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Cleanup status indicator code. 

This primarily is to avaoid stalling the main loop when beeping and
flashing.

This is needed because oneshot ESCs do not receive updates when the main
loop is stalled.

Additionally the beeper code for sticks held in disarm position is
changed since it also clashed with profile selection.  Now profile
selections can be seen and heard clearly.

Other subsections of the system that changed the LED0 state while the
main loop is running have been updated to use the status indicator API
instead of blindly hitting the hardware which previously caused lots of
odd LED flashing behaviour - now it is consistent.
This commit is contained in:
Dominic Clifton 2015-05-29 23:37:33 +01:00
parent 22a98af25a
commit e6733b4dfc
8 changed files with 114 additions and 73 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/main/config/config.c
View File

@ -44,7 +44,7 @@
#include "sensors/boardalignment.h"
#include "sensors/battery.h"
#include "io/statusindicator.h"
#include "io/beeper.h"
#include "io/serial.h"
#include "io/gimbal.h"
#include "io/escservo.h"
@ -852,7 +852,7 @@ void readEEPROMAndNotify(void)
{
// re-read written data
readEEPROM();
blinkLedAndSoundBeeper(15, 20, 1);
beeperConfirmationBeeps(1);
}
void writeEEPROM(void)
@ -933,7 +933,7 @@ void changeProfile(uint8_t profileIndex)
masterConfig.current_profile_index = profileIndex;
writeEEPROM();
readEEPROM();
blinkLedAndSoundBeeper(2, 40, profileIndex + 1);
beeperConfirmationBeeps(profileIndex + 1);
}
void changeControlRateProfile(uint8_t profileIndex)

