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Alarms.cpp
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Alarms.cpp
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#include "Arduino.h"
#include "config.h"
#include "def.h"
#include "types.h"
#include "MahoWii.h"
#include "LCD.h"
#include "Sensors.h"
#include "Alarms.h"
void alarmPatternComposer();
void patternDecode(uint8_t resource,uint16_t first,uint16_t second,uint16_t third,uint16_t cyclepause, uint16_t endpause);
void setTiming(uint8_t resource, uint16_t pulse, uint16_t pause);
void turnOff(uint8_t resource);
void toggleResource(uint8_t resource, uint8_t activate);
void vario_output(uint16_t d, uint8_t up);
void inline switch_led_flasher(uint8_t on);
void inline switch_landing_lights(uint8_t on);
void PilotLampSequence(uint16_t speed, uint16_t pattern, uint8_t num_patterns);
static uint8_t cycleDone[5]={0,0,0,0,0},
resourceIsOn[5] = {0,0,0,0,0};
static uint32_t LastToggleTime[5] ={0,0,0,0,0};
static int16_t i2c_errors_count_old = 0;
static uint8_t SequenceActive[5]={0,0,0,0,0};
#if defined(BUZZER)
uint8_t isBuzzerON(void) { return resourceIsOn[1]; } // returns true while buzzer is buzzing; returns 0 for silent periods
#else
uint8_t isBuzzerON() { return 0; }
#endif //end of buzzer define
/********************************************************************/
/**** Alarm Handling ****/
/********************************************************************/
/*
AlarmArray
0: toggle
1: failsafe
2: noGPS
3: beeperOn
4: pMeter
5: runtime
6: vBat
7: confirmation
8: Acc
9: I2C Error
*/
/*
Resources:
0: onboard LED
1: Buzzer
2: PL GREEN
3: PL BLUE
4: PL RED
*/
void alarmHandler(void){
#if defined(RCOPTIONSBEEP)
static uint8_t i = 0,firstrun = 1, last_rcOptions[CHECKBOXITEMS];
if (last_rcOptions[i] != rcOptions[i]) alarmArray[ALRM_FAC_TOGGLE] = ALRM_LVL_TOGGLE_1;
last_rcOptions[i] = rcOptions[i];
i++;
if(i >= CHECKBOXITEMS)i=0;
if(firstrun == 1 && alarmArray[ALRM_FAC_CONFIRM] == ALRM_LVL_OFF) {
alarmArray[ALRM_FAC_TOGGLE] = ALRM_LVL_OFF; //only enable options beep AFTER gyro init
alarmArray[ALRM_FAC_BEEPERON] = ALRM_LVL_OFF;
}
else firstrun = 0;
#endif
#if defined(FAILSAFE)
if ( failsafeCnt > (5*FAILSAFE_DELAY) && f.ARMED) {
alarmArray[ALRM_FAC_FAILSAFE] = ALRM_LVL_FAILSAFE_PANIC; //set failsafe warning level to 1 while landing
if (failsafeCnt > 5*(FAILSAFE_DELAY+FAILSAFE_OFF_DELAY)) alarmArray[ALRM_FAC_FAILSAFE] = ALRM_LVL_FAILSAFE_FINDME; //start "find me" signal after landing
}
if ( failsafeCnt > (5*FAILSAFE_DELAY) && !f.ARMED) alarmArray[ALRM_FAC_FAILSAFE] = ALRM_LVL_FAILSAFE_FINDME; // tx turned off while motors are off: start "find me" signal
if ( failsafeCnt == 0) alarmArray[ALRM_FAC_FAILSAFE] = ALRM_LVL_OFF; // turn off alarm if TX is okay
#endif
#if GPS
if ((f.GPS_mode != GPS_MODE_NONE) && !f.GPS_FIX) alarmArray[ALRM_FAC_GPS] = ALRM_LVL_GPS_NOFIX;
else if (!f.GPS_FIX) alarmArray[ALRM_FAC_GPS] = ALRM_LVL_ON;
else alarmArray[ALRM_FAC_GPS] = ALRM_LVL_OFF;
#endif
#if defined(BUZZER)
if ( rcOptions[BOXBEEPERON] ) alarmArray[ALRM_FAC_BEEPERON] = ALRM_LVL_ON;
