Buzzer service

flight-computer.ino

@@ -4,15 +4,17 @@
 #include "mosfet_igniter.h"
 #include "adafruit_gps_api.h"
 #include "definitions.h"
+#include "BuzzerService.h"
 
 LSM9DS1_API imu_sensor = LSM9DS1_API::getInstance();
 BMP3XX_API altimeter = BMP3XX_API::getInstance();
 Telemetry telemetry = Telemetry::getInstance();
 MosfetIgniter igniter = MosfetIgniter::getInstance();
 Adafruit_GPS_API gps = Adafruit_GPS_API::getInstance();
+BuzzerService& buzzerService = BuzzerService::GetInstance();
 FSM *fsm;
+
 // TODO: improve buzzer code
-const int buzzer = 17;
 bool sound = false;
 uint8_t loop_frequency = 10; // Hz
 
@@ -21,23 +23,23 @@ void setup() {
   Serial.begin(115200);
 #endif
 
-#if BUZZER
-  pinMode(buzzer, OUTPUT);
-  tone(buzzer, 500);
-#endif
-
-  fsm = new FSM(&telemetry, &imu_sensor, &altimeter, &gps, &igniter, &loop_frequency);
-
-#if BUZZER
-  noTone(buzzer);
-#endif
+  fsm = new FSM(&telemetry, &imu_sensor, &altimeter, &gps, &igniter, &loop_frequency, &buzzerService);
 }
 
 void loop() {
   int timerStart = millis();
 
   if (telemetry.messageAvailable()) {
     String message = telemetry.receiveMessage();
+    if (message.substring(0, 5).equals("BUZZR")) {
+      if (message.equals("BUZZR:ON-")) {
+        buzzerService.TurnOn();
+      }
+      else if (message.equals("BUZZR:OFF"))
+      {
+        buzzerService.TurnOff();
+      }
+    }
     if (message.substring(0, 5).equals("SPCMD")) {
       int event;
       if (sscanf(message.c_str(), "SPCMD:%i--", &event) == 1) {
@@ -53,16 +55,6 @@ void loop() {
   }
 #endif
 
-#if BUZZER
-  if (sound) {
-    sound = false;
-    noTone(buzzer);
-  } else {
-    sound = true;
-    tone(buzzer, 500);
-  }
-#endif
-
   fsm->runCurrentState();
 
   int delayTime = (1000/loop_frequency) - (millis() - timerStart);

libraries/BuzzerService.cpp

@@ -0,0 +1,68 @@
+#include "BuzzerService.h"
+
+#include <stdint.h>
+
+#include <Arduino.h>
+
+static BuzzerService* buzzerService = (BuzzerService*)NULL;
+
+BuzzerService::BuzzerService()
+{
+    pinMode(this->_buzzerPin, OUTPUT);
+}
+
+BuzzerService& BuzzerService::GetInstance()
+{
+    bool buzzerServiceNotInitialized = (buzzerService == (BuzzerService*)NULL);
+
+    if (buzzerServiceNotInitialized)
+    {
+        buzzerService = new BuzzerService();
+    }
+
+    return *buzzerService;
+}
+
+void BuzzerService::Lock()
+{
+    this->_locked = true;
+}
+
+void BuzzerService::Unlock()
+{
+    this->_locked = false;
+}
+
+void BuzzerService::TurnOn()
+{
+    if (!this->_canTurnOn || this->_locked)
+    {
+        return;
+    }
+
+    tone(this->_buzzerPin, 500);
+}
+
+void BuzzerService::TurnOff()
+{
+    if (this->_locked)
+    {
+        return;
+    }
+
+    noTone(this->_buzzerPin);
+}
+
+void BuzzerService::CanTurnOn()
+{
+    this->_canTurnOn = true;
+}
+
+void BuzzerService::CannotTurnOn()
+{
+    this->_canTurnOn = false;
+
+    noTone(this->_buzzerPin);
+}
+
+BuzzerService::~BuzzerService() { }

libraries/BuzzerService.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#include <stdint.h>
+
+class BuzzerService
+{
+    private:
+        uint8_t _buzzerPin = 17;
+        bool _canTurnOn = true;
+        bool _locked = false;
+
+        BuzzerService();
+    public:
+        BuzzerService(const BuzzerService& obj) = delete;
+        BuzzerService& operator=(const BuzzerService& obj) = delete;
+
+        BuzzerService(BuzzerService&& deadObj) = default;
+        BuzzerService& operator=(BuzzerService&& deadObj) = default;
+
+        static BuzzerService& GetInstance();
+
+        void Lock();
+        void Unlock();
+
+        void TurnOn();
+        void TurnOff();
+
+        void CanTurnOn();
+        void CannotTurnOn();
+
+        ~BuzzerService();
+};

libraries/definitions.h

@@ -1,5 +1,4 @@
 #define SERIAL_DEBUG false
 #define SD_LOGS true
 #define IGN_DEBUG true
-#define IGNITER 1 // 1 or 2
-#define BUZZER true
+#define IGNITER 1 // 1 or 2