44
src/main/io/beeper.c
View File

@ -30,6 +30,7 @@
#include "rx/rx.h"
#include "io/rc_controls.h"
#include "io/statusindicator.h"
#ifdef GPS
#include "io/gps.h"
@ -38,6 +39,7 @@
#include "config/runtime_config.h"
#include "config/config.h"
#include "io/beeper.h"
#if FLASH_SIZE > 64
@ -75,7 +77,7 @@ static const uint8_t beep_disarmBeep[] = {
};
// beeps while stick held in disarm position (after pause)
static const uint8_t beep_disarmRepeatBeep[] = {
0, 35, 40, 5, BEEPER_COMMAND_STOP
0, 100, 10, BEEPER_COMMAND_STOP
};
// Long beep and pause after that
static const uint8_t beep_lowBatteryBeep[] = {
@ -110,6 +112,11 @@ static const uint8_t beep_2shortBeeps[] = {
static const uint8_t beep_2longerBeeps[] = {
20, 15, 35, 5, BEEPER_COMMAND_STOP
};
// 3 beeps
static const uint8_t beep_gyroCalibrated[] = {
20, 10, 20, 10, 20, 10, BEEPER_COMMAND_STOP
};
// array used for variable # of beeps (reporting GPS sat count, etc)
static uint8_t beep_multiBeeps[MAX_MULTI_BEEPS + 2];
@ -145,21 +152,22 @@ typedef struct beeperTableEntry_s {
#endif
static const beeperTableEntry_t const beeperTable[] = {
{ BEEPER_ENTRY(BEEPER_RX_LOST_LANDING, 0, beep_sos, "RX_LOST_LANDING") },
{ BEEPER_ENTRY(BEEPER_RX_LOST, 1, beep_txLostBeep, "RX_LOST") },
{ BEEPER_ENTRY(BEEPER_DISARMING, 2, beep_disarmBeep, "DISARMING") },
{ BEEPER_ENTRY(BEEPER_ARMING, 3, beep_armingBeep, "ARMING") },
{ BEEPER_ENTRY(BEEPER_ARMING_GPS_FIX, 4, beep_armedGpsFix, "ARMING_GPS_FIX") },
{ BEEPER_ENTRY(BEEPER_BAT_CRIT_LOW, 5, beep_critBatteryBeep, "BAT_CRIT_LOW") },
{ BEEPER_ENTRY(BEEPER_BAT_LOW, 6, beep_lowBatteryBeep, "BAT_LOW") },
{ BEEPER_ENTRY(BEEPER_GPS_STATUS, 7, beep_multiBeeps, NULL) },
{ BEEPER_ENTRY(BEEPER_RX_SET, 8, beep_shortBeep, "RX_SET") },
{ BEEPER_ENTRY(BEEPER_DISARM_REPEAT, 9, beep_disarmRepeatBeep, "DISARM_REPEAT") },
{ BEEPER_ENTRY(BEEPER_GYRO_CALIBRATED, 0, beep_gyroCalibrated, "GYRO_CALIBRATED") },
{ BEEPER_ENTRY(BEEPER_RX_LOST_LANDING, 1, beep_sos, "RX_LOST_LANDING") },
{ BEEPER_ENTRY(BEEPER_RX_LOST, 2, beep_txLostBeep, "RX_LOST") },
{ BEEPER_ENTRY(BEEPER_DISARMING, 3, beep_disarmBeep, "DISARMING") },
{ BEEPER_ENTRY(BEEPER_ARMING, 4, beep_armingBeep, "ARMING") },
{ BEEPER_ENTRY(BEEPER_ARMING_GPS_FIX, 5, beep_armedGpsFix, "ARMING_GPS_FIX") },
{ BEEPER_ENTRY(BEEPER_BAT_CRIT_LOW, 6, beep_critBatteryBeep, "BAT_CRIT_LOW") },
{ BEEPER_ENTRY(BEEPER_BAT_LOW, 7, beep_lowBatteryBeep, "BAT_LOW") },
{ BEEPER_ENTRY(BEEPER_GPS_STATUS, 8, beep_multiBeeps, NULL) },
{ BEEPER_ENTRY(BEEPER_RX_SET, 9, beep_shortBeep, "RX_SET") },
{ BEEPER_ENTRY(BEEPER_ACC_CALIBRATION, 10, beep_2shortBeeps, "ACC_CALIBRATION") },
{ BEEPER_ENTRY(BEEPER_ACC_CALIBRATION_FAIL, 11, beep_2longerBeeps, "ACC_CALIBRATION_FAIL") },
{ BEEPER_ENTRY(BEEPER_READY_BEEP, 12, beep_readyBeep, "READY_BEEP") },
{ BEEPER_ENTRY(BEEPER_MULTI_BEEPS, 13, beep_multiBeeps, NULL) }, // FIXME having this listed makes no sense since the beep array will not be initialised.
{ BEEPER_ENTRY(BEEPER_ARMED, 14, beep_armedBeep, "ARMED") },
{ BEEPER_ENTRY(BEEPER_DISARM_REPEAT, 14, beep_disarmRepeatBeep, "DISARM_REPEAT") },
{ BEEPER_ENTRY(BEEPER_ARMED, 15, beep_armedBeep, "ARMED") },
};
static const beeperTableEntry_t *currentBeeperEntry = NULL;
@ -209,6 +217,10 @@ void beeper(beeperMode_e mode)
void beeperSilence(void)
{
BEEP_OFF;
warningLedDisable();
warningLedRefresh();
beeperIsOn = 0;
beeperNextToggleTime = 0;
@ -291,7 +303,9 @@ void beeperUpdate(void)
beeperIsOn = 1;
if (currentBeeperEntry->sequence[beeperPos] != 0) {
BEEP_ON;
//if this was arming beep then mark time (for blackbox)
warningLedEnable();
warningLedRefresh();
// if this was arming beep then mark time (for blackbox)
if (
beeperPos == 0
&& (currentBeeperEntry->mode == BEEPER_ARMING || currentBeeperEntry->mode == BEEPER_ARMING_GPS_FIX)
@ -303,6 +317,8 @@ void beeperUpdate(void)
beeperIsOn = 0;
if (currentBeeperEntry->sequence[beeperPos] != 0) {
BEEP_OFF;
warningLedDisable();
warningLedRefresh();
}
}
@ -348,7 +364,7 @@ beeperMode_e beeperModeForTableIndex(int idx)
*/
const char *beeperNameForTableIndex(int idx)
{
#ifndef BEEPER_NAME
#ifndef BEEPER_NAMES
UNUSED(idx);
return NULL;
#else

1
src/main/io/beeper.h
View File

@ -21,6 +21,7 @@ typedef enum {
// IMPORTANT: these are in priority order, 0 = Highest
BEEPER_SILENCE = 0, // Silence, see beeperSilence()
BEEPER_GYRO_CALIBRATED,
BEEPER_RX_LOST_LANDING, // Beeps SOS when armed and TX is turned off or signal lost (autolanding/autodisarm)
BEEPER_RX_LOST, // Beeps when TX is turned off or signal lost (repeat until TX is okay)
BEEPER_DISARMING, // Beep when disarming the board

20
src/main/io/rc_controls.c
View File

@ -140,23 +140,23 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
return;
}
if (isUsingSticksToArm) {
// Disarm on throttle down + yaw
if (isUsingSticksToArm) {
// Disarm on throttle down + yaw
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE) {
if (ARMING_FLAG(ARMED)) //board was armed
if (ARMING_FLAG(ARMED))
mwDisarm();
else { //board was not armed
beeper(BEEPER_DISARM_REPEAT); //sound tone while stick held
rcDelayCommand = 0; //reset so disarm tone will repeat
else {
beeper(BEEPER_DISARM_REPEAT); // sound tone while stick held
rcDelayCommand = 0; // reset so disarm tone will repeat
}
}
// Disarm on roll (only when retarded_arm is enabled)
if (retarded_arm && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO)) {
if (ARMING_FLAG(ARMED)) //board was armed
if (ARMING_FLAG(ARMED))
mwDisarm();
else { //board was not armed
beeper(BEEPER_DISARM_REPEAT); //sound tone while stick held
rcDelayCommand = 0; //reset so disarm tone will repeat
else {
beeper(BEEPER_DISARM_REPEAT); // sound tone while stick held
rcDelayCommand = 0; // reset so disarm tone will repeat
}
}
}

