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https://github.com/betaflight/betaflight.git
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Cleanup new beeper code. Decreases code-size, removes unneeded state BEEPER_STOP, reduces needs for some comments, removes some magic numbers, simplifies logic and improves maintainability.
This commit is contained in:
Dominic Clifton
parent
5c0e0952d6
commit
6360aa0dca
3 changed files with 48 additions and 59 deletions
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@ -42,10 +42,12 @@
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#define MAX_MULTI_BEEPS 20 //size limit for 'beep_multiBeeps[]'
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#define BEEPER_COMMAND_REPEAT 0xFE
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#define BEEPER_COMMAND_STOP 0xFF
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/* Beeper Sound Sequences: (Square wave generation)
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* Sequence must end with 0xFF or 0xFE. 0xFE repeats the sequence from
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* start when 0xFF stops the sound when it's completed.
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* If repeat is used then BEEPER_STOP call must be used for stopping the sound.
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*
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* "Sound" Sequences are made so that 1st, 3rd, 5th.. are the delays how
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* long the beeper is on and 2nd, 4th, 6th.. are the delays how long beeper
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@ -53,59 +55,59 @@
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*/
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// short fast beep
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static const uint8_t beep_shortBeep[] = {
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10, 10, 0xFF
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10, 10, BEEPER_COMMAND_STOP
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};
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// arming beep
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static const uint8_t beep_armingBeep[] = {
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30, 5, 5, 5, 0xFF
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30, 5, 5, 5, BEEPER_COMMAND_STOP
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};
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// armed beep (first pause, then short beep)
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static const uint8_t beep_armedBeep[] = {
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0, 245, 10, 5, 0xFF
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0, 245, 10, 5, BEEPER_COMMAND_STOP
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};
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// disarming beeps
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static const uint8_t beep_disarmBeep[] = {
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15, 5, 15, 5, 0xFF
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15, 5, 15, 5, BEEPER_COMMAND_STOP
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};
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// beeps while stick held in disarm position (after pause)
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static const uint8_t beep_disarmRepeatBeep[] = {
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0, 35, 40, 5, 0xFF
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0, 35, 40, 5, BEEPER_COMMAND_STOP
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};
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// Long beep and pause after that
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static const uint8_t beep_lowBatteryBeep[] = {
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25, 50, 0xFF
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25, 50, BEEPER_COMMAND_STOP
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};
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// critical battery beep
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static const uint8_t beep_critBatteryBeep[] = {
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50, 2, 0xFF
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50, 2, BEEPER_COMMAND_STOP
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};
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// single confirmation beep
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static const uint8_t beep_confirmBeep[] = {
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2, 20, 0xFF
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2, 20, BEEPER_COMMAND_STOP
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};
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// transmitter-signal-lost tone
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static const uint8_t beep_txLostBeep[] = {
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50, 50, 0xFF
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50, 50, BEEPER_COMMAND_STOP
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};
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// SOS morse code:
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static const uint8_t beep_sos[] = {
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10, 10, 10, 10, 10, 40, 40, 10, 40, 10, 40, 40, 10, 10, 10, 10, 10, 70, 0xFF
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10, 10, 10, 10, 10, 40, 40, 10, 40, 10, 40, 40, 10, 10, 10, 10, 10, 70, BEEPER_COMMAND_STOP
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};
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// Arming when GPS is fixed
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static const uint8_t beep_armedGpsFix[] = {
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5, 5, 15, 5, 5, 5, 15, 30, 0xFF
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5, 5, 15, 5, 5, 5, 15, 30, BEEPER_COMMAND_STOP
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};
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// Ready beeps. When gps has fix and copter is ready to fly.
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static const uint8_t beep_readyBeep[] = {
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4, 5, 4, 5, 8, 5, 15, 5, 8, 5, 4, 5, 4, 5, 0xFF
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4, 5, 4, 5, 8, 5, 15, 5, 8, 5, 4, 5, 4, 5, BEEPER_COMMAND_STOP
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};
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// 2 fast short beeps
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static const uint8_t beep_2shortBeeps[] = {
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5, 5, 5, 5, 0xFF
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5, 5, 5, 5, BEEPER_COMMAND_STOP
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};
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// 3 fast short beeps
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static const uint8_t beep_3shortBeeps[] = {
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5, 5, 5, 5, 5, 5, 0xFF
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5, 5, 5, 5, 5, 5, BEEPER_COMMAND_STOP
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};
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// array used for variable # of beeps (reporting GPS sat count, etc)
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static uint8_t beep_multiBeeps[MAX_MULTI_BEEPS+2];
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@ -131,105 +133,79 @@ static void beeperCalculations(void);
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*/
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void beeper(beeperMode_e mode)
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{
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#ifdef GPS
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uint8_t i;
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#endif
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// Just return if same or higher priority sound is active.
