-
Notifications
You must be signed in to change notification settings - Fork 0
/
Alarms.cpp
707 lines (643 loc) · 23.8 KB
/
Alarms.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
/*
* MWC Mini 基于 MWC 2.3
*
*/
#include "Arduino.h"
#include "config.h"
#include "def.h"
#include "types.h"
#include "MultiWii.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[0] = 1;
last_rcOptions[i] = rcOptions[i];
i++;
if(i >= CHECKBOXITEMS)i=0;
if(firstrun == 1 && alarmArray[7] == 0) {
alarmArray[0] = 0; //only enable options beep AFTER gyro init
alarmArray[3] = 0;
}
else firstrun = 0;
#endif
#if defined(FAILSAFE)
if ( failsafeCnt > (5*FAILSAFE_DELAY) && f.ARMED) {
alarmArray[1] = 1; //set failsafe warning level to 1 while landing
if (failsafeCnt > 5*(FAILSAFE_DELAY+FAILSAFE_OFF_DELAY)) alarmArray[1] = 2; //start "find me" signal after landing
}
if ( failsafeCnt > (5*FAILSAFE_DELAY) && !f.ARMED) alarmArray[1] = 2; // tx turned off while motors are off: start "find me" signal
if ( failsafeCnt == 0) alarmArray[1] = 0; // turn off alarm if TX is okay
#endif
#if GPS
if ((f.GPS_mode != GPS_MODE_NONE) && !f.GPS_FIX) alarmArray[2] = 2;
else if (!f.GPS_FIX)alarmArray[2] = 1;
else alarmArray[2] = 0;
#endif
#if defined(BUZZER)
if ( rcOptions[BOXBEEPERON] )alarmArray[3] = 1;
else alarmArray[3] = 0;
#endif
#if defined(POWERMETER)
if ( (pMeter[PMOTOR_SUM] < pAlarm) || (pAlarm == 0) || !f.ARMED) alarmArray[4] = 0;
else if (pMeter[PMOTOR_SUM] > pAlarm) alarmArray[4] = 1;
#endif
#if defined(ARMEDTIMEWARNING)
if (ArmedTimeWarningMicroSeconds > 0 && armedTime >= ArmedTimeWarningMicroSeconds && f.ARMED) alarmArray[5] = 1;
else alarmArray[5] = 0;
#endif
#if defined(VBAT)
if (vbatMin < conf.vbatlevel_crit) alarmArray[6] = 4;
else if ( (analog.vbat > conf.vbatlevel_warn1) || (NO_VBAT > analog.vbat)) alarmArray[6] = 0;
else if (analog.vbat > conf.vbatlevel_warn2) alarmArray[6] = 1;
else if (analog.vbat > conf.vbatlevel_crit) alarmArray[6] = 2;
//else alarmArray[6] = 4;
#endif
if (i2c_errors_count > i2c_errors_count_old+100 || i2c_errors_count < -1) alarmArray[9] = 1;
else alarmArray[9] = 0;
alarmPatternComposer();
}
void alarmPatternComposer(){
static char resource = 0;
// patternDecode(length1,length2,length3,beeppause,endpause,loop)
#if defined(BUZZER)
resource = 1; //buzzer selected
if (alarmArray[1] == 2) patternDecode(resource,200,0,0,50,2000); //failsafe "find me" signal
else if (alarmArray[1] == 1 || alarmArray[8] == 1) patternDecode(resource,50,200,200,50,50); //failsafe "panic" or Acc not calibrated
else if (alarmArray[0] == 1) patternDecode(resource,50,0,0,50,0); //toggle 1
else if (alarmArray[0] == 2) patternDecode(resource,50,50,0,50,0); //toggle 2
else if (alarmArray[0] > 2) patternDecode(resource,50,50,50,50,0); //toggle else
else if (alarmArray[2] == 2) patternDecode(resource,50,50,0,50,50); //gps installed but no fix
else if (alarmArray[3] == 1) patternDecode(resource,50,50,50,50,50); //BeeperOn
else if (alarmArray[4] == 1) patternDecode(resource,50,50,0,50,120); //pMeter Warning
else if (alarmArray[5] == 1) patternDecode(resource,50,50,50,50,0); //Runtime warning
else if (alarmArray[6] == 4) patternDecode(resource,50,50,200,50,2000); //vbat critical
else if (alarmArray[6] == 2) patternDecode(resource,50,200,0,50,2000); //vbat warning
else if (alarmArray[6] == 1) patternDecode(resource,200,0,0,50,2000); //vbat info
else if (alarmArray[7] == 1) patternDecode(resource,200,0,0,50,200); //confirmation indicator 1x
else if (alarmArray[7] == 2) patternDecode(resource,200,200,0,50,200); //confirmation indicator 2x
else if (alarmArray[7] > 2) 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[8] = 0; //reset acc not calibrated
#endif
#if defined(PILOTLAMP)
if (alarmArray[9] == 1) PilotLampSequence(100,B000111,2); //I2C Error
else if (alarmArray[3] == 1) 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 (alarmArray[2]==1) 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 (alarmArray[1] == 1) setTiming(resource,100,100); //Red fast blink--> failsafe panic
else if (alarmArray[1] == 2) 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[0] = 0; //reset toggle bit
alarmArray[7] = 0; //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