src/main/io/beeper.h

   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 #pragma once
  22
  23 #include "common/time.h"
  24
  25 #define BEEPER_GET_FLAG(mode) (1 << (mode - 1))
  26
  27 #ifdef USE_DSHOT
  28 #define DSHOT_BEACON_GUARD_DELAY_US 1200000  // Time to separate dshot beacon and armining/disarming events
  29                                              // to prevent interference with motor direction commands
  30 #define DSHOT_BEACON_MODE_INTERVAL_US     450000  // at least 450ms between successive DShot beacon iterations to allow time for ESC to play tone
  31 #define DSHOT_BEACON_RXLOSS_INTERVAL_US   950000  // at least 950ms between successive DShot beacon iterations to allow time for ESC to play tone
  32                                                   // we check beeper every 100ms, so these result in 500ms and 1.0s in practice
  33 #endif
  34
  35 typedef enum {
  36     // IMPORTANT: the order of the elements should be preserved for backwards compatibility with the configurator.
  37     BEEPER_SILENCE = 0,             // Silence, see beeperSilence()
  38
  39     BEEPER_GYRO_CALIBRATED,
  40     BEEPER_RX_LOST,                 // Beeps when TX is turned off or signal lost (repeat until TX is okay)
  41     BEEPER_RX_LOST_LANDING,         // Beeps SOS when armed and TX is turned off or signal lost (autolanding/autodisarm)
  42     BEEPER_DISARMING,               // Beep when disarming the board
  43     BEEPER_ARMING,                  // Beep when arming the board
  44     BEEPER_ARMING_GPS_FIX,          // Beep a special tone when arming the board and GPS has fix
  45     BEEPER_BAT_CRIT_LOW,            // Longer warning beeps when battery is critically low (repeats)
  46     BEEPER_BAT_LOW,                 // Warning beeps when battery is getting low (repeats)
  47     BEEPER_GPS_STATUS,              // Use the number of beeps to indicate how many GPS satellites were found
  48     BEEPER_RX_SET,                  // Beeps when aux channel is set for beep
  49     BEEPER_ACC_CALIBRATION,         // ACC inflight calibration completed confirmation
  50     BEEPER_ACC_CALIBRATION_FAIL,    // ACC inflight calibration failed
  51     BEEPER_READY_BEEP,              // Ring a tone when GPS is locked and ready
  52     BEEPER_MULTI_BEEPS,             // Internal value used by 'beeperConfirmationBeeps()'.
  53     BEEPER_DISARM_REPEAT,           // Beeps sounded while stick held in disarm position
  54     BEEPER_ARMED,                   // Warning beeps when board is armed with motors off when idle (repeats until board is disarmed or throttle is increased)
  55     BEEPER_SYSTEM_INIT,             // Initialisation beeps when board is powered on
  56     BEEPER_USB,                     // Some boards have beeper powered USB connected
  57     BEEPER_BLACKBOX_ERASE,          // Beep when blackbox erase completes
  58     BEEPER_CRASH_FLIP_MODE,         // Crash flip mode is active
  59     BEEPER_CAM_CONNECTION_OPEN,     // When the 5 key simulation stated
  60     BEEPER_CAM_CONNECTION_CLOSE,    // When the 5 key simulation stop
  61     BEEPER_RC_SMOOTHING_INIT_FAIL,  // Warning beep pattern when armed and rc smoothing has not initialized filters
  62     BEEPER_ARMING_GPS_NO_FIX,       // Beep a special tone when arming the board and GPS has no fix
  63     BEEPER_ALL,                     // Turn ON or OFF all beeper conditions
  64     // BEEPER_ALL must remain at the bottom of this enum
  65 } beeperMode_e;
  66
  67
  68 #define BEEPER_ALLOWED_MODES ( \
  69     BEEPER_GET_FLAG(BEEPER_GYRO_CALIBRATED) \
  70     | BEEPER_GET_FLAG(BEEPER_RX_LOST) \
  71     | BEEPER_GET_FLAG(BEEPER_RX_LOST_LANDING) \
  72     | BEEPER_GET_FLAG(BEEPER_DISARMING) \
  73     | BEEPER_GET_FLAG(BEEPER_ARMING) \
  74     | BEEPER_GET_FLAG(BEEPER_ARMING_GPS_FIX) \
  75     | BEEPER_GET_FLAG(BEEPER_BAT_CRIT_LOW) \
  76     | BEEPER_GET_FLAG(BEEPER_BAT_LOW) \
  77     | BEEPER_GET_FLAG(BEEPER_GPS_STATUS) \
  78     | BEEPER_GET_FLAG(BEEPER_RX_SET) \
  79     | BEEPER_GET_FLAG(BEEPER_ACC_CALIBRATION) \
  80     | BEEPER_GET_FLAG(BEEPER_ACC_CALIBRATION_FAIL) \
  81     | BEEPER_GET_FLAG(BEEPER_READY_BEEP) \
  82     | BEEPER_GET_FLAG(BEEPER_MULTI_BEEPS) \
  83     | BEEPER_GET_FLAG(BEEPER_DISARM_REPEAT) \
  84     | BEEPER_GET_FLAG(BEEPER_ARMED) \
  85     | BEEPER_GET_FLAG(BEEPER_SYSTEM_INIT) \
  86     | BEEPER_GET_FLAG(BEEPER_USB) \
  87     | BEEPER_GET_FLAG(BEEPER_BLACKBOX_ERASE) \
  88     | BEEPER_GET_FLAG(BEEPER_CRASH_FLIP_MODE) \
  89     | BEEPER_GET_FLAG(BEEPER_CAM_CONNECTION_OPEN) \
  90     | BEEPER_GET_FLAG(BEEPER_CAM_CONNECTION_CLOSE) \
  91     | BEEPER_GET_FLAG(BEEPER_RC_SMOOTHING_INIT_FAIL) \
  92     | BEEPER_GET_FLAG(BEEPER_ARMING_GPS_NO_FIX) \
  93     )
  94
  95 #define DSHOT_BEACON_ALLOWED_MODES ( \
  96     BEEPER_GET_FLAG(BEEPER_RX_LOST) \
  97     | BEEPER_GET_FLAG(BEEPER_RX_SET) )
  98
  99 void beeper(beeperMode_e mode);
 100 void beeperSilence(void);
 101 void beeperUpdate(timeUs_t currentTimeUs);
 102 void beeperConfirmationBeeps(uint8_t beepCount);
 103 void beeperWarningBeeps(uint8_t beepCount);
 104 uint32_t getArmingBeepTimeMicros(void);
 105 beeperMode_e beeperModeForTableIndex(int idx);
 106 uint32_t beeperModeMaskForTableIndex(int idx);
 107 const char *beeperNameForTableIndex(int idx);
 108 int beeperTableEntryCount(void);
 109 bool isBeeperOn(void);
 110 timeUs_t getLastDshotBeaconCommandTimeUs(void);