src/main/io/beeper.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include "stdbool.h"
  19 #include "stdint.h"
  20 #include "stdlib.h"
  21
  22 #include "platform.h"
  23
  24 #include "common/utils.h"
  25
  26 #include "drivers/sound_beeper.h"
  27 #include "drivers/time.h"
  28
  29 #include "sensors/battery.h"
  30 #include "sensors/sensors.h"
  31 #include "sensors/diagnostics.h"
  32
  33 #include "rx/rx.h"
  34
  35 #include "io/statusindicator.h"
  36
  37 #ifdef USE_GPS
  38 #include "io/gps.h"
  39 #endif
  40
  41 #include "fc/config.h"
  42 #include "fc/rc_controls.h"
  43 #include "fc/rc_modes.h"
  44 #include "fc/runtime_config.h"
  45
  46 #include "config/feature.h"
  47
  48 #ifdef USE_DSHOT
  49 #include "drivers/pwm_output.h"
  50 #include "fc/fc_core.h"
  51 #include "flight/mixer.h"
  52 static timeUs_t lastDshotBeeperCommandTimeUs;
  53 #endif
  54
  55 #include "io/beeper.h"
  56
  57 #define MAX_MULTI_BEEPS 20   //size limit for 'beep_multiBeeps[]'
  58
  59 #define BEEPER_COMMAND_REPEAT 0xFE
  60 #define BEEPER_COMMAND_STOP   0xFF
  61
  62 /* Beeper Sound Sequences: (Square wave generation)
  63  * Sequence must end with 0xFF or 0xFE. 0xFE repeats the sequence from
  64  * start when 0xFF stops the sound when it's completed.
  65  *
  66  * "Sound" Sequences are made so that 1st, 3rd, 5th.. are the delays how
  67  * long the beeper is on and 2nd, 4th, 6th.. are the delays how long beeper
  68  * is off. Delays are in milliseconds/10 (i.e., 5 => 50ms).
  69  */
  70 // short fast beep
  71 static const uint8_t beep_shortBeep[] = {
  72     10, 10, BEEPER_COMMAND_STOP
  73 };
  74 // arming beep
  75 static const uint8_t beep_armingBeep[] = {
  76     30, 5, 5, 5, BEEPER_COMMAND_STOP
  77 };
  78 // armed beep (first pause, then short beep)
  79 static const uint8_t beep_armedBeep[] = {
  80     0, 245, 10, 5, BEEPER_COMMAND_STOP
  81 };
  82 // disarming beeps
  83 static const uint8_t beep_disarmBeep[] = {
  84     15, 5, 15, 5, BEEPER_COMMAND_STOP
  85 };
  86 // beeps while stick held in disarm position (after pause)
  87 static const uint8_t beep_disarmRepeatBeep[] = {
  88     0, 100, 10, BEEPER_COMMAND_STOP
  89 };
  90 // Long beep and pause after that
  91 static const uint8_t beep_lowBatteryBeep[] = {
  92     25, 50, BEEPER_COMMAND_STOP
  93 };
  94 // critical battery beep
  95 static const uint8_t beep_critBatteryBeep[] = {
  96     50, 2, BEEPER_COMMAND_STOP
  97 };
  98
  99 // transmitter-signal-lost tone
 100 static const uint8_t beep_txLostBeep[] = {
 101     50, 50, BEEPER_COMMAND_STOP
 102 };
 103 // SOS morse code:
 104 static const uint8_t beep_sos[] = {
 105     10, 10, 10, 10, 10, 40, 40, 10, 40, 10, 40, 40, 10, 10, 10, 10, 10, 70, BEEPER_COMMAND_STOP
 106 };
 107 // Arming when GPS is fixed
 108 static const uint8_t beep_armedGpsFix[] = {
 109     5, 5, 15, 5, 5, 5, 15, 30, BEEPER_COMMAND_STOP
 110 };
 111 // Ready beeps. When gps has fix and copter is ready to fly.
