vbatwarningcellvoltage, 10, 50 },
     { "current_meter_scale",        VAR_UINT16 | MASTER_VALUE,  &masterConfig.batteryConfig.currentMeterScale, 1, 10000 },
     { "current_meter_offset",       VAR_UINT16 | MASTER_VALUE,  &masterConfig.batteryConfig.currentMeterOffset, 0, 1650 },
     { "multiwii_current_meter_output", VAR_UINT8  | MASTER_VALUE,  &masterConfig.batteryConfig.multiwiiCurrentMeterOutput, 0, 1 },

src/main/io/serial_msp.c

@@ -901,18 +901,27 @@ static bool processOutCommand(uint8_t cmdMSP)
         break;
     case MSP_MISC:
         headSerialReply(2 * 6 + 4 + 2 + 4);
-        serialize16(0); // intPowerTrigger1 (aka useless trash)
+        serialize16(masterConfig.rxConfig.midrc);
+
         serialize16(masterConfig.escAndServoConfig.minthrottle);
         serialize16(masterConfig.escAndServoConfig.maxthrottle);
         serialize16(masterConfig.escAndServoConfig.mincommand);
+
         serialize16(currentProfile->failsafeConfig.failsafe_throttle);
-        serialize16(0); // plog useless shit
+
-        serialize32(0); // plog useless shit
+        serialize8(0); // gps_type
-        serialize16(currentProfile->mag_declination / 10); // TODO check this shit
+        serialize8(0); // gps_baudrate
+        serialize8(0); // gps_ubx_sbas
+        serialize8(masterConfig.batteryConfig.multiwiiCurrentMeterOutput);
+        serialize8(masterConfig.rxConfig.rssi_channel);
+        serialize8(0);
+
+        serialize16(currentProfile->mag_declination / 10);
+
         serialize8(masterConfig.batteryConfig.vbatscale);
         serialize8(masterConfig.batteryConfig.vbatmincellvoltage);
         serialize8(masterConfig.batteryConfig.vbatmaxcellvoltage);
-        serialize8(0);
+        serialize8(masterConfig.batteryConfig.vbatwarningcellvoltage);
         break;
     case MSP_MOTOR_PINS:
         headSerialReply(8);
@@ -1062,6 +1071,7 @@ static bool processOutCommand(uint8_t cmdMSP)
 static bool processInCommand(void)
 {
     uint32_t i;
+    uint16_t tmp;
 #ifdef GPS
     uint8_t wp_no;
     int32_t lat = 0, lon = 0, alt = 0;
@@ -1165,18 +1175,29 @@ static bool processInCommand(void)
         currentControlRateProfile->thrExpo8 = read8();
         break;
     case MSP_SET_MISC:
-        read16(); // powerfailmeter
+        tmp = read16();
+        if (tmp < 1600 && tmp > 1400)
+            masterConfig.rxConfig.midrc = tmp;
+
         masterConfig.escAndServoConfig.minthrottle = read16();
         masterConfig.escAndServoConfig.maxthrottle = read16();
         masterConfig.escAndServoConfig.mincommand = read16();
+
         currentProfile->failsafeConfig.failsafe_throttle = read16();
-        read16();
+
-        read32();
+        read8(); // gps_type
+        read8(); // gps_baudrate
+        read8(); // gps_ubx_sbas
+        masterConfig.batteryConfig.multiwiiCurrentMeterOutput = read8();
+        masterConfig.rxConfig.rssi_channel = read8();
+        read8();
+
         currentProfile->mag_declination = read16() * 10;
+
         masterConfig.batteryConfig.vbatscale = read8();           // actual vbatscale as intended
         masterConfig.batteryConfig.vbatmincellvoltage = read8();  // vbatlevel_warn1 in MWC2.3 GUI
         masterConfig.batteryConfig.vbatmaxcellvoltage = read8();  // vbatlevel_warn2 in MWC2.3 GUI
-        read8();                            // vbatlevel_crit (unused)
+        masterConfig.batteryConfig.vbatwarningcellvoltage = read8();  // vbatlevel when buzzer starts to alert
         break;
     case MSP_SET_MOTOR:
         for (i = 0; i < 8; i++) // FIXME should this use MAX_MOTORS or MAX_SUPPORTED_MOTORS instead of 8

src/main/mw.c

@@ -161,7 +161,7 @@ void annexCode(void)
     int32_t tmp, tmp2;
     int32_t axis, prop1 = 0, prop2;
 
-    static uint8_t batteryWarningEnabled = false;
+    static batteryState_e batteryState = BATTERY_OK;
     static uint8_t vbatTimer = 0;
     static int32_t vbatCycleTime = 0;
 