else alarmArray[ALRM_FAC_BEEPERON] = ALRM_LVL_OFF;
#endif
#if defined(POWERMETER)
if ( (pMeter[PMOTOR_SUM] < pAlarm) || (pAlarm == 0) || !f.ARMED) alarmArray[ALRM_FAC_PMETER] = ALRM_LVL_OFF;
else if (pMeter[PMOTOR_SUM] > pAlarm) alarmArray[ALRM_FAC_PMETER] = ALRM_LVL_ON;
#endif
#if defined(ARMEDTIMEWARNING)
if (ArmedTimeWarningMicroSeconds > 0 && armedTime >= ArmedTimeWarningMicroSeconds && f.ARMED) alarmArray[ALRM_FAC_RUNTIME] = ALRM_LVL_ON;
else alarmArray[ALRM_FAC_RUNTIME] = ALRM_LVL_OFF;
#endif
#if defined(VBAT)
if (vbatMin < conf.vbatlevel_crit) alarmArray[ALRM_FAC_VBAT] = ALRM_LVL_VBAT_CRIT;
else if ( (analog.vbat > conf.vbatlevel_warn1) || (NO_VBAT > analog.vbat)) alarmArray[ALRM_FAC_VBAT] = ALRM_LVL_OFF;
else if (analog.vbat > conf.vbatlevel_warn2) alarmArray[ALRM_FAC_VBAT] = ALRM_LVL_VBAT_INFO;
else if (analog.vbat > conf.vbatlevel_crit) alarmArray[ALRM_FAC_VBAT] = ALRM_LVL_VBAT_WARN;
//else alarmArray[6] = 4;
#endif
if (i2c_errors_count > i2c_errors_count_old+100 || i2c_errors_count < -1) alarmArray[ALRM_FAC_I2CERROR] = ALRM_LVL_ON;
else alarmArray[ALRM_FAC_I2CERROR] = ALRM_LVL_OFF;
#if defined(LCD_TELEMETRY) && !defined(SUPPRESS_TELEMETRY_PAGE_8)
if (telemetry == 8) lcd_telemetry(); // must output the alarms states now because alarmPatternComposer() will reset alarmArray[]
#endif
alarmPatternComposer();
}
void alarmPatternComposer(){
static char resource = 0;
// patternDecode(length1,length2,length3,beeppause,endpause,loop)
#if defined(BUZZER)
resource = 1; //buzzer selected
if ( IS_ALARM_SET(ALRM_FAC_FAILSAFE , ALRM_LVL_FAILSAFE_FINDME) ) patternDecode(resource,200,0,0,50,2000); //failsafe "find me" signal
else if ( IS_ALARM_SET(ALRM_FAC_FAILSAFE , ALRM_LVL_FAILSAFE_PANIC) ||
IS_ALARM_SET(ALRM_FAC_ACC , ALRM_LVL_ON) ) patternDecode(resource,50,200,200,50,50); //failsafe "panic" or Acc not calibrated
else if ( IS_ALARM_SET(ALRM_FAC_TOGGLE , ALRM_LVL_TOGGLE_1) ) patternDecode(resource,50,0,0,50,0); //toggle 1
else if ( IS_ALARM_SET(ALRM_FAC_TOGGLE , ALRM_LVL_TOGGLE_2) ) patternDecode(resource,50,50,0,50,0); //toggle 2
else if ( IS_ALARM_SET(ALRM_FAC_TOGGLE , ALRM_LVL_TOGGLE_ELSE) ) patternDecode(resource,50,50,50,50,0); //toggle else
#if GPS
else if ( IS_ALARM_SET(ALRM_FAC_GPS , ALRM_LVL_GPS_NOFIX) ) patternDecode(resource,50,50,0,50,50); //gps installed but no fix
#endif
else if ( IS_ALARM_SET(ALRM_FAC_BEEPERON , ALRM_LVL_ON) ) patternDecode(resource,50,50,50,50,50); //BeeperOn
#ifdef POWERMETER
else if ( IS_ALARM_SET(ALRM_FAC_PMETER , ALRM_LVL_ON) ) patternDecode(resource,50,50,0,50,120); //pMeter Warning
#endif
else if ( IS_ALARM_SET(ALRM_FAC_RUNTIME , ALRM_LVL_ON) ) patternDecode(resource,50,50,50,50,0); //Runtime warning
#ifdef VBAT
else if ( IS_ALARM_SET(ALRM_FAC_VBAT , ALRM_LVL_VBAT_CRIT) ) patternDecode(resource,50,50,200,50,2000); //vbat critical
else if ( IS_ALARM_SET(ALRM_FAC_VBAT , ALRM_LVL_VBAT_WARN) ) patternDecode(resource,50,200,0,50,2000); //vbat warning
else if ( IS_ALARM_SET(ALRM_FAC_VBAT , ALRM_LVL_VBAT_INFO) ) patternDecode(resource,200,0,0,50,2000); //vbat info
#endif