 112 static const uint8_t beep_readyBeep[] = {
 113     4, 5, 4, 5, 8, 5, 15, 5, 8, 5, 4, 5, 4, 5, BEEPER_COMMAND_STOP
 114 };
 115 // 2 fast short beeps
 116 static const uint8_t beep_2shortBeeps[] = {
 117     5, 5, 5, 5, BEEPER_COMMAND_STOP
 118 };
 119 // 2 longer beeps
 120 static const uint8_t beep_2longerBeeps[] = {
 121     20, 15, 35, 5, BEEPER_COMMAND_STOP
 122 };
 123 // 3 beeps
 124 static const uint8_t beep_runtimeCalibrationDone[] = {
 125     20, 10, 20, 10, 20, 10, BEEPER_COMMAND_STOP
 126 };
 127 // two short beeps and a pause (first pause, then short beep)
 128 static const uint8_t beep_launchModeBeep[] = {
 129     5, 5, 5, 100, BEEPER_COMMAND_STOP
 130 };
 131 // Two short beeps, then one shorter beep. Beeps to show the throttle needs to be raised. Will repeat every second while the throttle is low.
 132 static const uint8_t beep_launchModeLowThrottleBeep[] = {
 133     5, 5, 5, 5, 3, 100, BEEPER_COMMAND_STOP
 134 };
 135 // 4 short beeps and a pause. Warning motor about to start at idle throttle
 136 static const uint8_t beep_launchModeIdleStartBeep[] = {
 137     5, 5, 5, 5, 5, 5, 5, 80, BEEPER_COMMAND_STOP
 138 };
 139 // short beeps
 140 static const uint8_t beep_hardwareFailure[] = {
 141     10, 10, BEEPER_COMMAND_STOP
 142 };
 143 // Cam connection opened
 144 static const uint8_t beep_camOpenBeep[] = {
 145     5, 15, 10, 15, 20, BEEPER_COMMAND_STOP
 146 };
 147 // Cam connection close
 148 static const uint8_t beep_camCloseBeep[] = {
 149     10, 8, 5, BEEPER_COMMAND_STOP
 150 };
 151
 152
 153 // array used for variable # of beeps (reporting GPS sat count, etc)
 154 static uint8_t beep_multiBeeps[MAX_MULTI_BEEPS + 2];
 155
 156 #define BEEPER_CONFIRMATION_BEEP_DURATION 2
 157 #define BEEPER_CONFIRMATION_BEEP_GAP_DURATION 20
 158
 159
 160 // Beeper off = false Beeper on = true
 161 static bool beeperIsOn = false;
 162
 163 // Place in current sequence
 164 static uint16_t beeperPos = 0;
 165 // Time when beeper routine must act next time
 166 static uint32_t beeperNextToggleTime = 0;
 167 // Time of last arming beep in microseconds (for blackbox)
 168 static uint32_t armingBeepTimeMicros = 0;
 169
 170 static void beeperProcessCommand(void);
 171
 172 typedef struct beeperTableEntry_s {
 173     uint8_t mode;
 174     uint8_t priority; // 0 = Highest
 175     const uint8_t *sequence;
 176     const char *name;
 177 } beeperTableEntry_t;
 178
 179 #define BEEPER_ENTRY(a,b,c,d) a,b,c,d
 180
 181 /*static*/ const beeperTableEntry_t beeperTable[] = {
 182     { BEEPER_ENTRY(BEEPER_RUNTIME_CALIBRATION_DONE, 0, beep_runtimeCalibrationDone,     "RUNTIME_CALIBRATION") },
 183     { BEEPER_ENTRY(BEEPER_HARDWARE_FAILURE ,        1, beep_hardwareFailure,            "HW_FAILURE") },
 184     { BEEPER_ENTRY(BEEPER_RX_LOST,                  2, beep_txLostBeep,                 "RX_LOST") },
 185     { BEEPER_ENTRY(BEEPER_RX_LOST_LANDING,          3, beep_sos,                        "RX_LOST_LANDING") },