79
src/main/io/statusindicator.c
View File

@ -27,44 +27,63 @@
#include "statusindicator.h"
void blinkLedAndSoundBeeper(uint8_t num, uint8_t wait, uint8_t repeat)
{
uint8_t i, r;
for (r = 0; r < repeat; r++) {
for (i = 0; i < num; i++) {
LED0_TOGGLE; // switch LEDPIN state
BEEP_ON;
delay(wait);
BEEP_OFF;
}
delay(60);
}
}
static uint32_t warningLedTimer = 0;
void enableWarningLed(uint32_t currentTime)
typedef enum {
WARNING_LED_OFF = 0,
WARNING_LED_ON,
WARNING_LED_FLASH
} warningLedState_e;
static warningLedState_e warningLedState = WARNING_LED_OFF;
void warningLedResetTimer(void) {
uint32_t now = millis();
warningLedTimer = now + 500000;
}
void warningLedEnable(void)
{
if (warningLedTimer != 0) {
return; // already enabled
warningLedState = WARNING_LED_ON;
}
void warningLedDisable(void)
{
warningLedState = WARNING_LED_OFF;
}
void warningLedFlash(void)
{
warningLedState = WARNING_LED_FLASH;
}
void warningLedRefresh(void)
{
switch (warningLedState) {
case WARNING_LED_OFF:
LED0_OFF;
break;
case WARNING_LED_ON:
LED0_ON;
break;
case WARNING_LED_FLASH:
LED0_TOGGLE;
break;
}
warningLedTimer = currentTime + 500000;
LED0_ON;
uint32_t now = micros();
warningLedTimer = now + 500000;
}
void disableWarningLed(void)
void warningLedUpdate(void)
{
warningLedTimer = 0;
LED0_OFF;
}
uint32_t now = micros();
void updateWarningLed(uint32_t currentTime)
{
if (warningLedTimer && (int32_t)(currentTime - warningLedTimer) >= 0) {
LED0_TOGGLE;
warningLedTimer = warningLedTimer + 500000;
if ((int32_t)(now - warningLedTimer) < 0) {
return;
}
warningLedRefresh();
}

10
src/main/io/statusindicator.h
View File

@ -17,8 +17,8 @@
#pragma once
void blinkLedAndSoundBeeper(uint8_t num, uint8_t wait, uint8_t repeat);
void enableWarningLed(uint32_t currentTime);
void disableWarningLed(void);
void updateWarningLed(uint32_t currentTime);
void warningLedEnable(void);
void warningLedDisable(void);
void warningLedRefresh(void);
void warningLedUpdate(void);
void warningLedFlash(void);

20
src/main/mw.c
View File

@ -276,11 +276,6 @@ void annexCode(void)
ENABLE_ARMING_FLAG(OK_TO_ARM);
}
if (isCalibrating()) {
LED0_TOGGLE;
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
if (!STATE(SMALL_ANGLE)) {
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
@ -289,13 +284,18 @@ void annexCode(void)
DISABLE_ARMING_FLAG(OK_TO_ARM);
}
if (ARMING_FLAG(OK_TO_ARM)) {
disableWarningLed();
if (isCalibrating()) {
warningLedFlash();
DISABLE_ARMING_FLAG(OK_TO_ARM);
} else {
enableWarningLed(currentTime);
if (ARMING_FLAG(OK_TO_ARM)) {
warningLedDisable();
} else {
warningLedFlash();
}
}
updateWarningLed(currentTime);
warningLedUpdate();
}
#ifdef TELEMETRY
@ -388,7 +388,7 @@ void mwArm(void)
}
if (!ARMING_FLAG(ARMED)) {
blinkLedAndSoundBeeper(2, 255, 1);
beeperConfirmationBeeps(1);
}
}

7
src/main/sensors/gyro.c
View File

@ -26,6 +26,7 @@
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "sensors/sensors.h"
#include "io/beeper.h"
#include "io/statusindicator.h"
#include "sensors/boardalignment.h"
@ -95,10 +96,14 @@ static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThresho
return;
}
gyroZero[axis] = (g[axis] + (CALIBRATING_GYRO_CYCLES / 2)) / CALIBRATING_GYRO_CYCLES;
blinkLedAndSoundBeeper(10, 15, 1);
}
}
if (isOnFinalGyroCalibrationCycle()) {
beeper(BEEPER_GYRO_CALIBRATED);
}
calibratingG--;
}
static void applyGyroZero(void)