mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 16:25:31 +03:00
Normalize all the line endings
This commit is contained in:
Dominic Clifton
parent
4237370b60
commit
d60183d91d
396 changed files with 158300 additions and 158300 deletions
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@ -1,199 +1,199 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "stdbool.h"
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#include "stdint.h"
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#include "platform.h"
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#include "drivers/sound_beeper.h"
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#include "drivers/system.h"
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#include "flight/failsafe.h"
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#include "sensors/sensors.h"
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#include "rx/rx.h"
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#include "io/rc_controls.h"
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#include "config/runtime_config.h"
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#include "config/config.h"
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#include "io/beeper.h"
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#define DOUBLE_PAUSE_DURATION_MILLIS (LONG_PAUSE_DURATION_MILLIS * 2)
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#define LONG_PAUSE_DURATION_MILLIS 200
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#define SHORT_PAUSE_DURATION_MILLIS (LONG_PAUSE_DURATION_MILLIS / 4)
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#define MEDIUM_PAUSE_DURATION_MILLIS (LONG_PAUSE_DURATION_MILLIS / 2)
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#define SHORT_CONFIRMATION_BEEP_DURATION_MILLIS (SHORT_PAUSE_DURATION_MILLIS / 2)
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static uint8_t beeperIsOn = 0, beepDone = 0;
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static uint32_t beeperLastToggleTime;
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static void beep(uint16_t pulseMillis);
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static void beep_code(char first, char second, char third, char pause);
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static uint8_t toggleBeep = 0;
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typedef enum {
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FAILSAFE_IDLE = 0,
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FAILSAFE_LANDING,
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FAILSAFE_FIND_ME
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} failsafeBeeperWarnings_e;
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static failsafe_t* failsafe;
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void beepcodeInit(failsafe_t *initialFailsafe)
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{
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failsafe = initialFailsafe;
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}
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void beepcodeUpdateState(bool warn_vbat)
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{
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static uint8_t beeperOnBox;
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#ifdef GPS
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static uint8_t warn_noGPSfix = 0;
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#endif
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static failsafeBeeperWarnings_e warn_failsafe = FAILSAFE_IDLE;
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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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} else {
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beeperOnBox = 0;
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}
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//===================== Beeps for failsafe =====================
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if (feature(FEATURE_FAILSAFE)) {
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if (failsafe->vTable->shouldForceLanding(ARMING_FLAG(ARMED))) {
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warn_failsafe = FAILSAFE_LANDING;
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if (failsafe->vTable->shouldHaveCausedLandingByNow()) {
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warn_failsafe = FAILSAFE_FIND_ME;
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}
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}
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if (failsafe->vTable->hasTimerElapsed() && !ARMING_FLAG(ARMED)) {
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warn_failsafe = FAILSAFE_FIND_ME;
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}
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if (failsafe->vTable->isIdle()) {
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warn_failsafe = FAILSAFE_IDLE; // turn off alarm if TX is okay
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}
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}
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#ifdef GPS
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//===================== GPS fix notification handling =====================
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if (sensors(SENSOR_GPS)) {
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if ((rcOptions[BOXGPSHOME] || rcOptions[BOXGPSHOLD]) && !STATE(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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#endif
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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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#ifdef GPS
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else if (warn_noGPSfix == 1)
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beep_code('S','S','N','M');
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#endif
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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)
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beep_code('S','M','M','D');
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else if (FLIGHT_MODE(AUTOTUNE_MODE))
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beep_code('S','M','S','M');
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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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beeperIsOn = 0;
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BEEP_OFF;
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}
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}
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// duration is specified in multiples of SHORT_CONFIRMATION_BEEP_DURATION_MILLIS
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void queueConfirmationBeep(uint8_t duration) {
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toggleBeep = duration;
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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 'N':
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Duration = 0;
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break;
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case 'S':
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Duration = LONG_PAUSE_DURATION_MILLIS / 4;
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break;
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case 'M':
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Duration = LONG_PAUSE_DURATION_MILLIS / 2;
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break;
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case 'D':
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Duration = LONG_PAUSE_DURATION_MILLIS * 2;
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break;
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case 'L':
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default:
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Duration = LONG_PAUSE_DURATION_MILLIS;
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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 && (beeperLastToggleTime < 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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beeperIsOn = 0;
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BEEP_OFF;
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}
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}
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static void beep(uint16_t pulseMillis)
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{
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if (beeperIsOn) {
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if (millis() >= beeperLastToggleTime + pulseMillis) {
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beeperIsOn = 0;
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BEEP_OFF;
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beeperLastToggleTime = 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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return;
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}
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if (millis() >= (beeperLastToggleTime + LONG_PAUSE_DURATION_MILLIS)) { // Beeper is off and long pause time is up -> turn it on
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beeperIsOn = 1;
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BEEP_ON;
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beeperLastToggleTime = millis(); // save the time the buzer turned on