 186     { BEEPER_ENTRY(BEEPER_DISARMING,                4, beep_disarmBeep,                 "DISARMING") },
 187     { BEEPER_ENTRY(BEEPER_ARMING,                   5, beep_armingBeep,                 "ARMING")  },
 188     { BEEPER_ENTRY(BEEPER_ARMING_GPS_FIX,           6, beep_armedGpsFix,                "ARMING_GPS_FIX") },
 189     { BEEPER_ENTRY(BEEPER_BAT_CRIT_LOW,             7, beep_critBatteryBeep,            "BAT_CRIT_LOW") },
 190     { BEEPER_ENTRY(BEEPER_BAT_LOW,                  8, beep_lowBatteryBeep,             "BAT_LOW") },
 191     { BEEPER_ENTRY(BEEPER_GPS_STATUS,               9, beep_multiBeeps,                 "GPS_STATUS") },
 192     { BEEPER_ENTRY(BEEPER_RX_SET,                   10, beep_shortBeep,                 "RX_SET") },
 193     { BEEPER_ENTRY(BEEPER_ACTION_SUCCESS,           11, beep_2shortBeeps,               "ACTION_SUCCESS") },
 194     { BEEPER_ENTRY(BEEPER_ACTION_FAIL,              12, beep_2longerBeeps,              "ACTION_FAIL") },
 195     { BEEPER_ENTRY(BEEPER_READY_BEEP,               13, beep_readyBeep,                 "READY_BEEP") },
 196     { BEEPER_ENTRY(BEEPER_MULTI_BEEPS,              14, beep_multiBeeps,                "MULTI_BEEPS") }, // FIXME having this listed makes no sense since the beep array will not be initialised.
 197     { BEEPER_ENTRY(BEEPER_DISARM_REPEAT,            15, beep_disarmRepeatBeep,          "DISARM_REPEAT") },
 198     { BEEPER_ENTRY(BEEPER_ARMED,                    16, beep_armedBeep,                 "ARMED") },
 199     { BEEPER_ENTRY(BEEPER_SYSTEM_INIT,              17, NULL,                           "SYSTEM_INIT") },
 200     { BEEPER_ENTRY(BEEPER_USB,                      18, NULL,                           "ON_USB") },
 201     { BEEPER_ENTRY(BEEPER_LAUNCH_MODE_ENABLED,      19, beep_launchModeBeep,            "LAUNCH_MODE") },
 202     { BEEPER_ENTRY(BEEPER_LAUNCH_MODE_LOW_THROTTLE, 20, beep_launchModeLowThrottleBeep, "LAUNCH_MODE_LOW_THROTTLE") },
 203     { BEEPER_ENTRY(BEEPER_LAUNCH_MODE_IDLE_START,   21, beep_launchModeIdleStartBeep,   "LAUNCH_MODE_IDLE_START") },
 204     { BEEPER_ENTRY(BEEPER_CAM_CONNECTION_OPEN,      22, beep_camOpenBeep,               "CAM_CONNECTION_OPEN") },
 205     { BEEPER_ENTRY(BEEPER_CAM_CONNECTION_CLOSE,     23, beep_camCloseBeep,              "CAM_CONNECTION_CLOSED") },
 206
 207     { BEEPER_ENTRY(BEEPER_ALL,                      24, NULL,                           "ALL") },
 208     { BEEPER_ENTRY(BEEPER_PREFERENCE,               25, NULL,                           "PREFERED") },
 209 };
 210
 211 static const beeperTableEntry_t *currentBeeperEntry = NULL;
 212
 213 #define BEEPER_TABLE_ENTRY_COUNT (sizeof(beeperTable) / sizeof(beeperTableEntry_t))
 214
 215 /*
 216  * Called to activate/deactivate beeper, using the given "BEEPER_..." value.
 217  * This function returns immediately (does not block).
