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Merge pull request #5891 from mikeller/add_disable_rx_loss_dshot_beacon_option

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Implemented 'beacon' command in CLI.
This commit is contained in:
Michael Keller 2018-06-01 21:51:57 +12:00 • committed by GitHub
commit f37a8184d5
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GPG key ID: 4AEE18F83AFDEB23
12 changed files with 129 additions and 137 deletions
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85
src/main/fc/config.c
View file

@ -350,6 +350,21 @@ static void validateAndFixConfig(void)
if (beeperDevConfig()->frequency && !timerGetByTag(beeperDevConfig()->ioTag)) {
beeperDevConfigMutable()->frequency = 0;
}
if (beeperConfig()->beeper_off_flags & ~BEEPER_ALLOWED_MODES) {
beeperConfigMutable()->beeper_off_flags = 0;
}
#ifdef USE_DSHOT
if (beeperConfig()->dshotBeaconOffFlags & ~DSHOT_BEACON_ALLOWED_MODES) {
beeperConfigMutable()->dshotBeaconOffFlags = 0;
}
if (beeperConfig()->dshotBeaconTone < DSHOT_CMD_BEACON1
|| beeperConfig()->dshotBeaconTone > DSHOT_CMD_BEACON5) {
beeperConfigMutable()->dshotBeaconTone = DSHOT_CMD_BEACON1;
}
#endif
#endif
#if defined(TARGET_VALIDATECONFIG)
@ -522,73 +537,3 @@ void changePidProfile(uint8_t pidProfileIndex)
beeperConfirmationBeeps(pidProfileIndex + 1);
}
#endif
void beeperOffSet(uint32_t mask)
{
#ifdef USE_BEEPER
beeperConfigMutable()->beeper_off_flags |= mask;
#else
UNUSED(mask);
#endif
}
void beeperOffSetAll(uint8_t beeperCount)
{
#ifdef USE_BEEPER
beeperConfigMutable()->beeper_off_flags = (1 << beeperCount) -1;
#else
UNUSED(beeperCount);
#endif
}
void beeperOffClear(uint32_t mask)
{
#ifdef USE_BEEPER
beeperConfigMutable()->beeper_off_flags &= ~(mask);
#else
UNUSED(mask);
#endif
}
void beeperOffClearAll(void)
{
#ifdef USE_BEEPER
beeperConfigMutable()->beeper_off_flags = 0;
#endif
}
uint32_t getBeeperOffMask(void)
{
#ifdef USE_BEEPER
return beeperConfig()->beeper_off_flags;
#else
return 0;
#endif
}
void setBeeperOffMask(uint32_t mask)
{
#ifdef USE_BEEPER
beeperConfigMutable()->beeper_off_flags = mask;
#else
UNUSED(mask);
#endif
}
uint32_t getPreferredBeeperOffMask(void)
{
#ifdef USE_BEEPER
return beeperConfig()->preferred_beeper_off_flags;
#else
return 0;
#endif
}
void setPreferredBeeperOffMask(uint32_t mask)
{
#ifdef USE_BEEPER
beeperConfigMutable()->preferred_beeper_off_flags = mask;
#else
UNUSED(mask);
#endif
}

9
src/main/fc/config.h
View file

@ -49,15 +49,6 @@ PG_DECLARE(systemConfig_t, systemConfig);
struct pidProfile_s;
extern struct pidProfile_s *currentPidProfile;
void beeperOffSet(uint32_t mask);
void beeperOffSetAll(uint8_t beeperCount);
void beeperOffClear(uint32_t mask);
void beeperOffClearAll(void);
uint32_t getBeeperOffMask(void);
void setBeeperOffMask(uint32_t mask);
uint32_t getPreferredBeeperOffMask(void);
void setPreferredBeeperOffMask(uint32_t mask);
void initEEPROM(void);
void resetEEPROM(void);
bool readEEPROM(void);