@@ -231,7 +231,7 @@ void annexCode(void)
 
             if (feature(FEATURE_VBAT)) {
                 updateBatteryVoltage();
-                batteryWarningEnabled = shouldSoundBatteryAlarm();
+                batteryState = calculateBatteryState();
             }
 
             if (feature(FEATURE_CURRENT_METER)) {
@@ -241,7 +241,7 @@ void annexCode(void)
         }
     }
 
-    beepcodeUpdateState(batteryWarningEnabled);
+    beepcodeUpdateState(batteryState);
 
     if (ARMING_FLAG(ARMED)) {
         LED0_ON;

src/main/sensors/acceleration.c

@@ -24,6 +24,7 @@
 
 #include "drivers/accgyro.h"
 #include "flight/flight.h"
+#include "sensors/battery.h"
 #include "sensors/sensors.h"
 #include "io/beeper.h"
 #include "sensors/boardalignment.h"

src/main/sensors/battery.c

@@ -27,7 +27,8 @@
 
 // Battery monitoring stuff
 uint8_t batteryCellCount = 3;       // cell count
-uint16_t batteryWarningVoltage;     // annoying beeper after this one, battery ready to be dead
+uint16_t batteryWarningVoltage;
+uint16_t batteryCriticalVoltage;
 
 uint8_t vbat = 0;                   // battery voltage in 0.1V steps
 
@@ -62,9 +63,15 @@ void updateBatteryVoltage(void)
     vbat = batteryAdcToVoltage(vbatSampleTotal / BATTERY_SAMPLE_COUNT);
 }
 
-bool shouldSoundBatteryAlarm(void)
+batteryState_e calculateBatteryState(void)
 {
-    return !((vbat > batteryWarningVoltage) || (vbat < batteryConfig->vbatmincellvoltage));
+    if (vbat <= batteryCriticalVoltage) {
+        return BATTERY_CRITICAL;
+    }
+    if (vbat <= batteryWarningVoltage) {
+        return BATTERY_WARNING;
+    }
+    return BATTERY_OK;
 }
 
 void batteryInit(batteryConfig_t *initialBatteryConfig)
@@ -85,7 +92,8 @@ void batteryInit(batteryConfig_t *initialBatteryConfig)
     }
 
     batteryCellCount = i;
-    batteryWarningVoltage = batteryCellCount * batteryConfig->vbatmincellvoltage; // 3.3V per cell minimum, configurable in CLI
+    batteryWarningVoltage = batteryCellCount * batteryConfig->vbatwarningcellvoltage;
+    batteryCriticalVoltage = batteryCellCount * batteryConfig->vbatmincellvoltage;
 }
 
 #define ADCVREF 33L

src/main/sensors/battery.h

@@ -24,7 +24,8 @@
 typedef struct batteryConfig_s {
     uint8_t vbatscale;                      // adjust this to match battery voltage to reported value
     uint8_t vbatmaxcellvoltage;             // maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, default is 43 (4.3V)
-    uint8_t vbatmincellvoltage;             // minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V)
+    uint8_t vbatmincellvoltage;             // minimum voltage per cell, this triggers battery critical alarm, in 0.1V units, default is 33 (3.3V)
+    uint8_t vbatwarningcellvoltage;         // warning voltage per cell, this triggers battery warning alarm, in 0.1V units, default is 35 (3.5V)
 
     uint16_t currentMeterScale;             // scale the current sensor output voltage to milliamps. Value in 1/10th mV/A
     uint16_t currentMeterOffset;            // offset of the current sensor in millivolt steps
@@ -34,6 +35,12 @@ typedef struct batteryConfig_s {
     uint16_t batteryCapacity;               // mAh
 } batteryConfig_t;
 
+typedef enum {
+    BATTERY_OK = 0,
+    BATTERY_WARNING,
+    BATTERY_CRITICAL
+} batteryState_e;
+
 extern uint8_t vbat;
 extern uint8_t batteryCellCount;
 extern uint16_t batteryWarningVoltage;
@@ -41,7 +48,7 @@ extern int32_t amperage;
 extern int32_t mAhDrawn;
 
 uint16_t batteryAdcToVoltage(uint16_t src);
-bool shouldSoundBatteryAlarm(void);
+batteryState_e calculateBatteryState(void);
 void updateBatteryVoltage(void);
 void batteryInit(batteryConfig_t *initialBatteryConfig);
 

src/main/version.h

@@ -19,7 +19,7 @@
 #define FC_VERSION_MINOR            0  // increment when a minor release is made (small new feature, change etc)
 #define FC_VERSION_PATCH_LEVEL      0  // increment when a bug is fixed
 
-#define MW_VERSION              230
+#define MW_VERSION              231
 
 extern char* targetName;