 218  */
 219 void beeper(beeperMode_e mode)
 220 {
 221     if (mode == BEEPER_SILENCE || ((getBeeperOffMask() & (1 << (BEEPER_USB-1))) && (feature(FEATURE_VBAT) && (getBatteryCellCount() < 2)))) {
 222         beeperSilence();
 223         return;
 224     }
 225
 226     const beeperTableEntry_t *selectedCandidate = NULL;
 227     for (uint32_t i = 0; i < BEEPER_TABLE_ENTRY_COUNT; i++) {
 228         const beeperTableEntry_t *candidate = &beeperTable[i];
 229         if (candidate->mode != mode) {
 230             continue;
 231         }
 232
 233         if (!currentBeeperEntry) {
 234             selectedCandidate = candidate;
 235             break;
 236         }
 237
 238         if (candidate->priority < currentBeeperEntry->priority) {
 239             selectedCandidate = candidate;
 240         }
 241
 242         break;
 243     }
 244
 245     if (!selectedCandidate) {
 246         return;
 247     }
 248
 249     currentBeeperEntry = selectedCandidate;
 250
 251     beeperPos = 0;
 252     beeperNextToggleTime = 0;
 253 }
 254
 255 void beeperSilence(void)
 256 {
 257     BEEP_OFF;
 258     warningLedDisable();
 259     warningLedRefresh();
 260
 261
 262     beeperIsOn = false;
 263
 264     beeperNextToggleTime = 0;
 265     beeperPos = 0;
 266
 267     currentBeeperEntry = NULL;
 268 }
 269 /*
 270  * Emits the given number of 20ms beeps (with 200ms spacing).
 271  * This function returns immediately (does not block).
 272  */
 273 void beeperConfirmationBeeps(uint8_t beepCount)
 274 {
 275     int i;
 276     int cLimit;
 277
 278     i = 0;
 279     cLimit = beepCount * 2;
 280     if (cLimit > MAX_MULTI_BEEPS)
 281         cLimit = MAX_MULTI_BEEPS;  //stay within array size
 282     do {
 283         beep_multiBeeps[i++] = BEEPER_CONFIRMATION_BEEP_DURATION;       // 20ms beep
 284         beep_multiBeeps[i++] = BEEPER_CONFIRMATION_BEEP_GAP_DURATION;   // 200ms pause
 285     } while (i < cLimit);
 286     beep_multiBeeps[i] = BEEPER_COMMAND_STOP;     //sequence end
 287     beeper(BEEPER_MULTI_BEEPS);    //initiate sequence
 288 }
 289
 290 #ifdef USE_GPS
 291 void beeperGpsStatus(void)
 292 {
 293     // if GPS fix then beep out number of satellites
 294     if (STATE(GPS_FIX) && gpsSol.numSat >= 5) {
 295         uint8_t i = 0;
 296         do {
 297             beep_multiBeeps[i++] = 5;
 298             beep_multiBeeps[i++] = 10;
 299         } while (i < MAX_MULTI_BEEPS && gpsSol.numSat > i / 2);
 300
 301         beep_multiBeeps[i-1] = 50; // extend last pause
 302         beep_multiBeeps[i] = BEEPER_COMMAND_STOP;
 303
 304         beeper(BEEPER_MULTI_BEEPS);    //initiate sequence
 305     } else {
 306         beeper(BEEPER_RX_SET);
 307     }
 308 }
 309 #endif
 310
 311 /*
 312  * Beeper handler function to be called periodically in loop. Updates beeper
 313  * state via time schedule.