9
src/main/fc/fc_init.c
View file

@ -91,6 +91,7 @@
#include "msp/msp_serial.h"
#include "pg/adc.h"
#include "pg/beeper.h"
#include "pg/beeper_dev.h"
#include "pg/bus_i2c.h"
#include "pg/bus_spi.h"
@ -525,10 +526,16 @@ void init(void)
for (int i = 0; i < 10; i++) {
LED1_TOGGLE;
LED0_TOGGLE;
#if defined(USE_BEEPER)
delay(25);
if (!(getBeeperOffMask() & (1 << (BEEPER_SYSTEM_INIT - 1)))) BEEP_ON;
if (!(beeperConfig()->beeper_off_flags & BEEPER_GET_FLAG(BEEPER_SYSTEM_INIT))) {
BEEP_ON;
}
delay(25);
BEEP_OFF;
#else
delay(50);
#endif
}
LED0_OFF;
LED1_OFF;

88
src/main/interface/cli.c
View file

@ -2432,46 +2432,45 @@ static void cliFeature(char *cmdline)
}
}
#ifdef USE_BEEPER
static void printBeeper(uint8_t dumpMask, const beeperConfig_t *beeperConfig, const beeperConfig_t *beeperConfigDefault)
#if defined(USE_BEEPER)
static void printBeeper(uint8_t dumpMask, const uint32_t offFlags, const uint32_t offFlagsDefault, const char *name)
{
const uint8_t beeperCount = beeperTableEntryCount();
const uint32_t mask = beeperConfig->beeper_off_flags;
const uint32_t defaultMask = beeperConfigDefault->beeper_off_flags;
for (int32_t i = 0; i < beeperCount - 2; i++) {
const char *formatOff = "beeper -%s";
const char *formatOn = "beeper %s";
const char *formatOff = "%s -%s";
const char *formatOn = "%s %s";
const uint32_t beeperModeMask = beeperModeMaskForTableIndex(i);
cliDefaultPrintLinef(dumpMask, ~(mask ^ defaultMask) & beeperModeMask, mask & beeperModeMask ? formatOn : formatOff, beeperNameForTableIndex(i));
cliDumpPrintLinef(dumpMask, ~(mask ^ defaultMask) & beeperModeMask, mask & beeperModeMask ? formatOff : formatOn, beeperNameForTableIndex(i));
cliDefaultPrintLinef(dumpMask, ~(offFlags ^ offFlagsDefault) & beeperModeMask, offFlags & beeperModeMask ? formatOn : formatOff, name, beeperNameForTableIndex(i));
cliDumpPrintLinef(dumpMask, ~(offFlags ^ offFlagsDefault) & beeperModeMask, offFlags & beeperModeMask ? formatOff : formatOn, name, beeperNameForTableIndex(i));
}
}
static void cliBeeper(char *cmdline)
static void processBeeperCommand(char *cmdline, uint32_t *offFlags, const uint32_t allowedFlags)
{
uint32_t len = strlen(cmdline);
uint8_t beeperCount = beeperTableEntryCount();
uint32_t mask = getBeeperOffMask();
if (len == 0) {
cliPrintf("Disabled:");
for (int32_t i = 0; ; i++) {
if (i == beeperCount - 2) {
if (mask == 0)
if (i == beeperCount - 1) {
if (*offFlags == 0)
cliPrint(" none");
break;
}
if (mask & beeperModeMaskForTableIndex(i))
if (beeperModeMaskForTableIndex(i) & *offFlags)
cliPrintf(" %s", beeperNameForTableIndex(i));
}
cliPrintLinefeed();
} else if (strncasecmp(cmdline, "list", len) == 0) {
cliPrint("Available:");
for (uint32_t i = 0; i < beeperCount; i++)
cliPrintf(" %s", beeperNameForTableIndex(i));
for (uint32_t i = 0; i < beeperCount; i++) {
if (beeperModeMaskForTableIndex(i) & allowedFlags) {
cliPrintf(" %s", beeperNameForTableIndex(i));
}
}
cliPrintLinefeed();
return;