else if ( IS_ALARM_SET(ALRM_FAC_CONFIRM , ALRM_LVL_CONFIRM_1) ) patternDecode(resource,200,0,0,50,200); //confirmation indicator 1x
else if ( IS_ALARM_SET(ALRM_FAC_CONFIRM , ALRM_LVL_CONFIRM_2) ) patternDecode(resource,200,200,0,50,200); //confirmation indicator 2x
else if ( IS_ALARM_SET(ALRM_FAC_CONFIRM , ALRM_LVL_CONFIRM_ELSE) ) patternDecode(resource,200,200,200,50,200); //confirmation indicator 3x
else if (SequenceActive[(uint8_t)resource] == 1) patternDecode(resource,0,0,0,0,0); // finish last sequence if not finished yet
else turnOff(resource); // turn off the resource
alarmArray[ALRM_FAC_ACC] = ALRM_LVL_OFF; //reset acc not calibrated
#endif
#if defined(PILOTLAMP)
if ( IS_ALARM_SET(ALRM_FAC_I2CERROR , ALRM_LVL_ON) ) PilotLampSequence(100,B000111,2); //I2C Error
else if ( IS_ALARM_SET(ALRM_FAC_BEEPERON , ALRM_LVL_ON) ) PilotLampSequence(100,B0101<<8|B00010001,4); //BeeperOn
else{
resource = 2;
if (f.ARMED && f.ANGLE_MODE) patternDecode(resource,100,100,100,100,1000); //Green Slow Blink-->angle
else if (f.ARMED && f.HORIZON_MODE) patternDecode(resource,200,200,200,100,1000); //Green mid Blink-->horizon
else if (f.ARMED) patternDecode(resource,100,100,0,100,1000); //Green fast Blink-->acro
else turnOff(resource); //switch off
resource = 3;
#if GPS
if ( IS_ALARM_SET(ALRM_FAC_GPS , ALRM_LVL_ON) ) patternDecode(resource,100,100,100,100,100); // blue fast blink -->no gps fix
else if (f.GPS_mode != GPS_MODE_NONE) patternDecode(resource,100,100,100,100,1000); //blue slow blink --> gps active
else setTiming(resource,100,1000); //blue short blink -->gps fix ok
#else
turnOff(resource);
#endif
resource = 4;
if ( IS_ALARM_SET(ALRM_FAC_FAILSAFE , ALRM_LVL_FAILSAFE_PANIC) ) setTiming(resource,100,100); //Red fast blink--> failsafe panic
else if ( IS_ALARM_SET(ALRM_FAC_FAILSAFE , ALRM_LVL_FAILSAFE_FINDME) ) patternDecode(resource,1000,0,0,0,2000); //red slow blink--> failsafe find me
else turnOff(resource);
}
#endif
}
void patternDecode(uint8_t resource,uint16_t first,uint16_t second,uint16_t third,uint16_t cyclepause, uint16_t endpause){
static uint16_t pattern[5][5];
static uint8_t icnt[5] = {0,0,0,0,0};
if(SequenceActive[resource] == 0){
SequenceActive[resource] = 1;
pattern[resource][0] = first;
pattern[resource][1] = second;
pattern[resource][2] = third;
pattern[resource][3] = endpause;
pattern[resource][4] = cyclepause;
}
if(icnt[resource] <3 ){
if (pattern[resource][icnt[resource]] != 0){
setTiming(resource,pattern[resource][icnt[resource]],pattern[resource][4]);
}
}
else if (LastToggleTime[resource] < (millis()-pattern[resource][3])) { //sequence is over: reset everything
icnt[resource]=0;
SequenceActive[resource] = 0; //sequence is now done, cycleDone sequence may begin
alarmArray[ALRM_FAC_TOGGLE] = ALRM_LVL_OFF; //reset toggle bit
alarmArray[ALRM_FAC_CONFIRM] = ALRM_LVL_OFF; //reset confirmation bit
turnOff(resource);
return;
}
if (cycleDone[resource] == 1 || pattern[resource][icnt[resource]] == 0) { //single on off cycle is done
if (icnt[resource] < 3) {
icnt[resource]++;
}
cycleDone[resource] = 0;
turnOff(resource);
}
}
void turnOff(uint8_t resource){
