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decouple failsafe from the rest of the system.

Browse source 
Note: the pwm_common driver has a dependency on the main failsafe code,
the solution is probably to move some of the code into rx_pwm.
This commit is contained in:
Dominic Clifton 2014-04-21 00:46:16 +01:00
parent aef28c1c08
commit e969d184e6
29 changed files with 224 additions and 119 deletions
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15
src/buzzer.c
View file

@ -26,6 +26,13 @@ typedef enum {
FAILSAFE_FIND_ME
} failsafeBuzzerWarnings_e;
failsafe_t* failsafe;
void buzzerInit(failsafe_t *initialFailsafe)
{
failsafe = initialFailsafe;
}
void buzzer(bool warn_vbat)
{
static uint8_t beeperOnBox;
@ -41,19 +48,19 @@ void buzzer(bool warn_vbat)
}
//===================== Beeps for failsafe =====================
if (feature(FEATURE_FAILSAFE)) {
if (shouldFailsafeForceLanding(f.ARMED)) {
if (failsafe->vTable->shouldForceLanding(f.ARMED)) {
warn_failsafe = FAILSAFE_LANDING;
if (shouldFailsafeHaveCausedLandingByNow()) {
if (failsafe->vTable->shouldHaveCausedLandingByNow()) {
warn_failsafe = FAILSAFE_FIND_ME;
}
}
if (hasFailsafeTimerElapsed() && !f.ARMED) {
if (failsafe->vTable->hasTimerElapsed() && !f.ARMED) {
warn_failsafe = FAILSAFE_FIND_ME;
}
if (isFailsafeIdle()) {
if (failsafe->vTable->isIdle()) {
warn_failsafe = FAILSAFE_IDLE; // turn off alarm if TX is okay
}
}