Beeper PWM support

Beeper PWM frequency set limited to positive values

Removal of all the defined(BEEPER_PWM)

tabs and spaces cleanup in beeper functions

Add IOGetByTag and timerGetByTag check to Beeper Pwm Init

Add IO check before every Beeper Pwm functions in pwm_output

Update pwm_output.c after comments from Mikeller

src/main/drivers/pwm_output.c

@@ -26,6 +26,7 @@
 #include "io.h"
 #include "pwm_output.h"
 #include "timer.h"
+#include "drivers/pwm_output.h"
 
 #define MULTISHOT_5US_PW    (MULTISHOT_TIMER_MHZ * 5)
 #define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
@@ -40,6 +41,11 @@ static pwmCompleteWriteFuncPtr pwmCompleteWritePtr = NULL;
 static pwmOutputPort_t servos[MAX_SUPPORTED_SERVOS];
 #endif
 
+#ifdef BEEPER
+static pwmOutputPort_t beeperPwm;
+static uint16_t freqBeep=0;
+#endif
+
 bool pwmMotorsEnabled = false;
 
 static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
@@ -380,3 +386,42 @@ void servoDevInit(const servoDevConfig_t *servoConfig)
 }
 
 #endif
+
+#ifdef BEEPER
+void pwmWriteBeeper(bool onoffBeep)
+{
+        if(!beeperPwm.io)
+            return;
+        if(onoffBeep == true) {
+            *beeperPwm.ccr = (1000000/freqBeep)/2;
+            beeperPwm.enabled = true;
+        } else {
+            *beeperPwm.ccr = 0;
+            beeperPwm.enabled = false;
+        }
+}
+
+void pwmToggleBeeper(void)
+{
+        pwmWriteBeeper(!beeperPwm.enabled);
+}
+
+void beeperPwmInit(IO_t io, uint16_t frequency)
+{
+        const ioTag_t tag=IO_TAG(BEEPER);
+        beeperPwm.io = io;
+        const timerHardware_t *timer = timerGetByTag(tag, TIM_USE_BEEPER);
+        if (beeperPwm.io && timer) {
+            IOInit(beeperPwm.io, OWNER_BEEPER, RESOURCE_INDEX(0));
+#if defined(USE_HAL_DRIVER)
+            IOConfigGPIOAF(beeperPwm.io, IOCFG_AF_PP, timer->alternateFunction);
+#else
+            IOConfigGPIO(beeperPwm.io, IOCFG_AF_PP);
+#endif
+            freqBeep = frequency;
+            pwmOutConfig(&beeperPwm, timer, PWM_TIMER_MHZ, 1000000/freqBeep, (1000000/freqBeep)/2,0);
+        }
+        *beeperPwm.ccr = 0;
+        beeperPwm.enabled = false;
+}
+#endif

src/main/drivers/pwm_output.h

@@ -145,6 +145,12 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
 void pwmCompleteDigitalMotorUpdate(uint8_t motorCount);
 #endif
 
+#ifdef BEEPER
+void pwmWriteBeeper(bool onoffBeep);
+void pwmToggleBeeper(void);
+void beeperPwmInit(IO_t io, uint16_t frequency);
+#endif
+
 void pwmWriteMotor(uint8_t index, uint16_t value);
 void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
 void pwmCompleteMotorUpdate(uint8_t motorCount);

src/main/drivers/sound_beeper.c

@@ -24,43 +24,56 @@
 #include "io.h"
 
 #include "sound_beeper.h"
+#include "pwm_output.h"
 
 
 #ifdef BEEPER
-
 static IO_t beeperIO = DEFIO_IO(NONE);
 static bool beeperInverted = false;
-
+static uint16_t beeperFrequency = 0;
 #endif
 
 void systemBeep(bool onoff)
 {
-#ifndef BEEPER
+#ifdef BEEPER
-    UNUSED(onoff);
+    if(beeperFrequency == 0) {
+        IOWrite(beeperIO, beeperInverted ? onoff : !onoff);
+    } else {
+        pwmWriteBeeper(onoff);
+    }
 #else
-    IOWrite(beeperIO, beeperInverted ? onoff : !onoff);
+    UNUSED(onoff);
 #endif
 }
 
 void systemBeepToggle(void)
 {
 #ifdef BEEPER
-    IOToggle(beeperIO);
+    if(beeperFrequency == 0) {
+        IOToggle(beeperIO);
+    } else {
+        pwmToggleBeeper();
+    }
 #endif
 }
 
 void beeperInit(const beeperDevConfig_t *config)
 {
-#ifndef BEEPER
+#ifdef BEEPER
-    UNUSED(config);
+    beeperFrequency = config->frequency;
-#else
+    if(beeperFrequency == 0) {
-    beeperIO = IOGetByTag(config->ioTag);
+        beeperIO = IOGetByTag(config->ioTag);
-    beeperInverted = config->isInverted;
+        beeperInverted = config->isInverted;
-
+        if (beeperIO) {
-    if (beeperIO) {
+            IOInit(beeperIO, OWNER_BEEPER, 0);
-        IOInit(beeperIO, OWNER_BEEPER, 0);
+            IOConfigGPIO(beeperIO, config->isOpenDrain ? IOCFG_OUT_OD : IOCFG_OUT_PP);
-        IOConfigGPIO(beeperIO, config->isOpenDrain ? IOCFG_OUT_OD : IOCFG_OUT_PP);
+        }
+        systemBeep(false);
+    } else {
+        beeperIO = IOGetByTag(config->ioTag);
+        beeperPwmInit(beeperIO, beeperFrequency);
     }
-    systemBeep(false);
+#else
+    UNUSED(config);
 #endif
 }