if (resource == 1) {
if (resourceIsOn[1]) {
BUZZERPIN_OFF;
resourceIsOn[1] = 0;
}
}else if (resource == 0) {
if (resourceIsOn[0]) {
resourceIsOn[0] = 0;
LEDPIN_OFF;
}
}else if (resource == 2) {
if (resourceIsOn[2]) {
resourceIsOn[2] = 0;
#if defined (PILOTLAMP)
PilotLamp(PL_GRN_OFF);
#endif
}
}else if (resource == 3) {
if (resourceIsOn[3]) {
resourceIsOn[3] = 0;
#if defined (PILOTLAMP)
PilotLamp(PL_BLU_OFF);
#endif
}
}else if (resource == 4) {
if (resourceIsOn[4]) {
resourceIsOn[4] = 0;
#if defined (PILOTLAMP)
PilotLamp(PL_RED_OFF);
#endif
}
}
}
#if defined (PILOTLAMP)
//original code based on mr.rc-cam and jevermeister work
//modified by doughboy to use timer interrupt
#define PL_BUF_SIZE 8
volatile uint8_t queue[PL_BUF_SIZE]; //circular queue
volatile uint8_t head = 0;
volatile uint8_t tail = 0;
/********************************************************************/
/**** Pilot Lamp Handling ****/
/********************************************************************/
//define your light pattern by bits, 0=off 1=on
//define up to 5 patterns that cycle using 15 bits, pattern starts at bit 0 in groups of 3
// 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
// R B G R B G R B G R B G R B G
//parameters speed is the ms between patterns
// pattern is the 16bit (uses only 15 bits) specifying up to 5 patterns
// num_patterns is the number of patterns defined
//example to define sequential light where G->B->R then back to G, you need 4 patterns
// B00000101<<8 | B00010001
//example: to define alternate all on and al off, you only need two patterns
// B00000111
void PilotLampSequence(uint16_t speed, uint16_t pattern, uint8_t num_patterns){
static uint32_t lastswitch = 0;
static uint8_t seqno = 0;
static uint16_t lastpattern = 0; //since variables are static, when switching patterns, the correct pattern will start on the second sequence
if(millis() < (lastswitch + speed))
return; //not time to change pattern yet
lastswitch = millis();
for (uint8_t i=0;i<3;i++) {
uint8_t state = (pattern >>(seqno*3+i)) & 1; //get pattern bit
//since value is multiple of 25, we can calculate time based on pattern position
//i=0 is green, 1=blue, 2=red, green ON ticks is calculated as 50*(0+1)-1*25 = 25 ticks
uint8_t tick = 50*(i+1);
if (state)
tick -=25;
PilotLamp(tick);
resourceIsOn[i+2]=state;
}
seqno++;
seqno%=num_patterns;
}
void PilotLamp(uint8_t count){
if (((tail+1)%PL_BUF_SIZE)!=head) {
queue[tail]=count;
tail++;
tail=(tail%PL_BUF_SIZE);
}
}
//ISR code sensitive to changes, test thoroughly before flying
ISR(PL_ISR) { //the interrupt service routine
static uint8_t state = 0;
uint8_t h = head;
uint8_t t = tail;
if (state==0) {
if (h!=t) {
uint8_t c = queue[h];
PL_PIN_ON;
PL_CHANNEL+=c;
h = ((h+1) % PL_BUF_SIZE);
head = h;
state=1;
}
} else if (state==1) {
PL_PIN_OFF;
PL_CHANNEL+=PL_IDLE;
state=0;
}
}
#endif
/********************************************************************/
/**** LED Handling ****/
/********************************************************************/
//Beware!! Is working with delays, do not use inflight!