} else {
bool remove = false;
if (cmdline[0] == '-') {
@ -2485,27 +2484,21 @@ static void cliBeeper(char *cmdline)
cliPrintErrorLinef("Invalid name");
break;
}
if (strncasecmp(cmdline, beeperNameForTableIndex(i), len) == 0) {
if (strncasecmp(cmdline, beeperNameForTableIndex(i), len) == 0 && beeperModeMaskForTableIndex(i) & (allowedFlags | BEEPER_GET_FLAG(BEEPER_ALL))) {
if (remove) { // beeper off
if (i == BEEPER_ALL-1)
beeperOffSetAll(beeperCount-2);
else
if (i == BEEPER_PREFERENCE-1)
setBeeperOffMask(getPreferredBeeperOffMask());
else {
beeperOffSet(beeperModeMaskForTableIndex(i));
}
if (i == BEEPER_ALL - 1) {
*offFlags = allowedFlags;
} else {
*offFlags |= beeperModeMaskForTableIndex(i);
}
cliPrint("Disabled");
}
else { // beeper on
if (i == BEEPER_ALL-1)
beeperOffClearAll();
else
if (i == BEEPER_PREFERENCE-1)
setPreferredBeeperOffMask(getBeeperOffMask());
else {
beeperOffClear(beeperModeMaskForTableIndex(i));
}
if (i == BEEPER_ALL - 1) {
*offFlags = 0;
} else {
*offFlags &= ~beeperModeMaskForTableIndex(i);
}
cliPrint("Enabled");
}
cliPrintLinef(" %s", beeperNameForTableIndex(i));
@ -2514,6 +2507,18 @@ static void cliBeeper(char *cmdline)
}
}
}
#if defined(USE_DSHOT)
static void cliBeacon(char *cmdline)
{
processBeeperCommand(cmdline, &(beeperConfigMutable()->dshotBeaconOffFlags), DSHOT_BEACON_ALLOWED_MODES);
}
#endif
static void cliBeeper(char *cmdline)
{
processBeeperCommand(cmdline, &(beeperConfigMutable()->beeper_off_flags), BEEPER_ALLOWED_MODES);
}
#endif
#ifdef USE_RX_FRSKY_SPI
@ -4149,10 +4154,15 @@ static void printConfig(char *cmdline, bool doDiff)
cliPrintHashLine("feature");
printFeature(dumpMask, &featureConfig_Copy, featureConfig());
#ifdef USE_BEEPER
#if defined(USE_BEEPER)
cliPrintHashLine("beeper");
printBeeper(dumpMask, &beeperConfig_Copy, beeperConfig());
printBeeper(dumpMask, beeperConfig_Copy.beeper_off_flags, beeperConfig()->beeper_off_flags, "beeper");
#if defined(USE_DSHOT)
cliPrintHashLine("beacon");
printBeeper(dumpMask, beeperConfig_Copy.dshotBeaconOffFlags, beeperConfig()->dshotBeaconOffFlags, "beacon");
#endif
#endif // USE_BEEPER
cliPrintHashLine("map");
printMap(dumpMask, &rxConfig_Copy, rxConfig());
@ -4307,10 +4317,14 @@ static void cliHelp(char *cmdline);
const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("adjrange", "configure adjustment ranges", NULL, cliAdjustmentRange),
CLI_COMMAND_DEF("aux", "configure modes", "<index> <mode> <aux> <start> <end> <logic>", cliAux),
#ifdef USE_BEEPER
#if defined(USE_BEEPER)
#if defined(USE_DSHOT)
CLI_COMMAND_DEF("beacon", "turn on/off beeper", "list\r\n"
"\t<+|->[name]", cliBeacon),
#endif
CLI_COMMAND_DEF("beeper", "turn on/off beeper", "list\r\n"
"\t<+|->[name]", cliBeeper),
#endif
#endif // USE_BEEPER
CLI_COMMAND_DEF("bl", "reboot into bootloader", NULL, cliBootloader),
#if defined(USE_BOARD_INFO)
CLI_COMMAND_DEF("board_name", "get / set the name of the board model", "[board name]", cliBoardName),

