mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-24 00:35:39 +03:00
synced with mwc 2.1. it's suprising how many "new" things in 2.1 didn't actually matter on a real platform.
removed camtrig stuff since it wasnt possible. somewhat replaced with aux forwarding (see below) 2.1 buzzer code changed, untested. removed flying wing mixer. nobody used that. added alt_hold_throttle_neutral, nav_slew_rate and looptime configuration to cli. default looptime set to 3000. changed default gyro_cmpf to 400 to sync with 2.1. increased bmp085 oversampling added gimbal_flags (bit 4 set) flag which, in PPM mode, forwards AUX1..4 to the lower 4 PWM outputs instead of using them as motors. set gimbal_flags=8 to test it out. output is fixed to 50Hz. merged 2.1 gps changes (not many) casting in gyro smoothing (nobody uses that anyway) calibrate accel in gimbal mode, set smallangle in gyro-only mode vtail4 mixer fix flight tested on quadx w/ppm. git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@182 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop
parent
e70d7b5d16
commit
c98113b82c
19 changed files with 5363 additions and 5696 deletions
172
src/buzzer.c
172
src/buzzer.c
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@ -1,22 +1,18 @@
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#include "board.h"
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#include "mw.h"
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static uint8_t buzzerIsOn = 0, beepDone = 0;
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static uint32_t buzzerLastToggleTime;
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static void beep(uint16_t pulse);
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static void beep_code(char first, char second, char third, char pause);
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void buzzer(uint8_t warn_vbat)
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{
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static uint16_t ontime, offtime, beepcount, repeat, repeatcounter;
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static uint32_t buzzerLastToggleTime;
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static uint8_t buzzerIsOn = 0, activateBuzzer, beeperOnBox, i, last_rcOptions[CHECKBOXITEMS], warn_noGPSfix = 0, warn_failsafe = 0;
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static uint8_t beeperOnBox;
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static uint8_t warn_noGPSfix = 0;
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static uint8_t warn_failsafe = 0;
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static uint8_t warn_runtime = 0;
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//===================== Beeps for changing rcOptions =====================
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#if defined(RCOPTIONSBEEP)
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if (last_rcOptions[i] != rcOptions[i]) {
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toggleBeep = 1;
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}
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last_rcOptions[i] = rcOptions[i];
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i++;
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if (i >= CHECKBOXITEMS)
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i = 0;
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#endif
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//===================== BeeperOn via rcOptions =====================
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if (rcOptions[BOXBEEPERON]) { // unconditional beeper on via AUXn switch
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beeperOnBox = 1;
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@ -38,79 +34,95 @@ void buzzer(uint8_t warn_vbat)
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//===================== GPS fix notification handling =====================
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if (sensors(SENSOR_GPS)) {
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if ((f.GPS_HOME_MODE || f.GPS_HOLD_MODE) && !f.GPS_FIX) { //if no fix and gps funtion is activated: do warning beeps.
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if ((rcOptions[BOXGPSHOME] || rcOptions[BOXGPSHOLD]) && !f.GPS_FIX) { // if no fix and gps funtion is activated: do warning beeps
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warn_noGPSfix = 1;
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} else {
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warn_noGPSfix = 0;
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}
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}
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//===================== Main Handling Block =====================
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repeat = 1; // set repeat to default
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ontime = 100; // set offtime to default
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//the order of the below is the priority from high to low, the last entry has the lowest priority, only one option can be active at the same time
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if (warn_failsafe == 2) {
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activateBuzzer = 1;
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offtime = 2000;
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ontime = 300;
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repeat = 1;
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} //failsafe "find me" signal
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else if (warn_failsafe == 1) {
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activateBuzzer = 1;
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offtime = 50;
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} //failsafe landing active
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else if (warn_noGPSfix == 1) {
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activateBuzzer = 1;
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offtime = 10;
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} else if (beeperOnBox == 1) {
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activateBuzzer = 1;
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offtime = 50;
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} //beeperon
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else if (warn_vbat == 4) {
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activateBuzzer = 1;
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offtime = 500;
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repeat = 3;
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} else if (warn_vbat == 2) {
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activateBuzzer = 1;
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offtime = 1000;
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repeat = 2;
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} else if (warn_vbat == 1) {
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activateBuzzer = 1;
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offtime = 2000;
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} else if (toggleBeep > 0) {
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activateBuzzer = 1;
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ontime = 50;
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offtime = 50;
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} //fast confirmation beep
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else {
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activateBuzzer = 0;
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}
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if (activateBuzzer) {
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if (repeatcounter > 1 && !buzzerIsOn && (millis() >= (buzzerLastToggleTime + 80))) { // if the buzzer is off and there is a short pause neccessary (multipe buzzes)
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buzzerIsOn = 1;
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BEEP_ON;
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buzzerLastToggleTime = millis(); // save the time the buzer turned on