 314  */
 315 void beeperUpdate(timeUs_t currentTimeUs)
 316 {
 317     // If beeper option from AUX switch has been selected
 318     if (IS_RC_MODE_ACTIVE(BOXBEEPERON)) {
 319 #ifdef USE_GPS
 320         if (feature(FEATURE_GPS)) {
 321             beeperGpsStatus();
 322         } else {
 323             beeper(BEEPER_RX_SET);
 324         }
 325 #else
 326         beeper(BEEPER_RX_SET);
 327 #endif
 328     }
 329
 330     // Beep out hardware failure
 331     if (!isHardwareHealthy()) {
 332         beeper(BEEPER_HARDWARE_FAILURE);
 333     }
 334
 335     // Beeper routine doesn't need to update if there aren't any sounds ongoing
 336     if (currentBeeperEntry == NULL) {
 337         return;
 338     }
 339
 340     const timeMs_t now = currentTimeUs / 1000;
 341     if (beeperNextToggleTime > now) {
 342         return;
 343     }
 344
 345     if (!beeperIsOn) {
 346 #ifdef USE_DSHOT
 347         if (isMotorProtocolDshot() && !areMotorsRunning() && beeperConfig()->dshot_beeper_enabled
 348             && currentTimeUs - lastDshotBeeperCommandTimeUs > getDShotBeaconGuardDelayUs())
 349         {
 350             lastDshotBeeperCommandTimeUs = currentTimeUs;
 351             sendDShotCommand(beeperConfig()->dshot_beeper_tone);
 352         }
 353 #endif
 354
 355         beeperIsOn = true;
 356         if (currentBeeperEntry->sequence[beeperPos] != 0) {
 357             if (!(getBeeperOffMask() & (1 << (currentBeeperEntry->mode - 1))))
 358                 BEEP_ON;
 359
 360             warningLedEnable();
 361             warningLedRefresh();
 362             // if this was arming beep then mark time (for blackbox)
 363             if (
 364                 beeperPos == 0
 365                 && (currentBeeperEntry->mode == BEEPER_ARMING || currentBeeperEntry->mode == BEEPER_ARMING_GPS_FIX)
 366             ) {
 367                 armingBeepTimeMicros = currentTimeUs;
 368             }
 369         }
 370     } else {
 371         beeperIsOn = false;
 372         if (currentBeeperEntry->sequence[beeperPos] != 0) {
 373             BEEP_OFF;
 374             warningLedDisable();
 375             warningLedRefresh();
 376         }
 377     }
 378
 379     beeperProcessCommand();
 380 }
 381
 382 /*
 383  * Calculates array position when next to change beeper state is due.
 384  */
 385 static void beeperProcessCommand(void)
 386 {
 387     if (currentBeeperEntry->sequence[beeperPos] == BEEPER_COMMAND_REPEAT) {
 388         beeperPos = 0;
 389     } else if (currentBeeperEntry->sequence[beeperPos] == BEEPER_COMMAND_STOP) {
 390         beeperSilence();
 391     } else {
 392         // Otherwise advance the sequence and calculate next toggle time
 393         beeperNextToggleTime = millis() + 10 * currentBeeperEntry->sequence[beeperPos];
 394         beeperPos++;
 395     }
 396 }
 397
 398 /*
 399  * Returns the time that the last arming beep occurred (in system-uptime
 400  * microseconds).  This is fetched and logged by blackbox.
 401  */
 402 uint32_t getArmingBeepTimeMicros(void)
 403 {
 404     return armingBeepTimeMicros;
 405 }
 406
 407 /*
 408  * Returns the 'beeperMode_e' value for the given beeper-table index,
 409  * or BEEPER_SILENCE if none.
 410  */
 411 beeperMode_e beeperModeForTableIndex(int idx)
 412 {
 413     return (idx >= 0 && idx < (int)BEEPER_TABLE_ENTRY_COUNT) ? beeperTable[idx].mode : BEEPER_SILENCE;
 414 }
 415
 416 /*
 417  * Returns the name for the given beeper-table index, or NULL if none.
 418  */
 419 const char *beeperNameForTableIndex(int idx)
 420 {
 421     return (idx >= 0 && idx < (int)BEEPER_TABLE_ENTRY_COUNT) ? beeperTable[idx].name : NULL;
 422 }
 423
 424 /*
 425  * Returns the number of entries in the beeper-sounds table.
 426  */
 427 int beeperTableEntryCount(void)
 428 {
 429     return (int)BEEPER_TABLE_ENTRY_COUNT;
 430 }
 431
 432 #ifdef USE_DSHOT
 433 timeUs_t getDShotBeaconGuardDelayUs(void) {
 434     // Based on Digital_Cmd_Spec.txt - all delays have 100ms added to ensure that the minimum time has passed.
 435     switch (beeperConfig()->dshot_beeper_tone) {
 436         case 1:
 437         case 2:
 438             return 260000 + 100000;
 439         case 3:
 440         case 4:
 441             return 280000 + 100000;
 442         case 5:
 443         default:
 444             return 1020000 + 100000;
 445     }
 446 }
 447
 448 timeUs_t getLastDshotBeeperCommandTimeUs(void)
 449 {
 450     return lastDshotBeeperCommandTimeUs;
 451 }
 452 #endif