5
src/main/interface/msp.c
View file

@ -524,7 +524,7 @@ static bool mspCommonProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProce
#ifdef USE_BEEPER
case MSP_BEEPER_CONFIG:
sbufWriteU32(dst, getBeeperOffMask());
sbufWriteU32(dst, beeperConfig()->beeper_off_flags);
sbufWriteU8(dst, beeperConfig()->dshotBeaconTone);
break;
#endif
@ -1880,8 +1880,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#ifdef USE_BEEPER
case MSP_SET_BEEPER_CONFIG:
beeperOffClearAll();
setBeeperOffMask(sbufReadU32(src));
beeperConfigMutable()->beeper_off_flags = sbufReadU32(src);
if (sbufBytesRemaining(src) >= 1) {
beeperConfigMutable()->dshotBeaconTone = sbufReadU8(src);
}

4
src/main/interface/settings.c
View file

@ -632,9 +632,9 @@ const clivalue_t valueTable[] = {
// PG_BEEPER_CONFIG
#ifdef USE_DSHOT
{ "beeper_dshot_beacon_tone", VAR_UINT8 | MASTER_VALUE, .config.minmax = {0, DSHOT_CMD_BEACON5 }, PG_BEEPER_CONFIG, offsetof(beeperConfig_t, dshotBeaconTone) },
#endif
{ "beeper_dshot_beacon_tone", VAR_UINT8 | MASTER_VALUE, .config.minmax = {1, DSHOT_CMD_BEACON5 }, PG_BEEPER_CONFIG, offsetof(beeperConfig_t, dshotBeaconTone) },
#endif
#endif // USE_BEEPER
// PG_MIXER_CONFIG
{ "yaw_motors_reversed", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, yaw_motors_reversed) },