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if (beeperMode <= mode)
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return;
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switch (mode) {
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case BEEPER_STOP:
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beeperMode = BEEPER_STOPPED;
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beeperNextToggleTime = millis();
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BEEP_OFF;
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beeperIsOn = 0;
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beeperPtr = NULL;
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break;
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case BEEPER_READY_BEEP:
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beeperPtr = beep_readyBeep;
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beeperMode = mode;
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break;
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case BEEPER_ARMING:
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beeperPtr = beep_armingBeep;
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beeperMode = mode;
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beeperNextToggleTime = 0;
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break;
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case BEEPER_DISARMING:
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beeperPtr = beep_disarmBeep;
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beeperMode = mode;
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beeperNextToggleTime = 0;
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break;
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case BEEPER_DISARM_REPEAT:
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beeperPtr = beep_disarmRepeatBeep;
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beeperMode = mode;
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beeperNextToggleTime = 0;
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break;
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case BEEPER_ACC_CALIBRATION:
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beeperPtr = beep_2shortBeeps;
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beeperMode = mode;
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break;
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case BEEPER_ACC_CALIBRATION_FAIL:
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beeperPtr = beep_3shortBeeps;
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beeperMode = mode;
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break;
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case BEEPER_RX_LOST_LANDING:
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beeperPtr = beep_sos;
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beeperMode = mode;
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beeperNextToggleTime = 0;
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break;
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case BEEPER_RX_LOST:
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beeperPtr = beep_txLostBeep;
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beeperMode = mode;
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beeperNextToggleTime = 0;
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break;
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case BEEPER_BAT_LOW:
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beeperPtr = beep_lowBatteryBeep;
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beeperMode = mode;
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beeperNextToggleTime = 0;
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break;
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case BEEPER_BAT_CRIT_LOW:
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beeperPtr = beep_critBatteryBeep;
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beeperMode = mode;
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beeperNextToggleTime = 0;
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break;
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case BEEPER_ARMED:
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beeperPtr = beep_armedBeep;
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beeperMode = mode;
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break;
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case BEEPER_ARMING_GPS_FIX:
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beeperPtr = beep_armedGpsFix;
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beeperMode = mode;
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beeperNextToggleTime = 0;
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break;
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case BEEPER_CONFIRM_BEEP:
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beeperPtr = beep_confirmBeep;
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beeperMode = mode;
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beeperNextToggleTime = 0;
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break;
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case BEEPER_MULTI_BEEPS:
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beeperPtr = beep_multiBeeps;
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beeperMode = mode;
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beeperNextToggleTime = 0;
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break;
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case BEEPER_RX_SET:
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#ifdef GPS // if GPS fix then beep out number of satellites
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#ifdef GPS
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// if GPS fix then beep out number of satellites
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if (feature(FEATURE_GPS) && STATE(GPS_FIX) && GPS_numSat >= 5) {
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i = 0;
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uint8_t i = 0;
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do {
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beep_multiBeeps[i++] = 5;
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beep_multiBeeps[i++] = 10;
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} while (i < MAX_MULTI_BEEPS && GPS_numSat > i / 2);
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beep_multiBeeps[i-1] = 50; //extend last pause
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beep_multiBeeps[i] = 0xFF;
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beep_multiBeeps[i-1] = 50; // extend last pause
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beep_multiBeeps[i] = BEEPER_COMMAND_STOP;
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beeperPtr = beep_multiBeeps;
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beeperMode = mode;
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break;
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}
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#endif
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beeperPtr = beep_shortBeep;
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beeperMode = mode;
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beeperNextToggleTime = 0;
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break;
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@ -237,8 +213,18 @@ void beeper(beeperMode_e mode)
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return;
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}
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beeperPos = 0;
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beeperMode = mode;
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}
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void beeperSilence(void)
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{
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beeperMode = BEEPER_STOPPED;
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beeperNextToggleTime = millis();
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BEEP_OFF;
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beeperIsOn = 0;
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beeperPtr = NULL;
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beeperPos = 0;
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}
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/*
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* Emits the given number of 20ms beeps (with 200ms spacing).
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* This function returns immediately (does not block).
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@ -259,7 +245,7 @@ void queueConfirmationBeep(uint8_t beepCount)
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beep_multiBeeps[i++] = 2; //20ms beep
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beep_multiBeeps[i++] = 20; //200ms pause
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} while (i < cLimit);
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beep_multiBeeps[i] = 0xFF; //sequence end
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beep_multiBeeps[i] = BEEPER_COMMAND_STOP; //sequence end
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beeper(BEEPER_MULTI_BEEPS); //initiate sequence
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}
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}
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@ -281,7 +267,12 @@ void beeperUpdate(void)
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return;
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}
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if (!beeperIsOn && beeperNextToggleTime <= millis()) {
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uint32_t now = millis();
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if (beeperNextToggleTime > now) {
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return;
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}
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if (!beeperIsOn) {
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beeperIsOn = 1;
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if (beeperPtr[beeperPos] != 0) {
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BEEP_ON;
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@ -291,14 +282,14 @@ void beeperUpdate(void)
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armingBeepTimeMicros = micros();
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}
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}
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beeperCalculations();
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} else if (beeperIsOn && beeperNextToggleTime <= millis()) {
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} else {
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beeperIsOn = 0;
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if (beeperPtr[beeperPos] != 0) {
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BEEP_OFF;
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}
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beeperCalculations();
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}
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beeperCalculations();
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}
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/*
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@ -306,11 +297,9 @@ void beeperUpdate(void)
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*/
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void beeperCalculations(void)
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{
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if (beeperPtr[beeperPos] == 0xFE) {
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// If sequence is 0xFE then repeat from start
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if (beeperPtr[beeperPos] == BEEPER_COMMAND_REPEAT) {
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beeperPos = 0;
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} else if (beeperPtr[beeperPos] == 0xFF) {
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// If sequence is 0xFF then stop
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} else if (beeperPtr[beeperPos] == BEEPER_COMMAND_STOP) {
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beeperMode = BEEPER_STOPPED;
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BEEP_OFF;
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beeperIsOn = 0;
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