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repeatcounter--;
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} else if (!buzzerIsOn && (millis() >= (buzzerLastToggleTime + offtime))) { // Buzzer is off and long pause time is up -> turn it on
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buzzerIsOn = 1;
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BEEP_ON;
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buzzerLastToggleTime = millis(); // save the time the buzer turned on
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repeatcounter = repeat; //set the amount of repeats
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} else if (buzzerIsOn && (millis() >= buzzerLastToggleTime + ontime)) { //Buzzer is on and time is up -> turn it off
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buzzerIsOn = 0;
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BEEP_OFF;
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buzzerLastToggleTime = millis(); // save the time the buzer turned on
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if (toggleBeep > 0)
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beepcount++; // only increment if confirmation beep, the rest is endless while the condition is given
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}
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if (beepcount >= toggleBeep) { //confirmation flag is 0,1 or 2
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beepcount = 0; //reset the counter for the next time
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toggleBeep = 0; //reset the flag after all beeping is done
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}
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} else { //no beeping neccessary:reset everything (just in case)
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beepcount = 0; //reset the counter for the next time
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BEEP_OFF;
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//===================== Priority driven Handling =====================
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// beepcode(length1,length2,length3,pause)
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// D: Double, L: Long, M: Middle, S: Short, N: None
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if (warn_failsafe == 2)
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beep_code('L','N','N','D'); // failsafe "find me" signal
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else if (warn_failsafe == 1)
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beep_code('S','M','L','M'); // failsafe landing active
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else if (warn_noGPSfix == 1)
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beep_code('S','S','N','M');
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else if (beeperOnBox == 1)
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beep_code('S','S','S','M'); // beeperon
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else if (warn_vbat == 4)
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beep_code('S','M','M','D');
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else if (warn_vbat == 2)
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beep_code('S','S','M','D');
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else if (warn_vbat == 1)
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beep_code('S','M','N','D');
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else if (warn_runtime == 1 && f.ARMED)
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beep_code('S','S','M','N'); // Runtime warning
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else if (toggleBeep > 0)
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beep(50); // fast confirmation beep
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else {
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buzzerIsOn = 0;
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BEEP_OFF;
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}
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}
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void beep_code(char first, char second, char third, char pause)
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{
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char patternChar[4];
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uint16_t Duration;
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static uint8_t icnt = 0;
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patternChar[0] = first;
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patternChar[1] = second;
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patternChar[2] = third;
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patternChar[3] = pause;
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switch(patternChar[icnt]) {
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case 'M':
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Duration = 100;
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break;
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case 'L':
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Duration = 200;
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break;
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case 'D':
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Duration = 2000;
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break;
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case 'N':
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Duration = 0;
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break;
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default:
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Duration = 50;
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break;
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}
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if (icnt < 3 && Duration != 0)
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beep(Duration);
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if (icnt >= 3 && (buzzerLastToggleTime < millis() - Duration)) {
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icnt = 0;
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toggleBeep = 0;
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}
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if (beepDone == 1 || Duration == 0) {
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if (icnt < 3)
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icnt++;
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beepDone = 0;
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buzzerIsOn = 0;
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BEEP_OFF;
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}
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}
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static void beep(uint16_t pulse)
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{
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if (!buzzerIsOn && (millis() >= (buzzerLastToggleTime + 50))) { // Buzzer is off and long pause time is up -> turn it on
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buzzerIsOn = 1;
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BEEP_ON;
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buzzerLastToggleTime = millis(); // save the time the buzer turned on
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} else if (buzzerIsOn && (millis() >= buzzerLastToggleTime + pulse)) { // Buzzer is on and time is up -> turn it off
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buzzerIsOn = 0;
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BEEP_OFF;
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buzzerLastToggleTime = millis();
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if (toggleBeep >0)
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toggleBeep--;
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beepDone = 1;
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}
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}
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