15
src/main/io/beeper.c
View file

@ -194,7 +194,7 @@ typedef struct beeperTableEntry_s {
#define BEEPER_ENTRY(a,b,c,d) a,b,c
#endif
/*static*/ const beeperTableEntry_t beeperTable[] = {
static const beeperTableEntry_t beeperTable[] = {
{ BEEPER_ENTRY(BEEPER_GYRO_CALIBRATED, 0, beep_gyroCalibrated, "GYRO_CALIBRATED") },
{ BEEPER_ENTRY(BEEPER_RX_LOST, 1, beep_txLostBeep, "RX_LOST") },
{ BEEPER_ENTRY(BEEPER_RX_LOST_LANDING, 2, beep_sos, "RX_LOST_LANDING") },
@ -218,7 +218,6 @@ typedef struct beeperTableEntry_s {
{ BEEPER_ENTRY(BEEPER_CAM_CONNECTION_OPEN, 20, beep_camOpenBeep, "CAM_CONNECTION_OPEN") },
{ BEEPER_ENTRY(BEEPER_CAM_CONNECTION_CLOSE, 21, beep_camCloseBeep, "CAM_CONNECTION_CLOSED") },
{ BEEPER_ENTRY(BEEPER_ALL, 22, NULL, "ALL") },
{ BEEPER_ENTRY(BEEPER_PREFERENCE, 23, NULL, "PREFERRED") },
};
static const beeperTableEntry_t *currentBeeperEntry = NULL;
@ -233,7 +232,7 @@ void beeper(beeperMode_e mode)
{
if (
mode == BEEPER_SILENCE || (
(getBeeperOffMask() & (1 << (BEEPER_USB - 1)))
(beeperConfigMutable()->beeper_off_flags & BEEPER_GET_FLAG(BEEPER_USB - 1))
&& getBatteryState() == BATTERY_NOT_PRESENT
)
) {
@ -346,7 +345,7 @@ void beeperWarningBeeps(uint8_t beepCount)
#ifdef USE_GPS
static void beeperGpsStatus(void)
{
if (!(getBeeperOffMask() & (1 << (BEEPER_GPS_STATUS - 1)))) {
if (!(beeperConfigMutable()->beeper_off_flags & BEEPER_GET_FLAG(BEEPER_GPS_STATUS))) {
// if GPS fix then beep out number of satellites
if (STATE(GPS_FIX) && gpsSol.numSat >= 5) {
uint8_t i = 0;
@ -392,7 +391,9 @@ void beeperUpdate(timeUs_t currentTimeUs)
beeperIsOn = 1;
#ifdef USE_DSHOT
if (!areMotorsRunning() && beeperConfig()->dshotBeaconTone && (beeperConfig()->dshotBeaconTone <= DSHOT_CMD_BEACON5) && (currentBeeperEntry->mode == BEEPER_RX_SET || currentBeeperEntry->mode == BEEPER_RX_LOST)) {
if (!areMotorsRunning()
&& ((currentBeeperEntry->mode == BEEPER_RX_SET && beeperConfig()->dshotBeaconOffFlags & BEEPER_GET_FLAG(BEEPER_RX_SET))
|| (currentBeeperEntry->mode == BEEPER_RX_LOST && beeperConfig()->dshotBeaconOffFlags & BEEPER_GET_FLAG(BEEPER_RX_LOST)))) {
pwmDisableMotors();
delay(1);
@ -403,7 +404,7 @@ void beeperUpdate(timeUs_t currentTimeUs)
#endif
if (currentBeeperEntry->sequence[beeperPos] != 0) {
if (!(getBeeperOffMask() & (1 << (currentBeeperEntry->mode - 1))))
if (!(beeperConfigMutable()->beeper_off_flags & BEEPER_GET_FLAG(currentBeeperEntry->mode)))
BEEP_ON;
warningLedEnable();
warningLedRefresh();
@ -470,7 +471,7 @@ uint32_t beeperModeMaskForTableIndex(int idx)
beeperMode_e beeperMode = beeperModeForTableIndex(idx);
if (beeperMode == BEEPER_SILENCE)
return 0;
return 1 << (beeperMode - 1);
return BEEPER_GET_FLAG(beeperMode);
}
/*

