src/main/io/pidaudio.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <math.h>
  24
  25 #include "platform.h"
  26
  27 #include "common/axis.h"
  28 #include "common/maths.h"
  29
  30 #include "drivers/audio.h"
  31
  32 #include "fc/rc_modes.h"
  33
  34 #include "flight/pid.h"
  35
  36 #include "io/pidaudio.h"
  37
  38 static bool pidAudioEnabled = false;
  39
  40 static pidAudioModes_e pidAudioMode = PID_AUDIO_PIDSUM_XY;
  41
  42 void pidAudioInit(void)
  43 {
  44     audioSetupIO();
  45 }
  46
  47 void pidAudioStart(void)
  48 {
  49     audioGenerateWhiteNoise();
  50 }
  51
  52 void pidAudioStop(void)
  53 {
  54     audioSilence();
  55 }
  56
  57 pidAudioModes_e pidAudioGetMode(void)
  58 {
  59     return pidAudioMode;
  60 }
  61
  62 void pidAudioSetMode(pidAudioModes_e mode)
  63 {
  64     pidAudioMode = mode;
  65 }
  66
  67 void FAST_CODE_NOINLINE pidAudioUpdate(void)
  68 {
  69     bool newState = IS_RC_MODE_ACTIVE(BOXPIDAUDIO);
  70
  71     if (pidAudioEnabled != newState) {
  72         if (newState) {
  73             pidAudioStart();
  74         } else {
  75             pidAudioStop();
  76         }
  77         pidAudioEnabled = newState;
  78     }
  79
  80     if (!pidAudioEnabled) {
  81         return;
  82     }
  83
  84     uint8_t tone = TONE_MID;
  85
  86     switch (pidAudioMode) {
  87     case PID_AUDIO_PIDSUM_X:
  88         {
  89             const uint32_t pidSumX = MIN(fabsf(pidData[FD_ROLL].Sum), PIDSUM_LIMIT);
  90             tone = scaleRange(pidSumX, 0, PIDSUM_LIMIT, TONE_MAX, TONE_MIN);
  91             break;
  92         }
  93     case PID_AUDIO_PIDSUM_Y:
  94         {
  95             const uint32_t pidSumY = MIN(fabsf(pidData[FD_PITCH].Sum), PIDSUM_LIMIT);
  96             tone = scaleRange(pidSumY, 0, PIDSUM_LIMIT, TONE_MAX, TONE_MIN);
  97             break;
  98         }
  99     case PID_AUDIO_PIDSUM_XY:
 100         {
 101             const uint32_t pidSumXY = MIN((fabsf(pidData[FD_ROLL].Sum) + fabsf(pidData[FD_PITCH].Sum)) / 2, PIDSUM_LIMIT);
 102             tone = scaleRange(pidSumXY, 0, PIDSUM_LIMIT, TONE_MAX, TONE_MIN);
 103             break;
 104         }
 105     default:
 106         break;
 107     }
 108
 109     audioPlayTone(tone);
 110 }