void blinkLED(uint8_t num, uint8_t ontime,uint8_t repeat) {
uint8_t i,r;
for (r=0;r<repeat;r++) {
for(i=0;i<num;i++) {
#if defined(LED_FLASHER)
switch_led_flasher(1);
#endif
#if defined(LANDING_LIGHTS_DDR)
switch_landing_lights(1);
#endif
LEDPIN_TOGGLE; // switch LEDPIN state
delay(ontime);
#if defined(LED_FLASHER)
switch_led_flasher(0);
#endif
#if defined(LANDING_LIGHTS_DDR)
switch_landing_lights(0);
#endif
}
delay(60); //wait 60 ms
}
}
/********************************************************************/
/**** Global Resource Handling ****/
/********************************************************************/
void setTiming(uint8_t resource, uint16_t pulse, uint16_t pause){
if (!resourceIsOn[resource] && (millis() >= (LastToggleTime[resource] + pause))&& pulse != 0) {
resourceIsOn[resource] = 1;
toggleResource(resource,1);
LastToggleTime[resource]=millis();
} else if ( (resourceIsOn[resource] && (millis() >= LastToggleTime[resource] + pulse) ) || (pulse==0 && resourceIsOn[resource]) ) {
resourceIsOn[resource] = 0;
toggleResource(resource,0);
LastToggleTime[resource]=millis();
cycleDone[resource] = 1;
}
}
void toggleResource(uint8_t resource, uint8_t activate){
switch(resource) {
#if defined (BUZZER)
case 1:
if (activate == 1) {BUZZERPIN_ON;}
else BUZZERPIN_OFF;
break;
#endif
#if defined (PILOTLAMP)
case 2:
if (activate == 1) PilotLamp(PL_GRN_ON);
else PilotLamp(PL_GRN_OFF);
break;
case 3:
if (activate == 1) PilotLamp(PL_BLU_ON);
else PilotLamp(PL_BLU_OFF);
break;
case 4:
if (activate == 1) PilotLamp(PL_RED_ON);
else PilotLamp(PL_RED_OFF);
break;
#endif
case 0:
default:
if (activate == 1) {LEDPIN_ON;}
else LEDPIN_OFF;
break;
}
return;
}
/********************************************************************/
/**** LED Ring Handling ****/
/********************************************************************/
#if defined(LED_RING)
#define LED_RING_ADDRESS 0xDA //7 bits
void i2CLedRingState(void) {
uint8_t b[10];
b[0]='M'; // MultiwII mode
if (f.ARMED) { // Motors running = flying
if(!(f.ANGLE_MODE||f.HORIZON_MODE)){ //ACRO
b[0]= 'x';
} else if(f.GPS_mode == GPS_MODE_RTH){ //RTH
b[0]= 'w';
} else if(f.GPS_mode == GPS_MODE_HOLD){//Position Hold
b[0]= 'v';
} else if(f.HORIZON_MODE){ //HORIZON mode
b[0]= 'y';
} else {
b[0]= 'u'; // ANGLE mode
}
i2c_rep_start(LED_RING_ADDRESS);
i2c_write(b[0]);
i2c_stop();
} else if (!f.ACC_CALIBRATED) { // Multiwii not stable or uncalibrated
b[0]= 't';
i2c_rep_start(LED_RING_ADDRESS);
i2c_write(b[0]);
i2c_stop();
} else { // Motors not running = on the ground
b[0]= 's';
if (f.ANGLE_MODE) b[1]=1;
else if (f.HORIZON_MODE) b[1]=2;
else b[1]= 0;
if (f.BARO_MODE) b[2]=1;
else b[2]= 0;
if (f.MAG_MODE) b[3]=1;
else b[3]= 0;
#if GPS
if (rcOptions[BOXGPSHOME]) b[4]=2;
else if (rcOptions[BOXGPSHOLD]) b[4]=1;
else b[4]=0;
#else
b[4]=0;
#endif
b[5]=(180-att.heading)/2; // 1 unit = 2 degrees;
b[6]=GPS_numSat;
i2c_rep_start(LED_RING_ADDRESS);
for(uint8_t i=0;i<7;i++){
i2c_write(b[i]);
}
i2c_stop();
}
#if defined (VBAT)
if (analog.vbat < conf.vbatlevel_warn1){ // Uh oh - battery low
i2c_rep_start(LED_RING_ADDRESS);
i2c_write('r');
i2c_stop();
}
# endif
}
void blinkLedRing(void) {
uint8_t b[3];
b[0]='g';
b[1]= 10;
b[2]= 10;
i2c_rep_start(LED_RING_ADDRESS<<1);
for(uint8_t i=0;i<3;i++)
i2c_write(b[i]);
i2c_stop();
}
#endif
/********************************************************************/
/**** LED flasher Handling ****/
/********************************************************************/
#if defined(LED_FLASHER)
static uint8_t led_flasher_sequence = 0;
/* if we load a specific sequence and do not want it change, set this flag */
