fixed buzzer on rev5 boards;

added experimental gyro-based headfree boxes

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@429 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/board.h

@@ -213,8 +213,8 @@ typedef struct baro_t
 
 #ifdef BEEP_GPIO
 #define BEEP_TOGGLE              digitalToggle(BEEP_GPIO, BEEP_PIN);
-#define BEEP_OFF                 digitalHi(BEEP_GPIO, BEEP_PIN);
+#define BEEP_OFF                 systemBeep(false);
-#define BEEP_ON                  digitalLo(BEEP_GPIO, BEEP_PIN);
+#define BEEP_ON                  systemBeep(true);
 #else
 #define BEEP_TOGGLE              ;
 #define BEEP_OFF                 ;

src/drv_system.c

@@ -6,6 +6,10 @@ static volatile uint32_t usTicks = 0;
 static volatile uint32_t sysTickUptime = 0;
 // from system_stm32f10x.c
 void SetSysClock(void);
+void systemBeep(bool onoff);
+static void beepRev4(bool onoff);
+static void beepRev5(bool onoff);
+void (* systemBeepPtr)(bool onoff) = NULL;
 
 static void cycleCounterInit(void)
 {
@@ -84,6 +88,12 @@ void systemInit(void)
     AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW;
 
     // Configure gpio
+    // rev5 needs inverted beeper. oops.
+    if (hse_value == 12000000)
+        systemBeepPtr = beepRev5;
+    else
+        systemBeepPtr = beepRev4;
+
     LED0_OFF;
     LED1_OFF;
     BEEP_OFF;
@@ -178,6 +188,29 @@ void systemReset(bool toBootloader)
     SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
 }
 
+static void beepRev4(bool onoff)
+{
+    if (onoff) {
+        digitalLo(BEEP_GPIO, BEEP_PIN);
+    } else {
+        digitalHi(BEEP_GPIO, BEEP_PIN);
+    }
+}
+
+static void beepRev5(bool onoff)
+{
+    if (onoff) {
+        digitalHi(BEEP_GPIO, BEEP_PIN);
+    } else {
+        digitalLo(BEEP_GPIO, BEEP_PIN);
+    }
+}
+
+void systemBeep(bool onoff)
+{
+    systemBeepPtr(onoff);
+}
+
 void alignSensors(int16_t *src, int16_t *dest, uint8_t rotation)
 {
     switch (rotation) {

src/mw.c

@@ -687,7 +687,7 @@ void loop(void)
 #endif
 
 #ifdef  MAG
-        if (sensors(SENSOR_MAG)) {
+        if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
             if (rcOptions[BOXMAG]) {
                 if (!f.MAG_MODE) {
                     f.MAG_MODE = 1;

src/mw.h

@@ -461,6 +461,7 @@ bool sbusFrameComplete(void);
 
 // buzzer
 void buzzer(uint8_t warn_vbat);
+void systemBeep(bool onoff);
 
 // cli
 void cliProcess(void);

src/serial.c

@@ -267,6 +267,7 @@ void serializeBoxNamesReply(void)
 void serialInit(uint32_t baudrate)
 {
     int idx;
+    bool hfadded = false;
 
     core.mainport = uartOpen(USART1, NULL, baudrate, MODE_RXTX);
     // TODO fix/hax
@@ -279,6 +280,10 @@ void serialInit(uint32_t baudrate)
     if (sensors(SENSOR_ACC)) {
         availableBoxes[idx++] = BOXANGLE;
         availableBoxes[idx++] = BOXHORIZON;
+        availableBoxes[idx++] = BOXMAG;
+        availableBoxes[idx++] = BOXHEADFREE;
+        availableBoxes[idx++] = BOXHEADADJ;
+        hfadded = true;
     }
     if (sensors(SENSOR_BARO)) {
         availableBoxes[idx++] = BOXBARO;
@@ -286,9 +291,12 @@ void serialInit(uint32_t baudrate)
             availableBoxes[idx++] = BOXVARIO;
     }
     if (sensors(SENSOR_MAG)) {
-        availableBoxes[idx++] = BOXMAG;
+        // this really shouldn't even needed to be tested as it wouldn't be possible without acc anyway
-        availableBoxes[idx++] = BOXHEADFREE;
+        if (!hfadded) {
-        availableBoxes[idx++] = BOXHEADADJ;
+            availableBoxes[idx++] = BOXMAG;
+            availableBoxes[idx++] = BOXHEADFREE;
+            availableBoxes[idx++] = BOXHEADADJ;
+        }
     }
     if (feature(FEATURE_SERVO_TILT))
         availableBoxes[idx++] = BOXCAMSTAB;