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}
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}
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "stdbool.h"
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#include "stdint.h"
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#include "platform.h"
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#include "drivers/sound_beeper.h"
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#include "drivers/system.h"
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#include "flight/failsafe.h"
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#include "sensors/sensors.h"
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#include "rx/rx.h"
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#include "io/rc_controls.h"
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#include "config/runtime_config.h"
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#include "config/config.h"
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#include "io/beeper.h"
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#define DOUBLE_PAUSE_DURATION_MILLIS (LONG_PAUSE_DURATION_MILLIS * 2)
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#define LONG_PAUSE_DURATION_MILLIS 200
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#define SHORT_PAUSE_DURATION_MILLIS (LONG_PAUSE_DURATION_MILLIS / 4)
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#define MEDIUM_PAUSE_DURATION_MILLIS (LONG_PAUSE_DURATION_MILLIS / 2)
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#define SHORT_CONFIRMATION_BEEP_DURATION_MILLIS (SHORT_PAUSE_DURATION_MILLIS / 2)
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static uint8_t beeperIsOn = 0, beepDone = 0;
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static uint32_t beeperLastToggleTime;
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static void beep(uint16_t pulseMillis);
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static void beep_code(char first, char second, char third, char pause);
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static uint8_t toggleBeep = 0;
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typedef enum {
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FAILSAFE_IDLE = 0,
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FAILSAFE_LANDING,
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FAILSAFE_FIND_ME
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} failsafeBeeperWarnings_e;
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static failsafe_t* failsafe;
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void beepcodeInit(failsafe_t *initialFailsafe)
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{
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failsafe = initialFailsafe;
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}
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void beepcodeUpdateState(bool warn_vbat)
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{
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static uint8_t beeperOnBox;
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#ifdef GPS
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static uint8_t warn_noGPSfix = 0;
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#endif
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static failsafeBeeperWarnings_e warn_failsafe = FAILSAFE_IDLE;
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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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} else {
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beeperOnBox = 0;
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}
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//===================== Beeps for failsafe =====================
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if (feature(FEATURE_FAILSAFE)) {
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if (failsafe->vTable->shouldForceLanding(ARMING_FLAG(ARMED))) {
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warn_failsafe = FAILSAFE_LANDING;
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if (failsafe->vTable->shouldHaveCausedLandingByNow()) {
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warn_failsafe = FAILSAFE_FIND_ME;
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}
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}
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if (failsafe->vTable->hasTimerElapsed() && !ARMING_FLAG(ARMED)) {
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warn_failsafe = FAILSAFE_FIND_ME;
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}
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if (failsafe->vTable->isIdle()) {
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warn_failsafe = FAILSAFE_IDLE; // turn off alarm if TX is okay
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}
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}
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#ifdef GPS
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//===================== GPS fix notification handling =====================
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if (sensors(SENSOR_GPS)) {
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if ((rcOptions[BOXGPSHOME] || rcOptions[BOXGPSHOLD]) && !STATE(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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#endif
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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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#ifdef GPS
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else if (warn_noGPSfix == 1)
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beep_code('S','S','N','M');
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#endif
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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)
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beep_code('S','M','M','D');
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else if (FLIGHT_MODE(AUTOTUNE_MODE))
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beep_code('S','M','S','M');
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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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beeperIsOn = 0;
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BEEP_OFF;
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}
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}
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// duration is specified in multiples of SHORT_CONFIRMATION_BEEP_DURATION_MILLIS
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void queueConfirmationBeep(uint8_t duration) {
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toggleBeep = duration;
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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 'N':
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Duration = 0;
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break;
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case 'S':
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Duration = LONG_PAUSE_DURATION_MILLIS / 4;
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break;
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case 'M':
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Duration = LONG_PAUSE_DURATION_MILLIS / 2;
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break;
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case 'D':
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Duration = LONG_PAUSE_DURATION_MILLIS * 2;
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break;
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case 'L':
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default:
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Duration = LONG_PAUSE_DURATION_MILLIS;
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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 && (beeperLastToggleTime < 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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beeperIsOn = 0;
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BEEP_OFF;
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}
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}
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static void beep(uint16_t pulseMillis)
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{
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if (beeperIsOn) {
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if (millis() >= beeperLastToggleTime + pulseMillis) {
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beeperIsOn = 0;
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BEEP_OFF;
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beeperLastToggleTime = 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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return;
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}
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if (millis() >= (beeperLastToggleTime + LONG_PAUSE_DURATION_MILLIS)) { // Beeper is off and long pause time is up -> turn it on
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beeperIsOn = 1;
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BEEP_ON;
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beeperLastToggleTime = millis(); // save the time the buzer turned on
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}
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}
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