libraries/fsm.cpp

@@ -15,13 +15,14 @@
 #define VBATPIN A7
 #define EJECTION_TIMEOUT 4000 // ms
 
-FSM::FSM(Telemetry* telemetry, IMU* imu_sensor, Altimeter* altimeter, GPSReceiver* gps, Igniter* igniter, uint8_t* loop_frequency)
+FSM::FSM(Telemetry* telemetry, IMU* imu_sensor, Altimeter* altimeter, GPSReceiver* gps, Igniter* igniter, uint8_t* loop_frequency, BuzzerService* buzzerService)
   : telemetry(telemetry)
   , imu_sensor(imu_sensor)
   , altimeter(altimeter)
   , gps(gps)
   , igniter(igniter)
   , loop_frequency(loop_frequency)
+  , buzzerService(buzzerService)
 {
   Transition flight_state_transitions[] = {
     // Ground
@@ -88,6 +89,9 @@ void FSM::process_event(EVENT event) {
 }
 
 void FSM::onLaunched() {
+  buzzerService->CanTurnOn();
+  buzzerService->Unlock();
+
   // TODO: not the best place to do that
   launch_time = millis();
 
@@ -96,6 +100,9 @@ void FSM::onLaunched() {
 }
 
 void FSM::onSetup() {
+  buzzerService->CanTurnOn();
+  buzzerService->Unlock();
+
   telemetry->setup();
   telemetry->send("Hello!");
 
@@ -121,9 +128,16 @@ void FSM::onSetup() {
   process_event(EVENT::SETUP_COMPLETE);
 }
 
-void FSM::onIDLE() {}
+void FSM::onIDLE()
+{
+  buzzerService->CanTurnOn();
+  buzzerService->Unlock();
+}
 
 void FSM::onCalibration() {
+  buzzerService->CanTurnOn();
+  buzzerService->Unlock();
+
   telemetry->send("Altimeter: calibrating..");
   altimeter->calibrate();
   telemetry->send("Altimeter: ground level set to " + String((float)altimeter->getGroundLevelCM() / 100) + "m");
@@ -136,26 +150,41 @@ void FSM::onCalibration() {
 }
 
 void FSM::onReady() {
+  buzzerService->CanTurnOn();
+  buzzerService->Unlock();
+
   if (altimeter->agl() > LAUNCH_AGL_THRESHOLD or
       (imu_sensor->accelerationX() / GRAVITY) * -1 > LAUNCH_ACCELERATION_THRESHOLD) {
     process_event(EVENT::LAUNCHED);
   }
 }
 
-void FSM::onEjectionTestReady() {}
+void FSM::onEjectionTestReady()
+{
+  buzzerService->CanTurnOn();
+  buzzerService->Unlock();
+}
 
 void FSM::onEjectionTestEject() {
+  buzzerService->CanTurnOn();
+  buzzerService->Unlock();
+
   telemetry->setRadioThrottle(1000);
   *loop_frequency = 100;
   onDeployingChute();
 }
 
 void FSM::onEjectionTestComplete() {
+  buzzerService->CannotTurnOn();
+  buzzerService->Lock();
+
   telemetry->setRadioThrottle(0);
   *loop_frequency = 10;
 }
 
 void FSM::onAscending() {
+  buzzerService->CannotTurnOn();
+
   float agl = altimeter->agl();
   if (agl > max_agl) {
     max_agl = agl;
@@ -175,6 +204,9 @@ void FSM::onApogeeTimeout() {
 }
 
 void FSM::onDeployingChute() {
+  buzzerService->CanTurnOn();
+  buzzerService->TurnOn();
+
   igniter->enable();
   if (millis() - ejection_start > EJECTION_TIMEOUT) {
     igniter->disable();
@@ -185,6 +217,10 @@ void FSM::onDeployingChute() {
 }
 
 void FSM::onRecovering() {
+  buzzerService->CanTurnOn();
+  buzzerService->TurnOn();
+  buzzerService->Lock();
+
   // TODO: celebrate
 }
 

libraries/fsm.h

@@ -4,6 +4,7 @@
 #include "altimeter.h"
 #include "gps_receiver.h"
 #include "igniter.h"
+#include "BuzzerService.h"
 
 class Transition {
   public:
@@ -26,7 +27,7 @@ class FSM {
     void process_event(EVENT event);
     void runCurrentState();
 
-    FSM(Telemetry* telemetry, IMU* imu_sensor, Altimeter* altimeter, GPSReceiver* gps, Igniter* igniter, uint8_t* loop_frequency);
+    FSM(Telemetry* telemetry, IMU* imu_sensor, Altimeter* altimeter, GPSReceiver* gps, Igniter* igniter, uint8_t* loop_frequency, BuzzerService* buzzerService);
 
   private:
     STATE state = STATE::SETUP;
@@ -37,6 +38,7 @@ class FSM {
     Altimeter* altimeter;
     GPSReceiver* gps;
     Igniter* igniter;
+    BuzzerService* buzzerService;
     uint8_t* loop_frequency;
 
     unsigned long launch_time;