static enum {
LED_FLASHER_AUTO,
LED_FLASHER_CUSTOM
} led_flasher_control = LED_FLASHER_AUTO;
void init_led_flasher() {
#if defined(LED_FLASHER_DDR)
LED_FLASHER_DDR |= (1<<LED_FLASHER_BIT);
switch_led_flasher(0);
#endif
}
void led_flasher_set_sequence(uint8_t s) {
led_flasher_sequence = s;
}
void inline switch_led_flasher(uint8_t on) {
#if defined(LED_FLASHER_DDR)
#ifndef LED_FLASHER_INVERT
if (on) {
#else
if (!on) {
#endif
LED_FLASHER_PORT |= (1<<LED_FLASHER_BIT);
} else {
LED_FLASHER_PORT &= ~(1<<LED_FLASHER_BIT);
}
#endif
}
static uint8_t inline led_flasher_on() {
uint8_t seg = (currentTime/1000/125)%8;
return (led_flasher_sequence & 1<<seg);
}
void auto_switch_led_flasher() {
if (led_flasher_on()) {
switch_led_flasher(1);
} else {
switch_led_flasher(0);
}
}
/* auto-select a fitting sequence according to the
* copter situation
*/
void led_flasher_autoselect_sequence() {
if (led_flasher_control != LED_FLASHER_AUTO) return;
#if defined(LED_FLASHER_SEQUENCE_MAX)
/* do we want the complete illumination no questions asked? */
if (rcOptions[BOXLEDMAX]) {
led_flasher_set_sequence(LED_FLASHER_SEQUENCE_MAX);
return;
}
#endif
#if defined(LED_FLASHER_SEQUENCE_LOW)
if (rcOptions[BOXLEDLOW]) {
led_flasher_set_sequence(LED_FLASHER_SEQUENCE_LOW);
return;
}
#endif
#if defined(LED_FLASHER_SEQUENCE_ARMED)
/* do we have a special sequence for armed copters? */
if (f.ARMED) {
led_flasher_set_sequence(LED_FLASHER_SEQUENCE_ARMED);
return;
}
#endif
/* Let's load the plain old boring sequence as a last resort */
led_flasher_set_sequence(LED_FLASHER_SEQUENCE);
}
#endif
#if defined(LANDING_LIGHTS_DDR)
void init_landing_lights(void) {
LANDING_LIGHTS_DDR |= 1<<LANDING_LIGHTS_BIT;
switch_landing_lights(0);
}
void inline switch_landing_lights(uint8_t on) {
#ifndef LANDING_LIGHTS_INVERT
if (on) {
#else
if (!on) {
#endif
LANDING_LIGHTS_PORT |= 1<<LANDING_LIGHTS_BIT;
} else {
LANDING_LIGHTS_PORT &= ~(1<<LANDING_LIGHTS_BIT);
}
}
void auto_switch_landing_lights(void) {
if (rcOptions[BOXLLIGHTS]
#if defined(LANDING_LIGHTS_AUTO_ALTITUDE) & SONAR
|| (sonarAlt >= 0 && sonarAlt <= LANDING_LIGHTS_AUTO_ALTITUDE && f.ARMED)
#endif
#if defined(LED_FLASHER_DDR) & defined(LANDING_LIGHTS_ADOPT_LED_FLASHER_PATTERN)
|| (led_flasher_on())
#endif
) {
switch_landing_lights(1);
} else {
switch_landing_lights(0);
}
}
#endif
/********************************************************************/
/**** Variometer signaling ****/
/********************************************************************/
#ifdef VARIOMETER
#define TRESHOLD_UP 50 // (m1) treshhold for up velocity
#define TRESHOLD_DOWN 40 // (m1) treshhold for up velocity
#define TRESHOLD_UP_MINUS_DOWN 10 // (m1) you compute: TRESHOLD_UP - TRESHOLD_DOWN
#define ALTITUDE_INTERVAL 400 // (m2) in calls; interval to perodically observe altitude change
#define DELTA_ALT_TRESHOLD 200 // (m2) in cm; treshold for delta altitude after ALTITUDE_INTERVAL
#define DELTA_T 5 // (m2) divisor for delta_alt to compute vel
#define SIGNAL_SCALE 4 // you compute: (50ms per beep / 5*3ms cycle time)
#define SILENCE_M 200 // max duration of silence in calls
#define SILENCE_SCALE 33 // vario scale: larger -> slower decay of silence
#define SILENCE_A 6600 // you compute: SILENCE_M * SILENCE_SCALE
#define DURATION_SUP 5 // sup duration of signal
#define DURATION_SCALE 100 // vario scale: larger -> slower rise of length
/* vario_signaling() gets called every 5th cycle (~2ms - 5ms) -> (~10ms - 25ms)
* modulates silence duration between tones and tone duration
* higher abs(vario) -> shorther silence & longer signal duration.