src/main/drivers/sound_beeper.h

@@ -33,6 +33,7 @@ typedef struct beeperDevConfig_s {
     ioTag_t ioTag;
     uint8_t isInverted;
     uint8_t isOpenDrain;
+    uint16_t frequency;
 } beeperDevConfig_t;
 
 void systemBeep(bool on);

src/main/drivers/timer.h

@@ -62,7 +62,8 @@ typedef enum {
     TIM_USE_MOTOR         = 0x4,
     TIM_USE_SERVO         = 0x8,
     TIM_USE_LED           = 0x10,
-    TIM_USE_TRANSPONDER   = 0x20
+    TIM_USE_TRANSPONDER   = 0x20,
+    TIM_USE_BEEPER        = 0x40
 } timerUsageFlag_e;
 
 // use different types from capture and overflow - multiple overflow handlers are implemented as linked list

src/main/fc/cli.c

@@ -653,6 +653,7 @@ static const clivalue_t valueTable[] = {
 #ifdef BEEPER
     { "beeper_inversion",           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BEEPER_DEV_CONFIG, offsetof(beeperDevConfig_t, isInverted) },
     { "beeper_od",                  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BEEPER_DEV_CONFIG, offsetof(beeperDevConfig_t, isOpenDrain) },
+    { "beeper_frequency",           VAR_INT16  | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_BEEPER_DEV_CONFIG, offsetof(beeperDevConfig_t, frequency) },
 #endif
 
 // PG_MIXER_CONFIG

src/main/io/beeper.c

@@ -53,15 +53,22 @@ PG_REGISTER_WITH_RESET_TEMPLATE(beeperDevConfig_t, beeperDevConfig, PG_BEEPER_DE
 #define IS_OPEN_DRAIN   true
 #define IS_INVERTED     false
 #endif
+
 #ifdef BEEPER
 #define BEEPER_PIN      BEEPER
+#ifndef BEEPER_PWM_HZ
+#define BEEPER_PWM_HZ   0
+#endif
 #else
 #define BEEPER_PIN      NONE
+#define BEEPER_PWM_HZ   0
 #endif
+
 PG_RESET_TEMPLATE(beeperDevConfig_t, beeperDevConfig,
     .isOpenDrain = IS_OPEN_DRAIN,
     .isInverted = IS_INVERTED,
-    .ioTag = IO_TAG(BEEPER_PIN)
+    .ioTag = IO_TAG(BEEPER_PIN),
+    .frequency = BEEPER_PWM_HZ
 );
 
 #if FLASH_SIZE > 64

src/main/target/STM32F3DISCOVERY/target.c

@@ -34,7 +34,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_MOTOR,             1),
     DEF_TIM(TIM3,  CH4, PB1,  0,                         0),
     DEF_TIM(TIM3,  CH2, PA4,  0,                         0),
-    DEF_TIM(TIM4,  CH1, PD12, 0,                         0),
+    DEF_TIM(TIM4,  CH1, PD12, TIM_USE_BEEPER,            1),
     DEF_TIM(TIM4,  CH2, PD13, 0,                         0),
     DEF_TIM(TIM4,  CH3, PD14, 0,                         0),
     DEF_TIM(TIM4,  CH4, PD15, 0,                         0),

src/main/target/STM32F3DISCOVERY/target.h

@@ -36,8 +36,8 @@
 #define LED1                    PE10 // Orange LEDs - PE10/PE14
 #define LED1_INVERTED
 
-#define BEEPER                  PE9  // Red LEDs - PE9/PE13
+#define BEEPER                  PD12
-#define BEEPER_INVERTED
+#define BEEPER_PWM_HZ           2000  // Beeper PWM frequency in Hz
 
 #define USE_SPI
 #define USE_SPI_DEVICE_1

src/main/target/YUPIF4/target.c

@@ -32,5 +32,6 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED, 1 ), // S4_OUT - DMA1_ST6
     DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_ENABLED, 0 ), // S5_OUT - DMA1_ST7
     DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED, 0 ), // S6_OUT - DMA1_ST2
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_BEEPER,              TIMER_OUTPUT_ENABLED, 0 ), // BEEPER PWM
 };
 

src/main/target/YUPIF4/target.h

@@ -25,7 +25,7 @@
 #define LED2                    PB5
 
 #define BEEPER                  PC9
-//#define BEEPER_INVERTED
+#define BEEPER_PWM_HZ           2200 // Beeper PWM frequency in Hz
 
 #define INVERTER_PIN_UART6      PB15
 
@@ -162,5 +162,5 @@
 #define TARGET_IO_PORTC         0xffff
 #define TARGET_IO_PORTD         (BIT(2))
 
-#define USABLE_TIMER_CHANNEL_COUNT 7
+#define USABLE_TIMER_CHANNEL_COUNT 8
 #define USED_TIMERS             (TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8))