35
src/main/io/beeper.h
View file

@ -21,7 +21,8 @@
#pragma once
#include "common/time.h"
#include "pg/pg.h"
#define BEEPER_GET_FLAG(mode) (1 << (mode - 1))
typedef enum {
// IMPORTANT: these are in priority order, 0 = Highest
@ -50,10 +51,38 @@ typedef enum {
BEEPER_CAM_CONNECTION_OPEN, // When the 5 key simulation stated
BEEPER_CAM_CONNECTION_CLOSE, // When the 5 key simulation stop
BEEPER_ALL, // Turn ON or OFF all beeper conditions
BEEPER_PREFERENCE, // Save preferred beeper configuration
// BEEPER_ALL and BEEPER_PREFERENCE must remain at the bottom of this enum
// BEEPER_ALL must remain at the bottom of this enum
} beeperMode_e;
#define BEEPER_ALLOWED_MODES ( \
BEEPER_GET_FLAG(BEEPER_GYRO_CALIBRATED) \
| BEEPER_GET_FLAG(BEEPER_RX_LOST) \
| BEEPER_GET_FLAG(BEEPER_RX_LOST_LANDING) \
| BEEPER_GET_FLAG(BEEPER_DISARMING) \
| BEEPER_GET_FLAG(BEEPER_ARMING) \
| BEEPER_GET_FLAG(BEEPER_ARMING_GPS_FIX) \
| BEEPER_GET_FLAG(BEEPER_BAT_CRIT_LOW) \
| BEEPER_GET_FLAG(BEEPER_BAT_LOW) \
| BEEPER_GET_FLAG(BEEPER_GPS_STATUS) \
| BEEPER_GET_FLAG(BEEPER_RX_SET) \
| BEEPER_GET_FLAG(BEEPER_ACC_CALIBRATION) \
| BEEPER_GET_FLAG(BEEPER_ACC_CALIBRATION_FAIL) \
| BEEPER_GET_FLAG(BEEPER_READY_BEEP) \
| BEEPER_GET_FLAG(BEEPER_MULTI_BEEPS) \
| BEEPER_GET_FLAG(BEEPER_DISARM_REPEAT) \
| BEEPER_GET_FLAG(BEEPER_ARMED) \
| BEEPER_GET_FLAG(BEEPER_SYSTEM_INIT) \
| BEEPER_GET_FLAG(BEEPER_USB) \
| BEEPER_GET_FLAG(BEEPER_BLACKBOX_ERASE) \
| BEEPER_GET_FLAG(BEEPER_CRASH_FLIP_MODE) \
| BEEPER_GET_FLAG(BEEPER_CAM_CONNECTION_OPEN) \
| BEEPER_GET_FLAG(BEEPER_CAM_CONNECTION_CLOSE) )
#define DSHOT_BEACON_ALLOWED_MODES ( \
BEEPER_GET_FLAG(BEEPER_RX_LOST) \
| BEEPER_GET_FLAG(BEEPER_RX_SET) )
void beeper(beeperMode_e mode);
void beeperSilence(void);
void beeperUpdate(timeUs_t currentTimeUs);

6
src/main/osd_slave/osd_slave_init.c
View file

@ -247,10 +247,14 @@ void init(void)
for (int i = 0; i < 10; i++) {
LED1_TOGGLE;
LED0_TOGGLE;
#if defined(USE_BEEPER)
delay(25);
if (!(getBeeperOffMask() & (1 << (BEEPER_SYSTEM_INIT - 1)))) BEEP_ON;
if (!(beeperConfig()->beeper_off_flags & BEEPER_GET_FLAG(BEEPER_SYSTEM_INIT))) BEEP_ON;
delay(25);
BEEP_OFF;
#else
delay(50);
#endif
}
LED0_OFF;
LED1_OFF;

5
src/main/pg/beeper.c
View file

@ -27,8 +27,9 @@
#include "beeper.h"
PG_REGISTER_WITH_RESET_TEMPLATE(beeperConfig_t, beeperConfig, PG_BEEPER_CONFIG, 1);
PG_REGISTER_WITH_RESET_TEMPLATE(beeperConfig_t, beeperConfig, PG_BEEPER_CONFIG, 2);
PG_RESET_TEMPLATE(beeperConfig_t, beeperConfig,
.dshotBeaconTone = 0
.dshotBeaconTone = 1,
);
#endif

2
src/main/pg/beeper.h
View file

@ -25,8 +25,8 @@
typedef struct beeperConfig_s {
uint32_t beeper_off_flags;
uint32_t preferred_beeper_off_flags;
uint8_t dshotBeaconTone;
uint32_t dshotBeaconOffFlags;
} beeperConfig_t;
PG_DECLARE(beeperConfig_t, beeperConfig);

3
src/main/target/ALIENWHOOP/config.c
View file

@ -83,7 +83,8 @@ void targetConfiguration(void)
rxConfigMutable()->serialrx_inverted = true;
#endif
beeperOffSet((BEEPER_BAT_CRIT_LOW | BEEPER_BAT_LOW | BEEPER_RX_SET) ^ BEEPER_GYRO_CALIBRATED);
// Don't know what this is meant to do, but it's broken because enum values can't be directly set
// beeperOffSet((BEEPER_BAT_CRIT_LOW | BEEPER_BAT_LOW | BEEPER_RX_SET) ^ BEEPER_GYRO_CALIBRATED);
/* Breadboard-specific settings for development purposes only
*/