* Utilize two methods for combined short and long term observation
*/
void vario_signaling(void) {
static int16_t last_v = 0;
static uint16_t silence = 0;
static int16_t max_v = 0;
static uint8_t max_up = 0;
uint16_t s = 0;
int16_t v = 0;
/* method 1: use vario to follow short term up/down movement : */
#if (VARIOMETER == 1) || (VARIOMETER == 12)
{
uint8_t up = (alt.vario > 0 ? 1 : 0 ); //, down = (vario < 0 ? 1 : 0 );
//int16_t v = abs(vario) - up * TRESHOLD_UP - down * TRESHOLD_DOWN;
v = abs(alt.vario) - up * (TRESHOLD_UP_MINUS_DOWN) - TRESHOLD_DOWN;
if (silence>0) silence--; else silence = 0;
if (v > 0) {
// going up or down
if (v > last_v) {
// current speed greater than speed for last signal,
// so shorten the remaining silence period
s = (SILENCE_A) / (SILENCE_SCALE + v);
if (silence > s) silence = s;
}
// remember interim max v
if (v > max_v) {
max_v = v;
max_up = up;
}
} // end of (v>0)
}
#endif // end method 1
/* method 2: use altitude to follow long term up/down movement : */
#if (VARIOMETER == 2) || (VARIOMETER == 12)
{
static uint16_t t = 0;
if (!(t++ % ALTITUDE_INTERVAL)) {
static int32_t last_BaroAlt = 0;
int32_t delta_BaroAlt = alt.EstAlt - last_BaroAlt;
if (abs(delta_BaroAlt) > DELTA_ALT_TRESHOLD) {
// inject suitable values
max_v = abs(delta_BaroAlt / DELTA_T);
max_up = (delta_BaroAlt > 0 ? 1 : 0);
silence = 0;
}
last_BaroAlt = alt.EstAlt;
}
}
#endif // end method 2
/* something to signal now? */
if ( (silence == 0) && (max_v > 0) ) {
// create new signal
uint16_t d = (DURATION_SUP * max_v)/(DURATION_SCALE + max_v);
s = (SILENCE_A) / (SILENCE_SCALE + max_v);
s+= d * SIGNAL_SCALE;
vario_output(d, max_up);
last_v = v;
max_v = 0;
max_up = 0;
silence = s;
}
} // end of vario_signaling()
void vario_output(uint16_t d, uint8_t up) {
if (d == 0) return;
#if defined(SUPPRESS_VARIOMETER_UP)
if (up) return;
#elif defined(SUPPRESS_VARIOMETER_DOWN)
if (!up) return;
#endif
#ifdef VARIOMETER_SINGLE_TONE
uint8_t s1 = 0x07;
uint8_t d1 = d;
#else
uint8_t s1 = (up ? 0x05 : 0x07);
uint8_t d1 = d/2;
#endif
if (d1<1) d1 = 1;
for (uint8_t i=0; i<d1; i++) LCDprint(s1);
#ifndef VARIOMETER_SINGLE_TONE
uint8_t s2 = (up ? 0x07 : 0x05);
uint8_t d2 = d-d1;
if (d2<1) d2 = 1;
for (uint8_t i=0; i<d2; i++) LCDprint(s2);
#endif
}
#endif