Add a setting to disable the buzzer

EFeru · Sep 2, 2023 · eeb2f87 · eeb2f87
1 parent efb438b
commit eeb2f87
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Showing 4 changed files with 30 additions and 1 deletion.
diff --git a/Inc/config.h b/Inc/config.h
@@ -261,6 +261,11 @@
 // ########################### END OF DEBUG LCD ############################
 
 
+// ############################### BUZZER ENABLE / DISABLE ###############################
+#define BUZZER_ENABLED              // If enabled the buzzer will buzz, otherwise not.
+// ########################### END OF BUZZER ENABLE / DISABLE ############################
+
+
 
 // ################################# VARIANT_ADC SETTINGS ############################
 #ifdef VARIANT_ADC

diff --git a/Src/comms.c b/Src/comms.c
@@ -208,7 +208,9 @@ int8_t setParamValInt(uint8_t index, int32_t newValue) {
     }
 
     // Beep if value was modified
+#ifdef BUZZER_ENABLED
     beepShort(5);
+#endif // BUZZER_ENABLED
   }
 
   // Run callback function if assigned

diff --git a/Src/main.c b/Src/main.c
@@ -207,7 +207,9 @@ int main(void) {
   HAL_ADC_Start(&hadc1);
   HAL_ADC_Start(&hadc2);
 
+#ifdef BUZZER_ENABLED
   poweronMelody();
+#endif // BUZZER_ENABLED
   HAL_GPIO_WritePin(LED_PORT, LED_PIN, GPIO_PIN_SET);
 
   int32_t board_temp_adcFixdt = adc_buffer.temp << 16;  // Fixed-point filter output initialized with current ADC converted to fixed-point
@@ -258,8 +260,10 @@ int main(void) {
       // ####### MOTOR ENABLING: Only if the initial input is very small (for SAFETY) #######
       if (enable == 0 && !rtY_Left.z_errCode && !rtY_Right.z_errCode && 
           ABS(input1[inIdx].cmd) < 50 && ABS(input2[inIdx].cmd) < 50){
+#ifdef BUZZER_ENABLED
         beepShort(6);                     // make 2 beeps indicating the motor enable
         beepShort(4); HAL_Delay(100);
+#endif // BUZZER_ENABLED
         steerFixdt = speedFixdt = 0;      // reset filters
         enable = 1;                       // enable motors
         #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
@@ -416,7 +420,9 @@ int main(void) {
 
       if ((distance / 1345.0) - setDistance > 0.5 && (lastDistance / 1345.0) - setDistance > 0.5) { // Error, robot too far away!
         enable = 0;
+        #ifdef BUZZER_ENABLED
         beepLong(5);
+        #endif // BUZZER_ENABLED
         #ifdef SUPPORT_LCD
           LCD_ClearDisplay(&lcd);
           HAL_Delay(5);
@@ -457,7 +463,7 @@ int main(void) {
         }
       #endif
       transpotter_counter++;
-    #endif
+    #endif // VARIANT_TRANSPOTTER
 
     // ####### SIDEBOARDS HANDLING #######
     #if defined(SIDEBOARD_SERIAL_USART2)
@@ -554,6 +560,7 @@ int main(void) {
       poweroff();
     } else if (rtY_Left.z_errCode || rtY_Right.z_errCode) {                                           // 1 beep (low pitch): Motor error, disable motors
       enable = 0;
+      #ifdef BUZZER_ENABLED
       beepCount(1, 24, 1);
     } else if (timeoutFlgADC) {                                                                       // 2 beeps (low pitch): ADC timeout
       beepCount(2, 24, 1);
@@ -567,11 +574,16 @@ int main(void) {
       beepCount(0, 10, 6);
     } else if (BAT_LVL2_ENABLE && batVoltage < BAT_LVL2) {                                            // 1 beep slow (medium pitch): Low bat 2
       beepCount(0, 10, 30);
+      #endif // BUZZER_ENABLED
     } else if (BEEPS_BACKWARD && (((cmdR < -50 || cmdL < -50) && speedAvg < 0) || MultipleTapBrake.b_multipleTap)) { // 1 beep fast (high pitch): Backward spinning motors
+      #ifdef BUZZER_ENABLED
       beepCount(0, 5, 1);
+      #endif // BUZZER_ENABLED
       backwardDrive = 1;
     } else {  // do not beep
+      #ifdef BUZZER_ENABLED
       beepCount(0, 0, 0);
+      #endif // BUZZER_ENABLED
       backwardDrive = 0;
     }
 

diff --git a/Src/util.c b/Src/util.c
@@ -417,32 +417,40 @@ void UART_DisableRxErrors(UART_HandleTypeDef *huart)
 /* =========================== General Functions =========================== */
 
 void poweronMelody(void) {
+#ifdef BUZZER_ENABLED
     buzzerCount = 0;  // prevent interraction with beep counter
     for (int i = 8; i >= 0; i--) {
       buzzerFreq = (uint8_t)i;
       HAL_Delay(100);
     }
     buzzerFreq = 0;
+#endif
 }
 
 void beepCount(uint8_t cnt, uint8_t freq, uint8_t pattern) {
+#ifdef BUZZER_ENABLED
     buzzerCount   = cnt;
     buzzerFreq    = freq;
     buzzerPattern = pattern;
+#endif
 }
 
 void beepLong(uint8_t freq) {
+#ifdef BUZZER_ENABLED
     buzzerCount = 0;  // prevent interraction with beep counter
     buzzerFreq = freq;
     HAL_Delay(500);
     buzzerFreq = 0;
+#endif
 }
 
 void beepShort(uint8_t freq) {
+#ifdef BUZZER_ENABLED
     buzzerCount = 0;  // prevent interraction with beep counter
     buzzerFreq = freq;
     HAL_Delay(100);
     buzzerFreq = 0;
+#endif
 }
 
 void beepShortMany(uint8_t cnt, int8_t dir) {
@@ -1543,12 +1551,14 @@ void poweroff(void) {
   #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
   printf("-- Motors disabled --\r\n");
   #endif
+  #ifdef BUZZER_ENABLED
   buzzerCount = 0;  // prevent interraction with beep counter
   buzzerPattern = 0;
   for (int i = 0; i < 8; i++) {
     buzzerFreq = (uint8_t)i;
     HAL_Delay(100);
   }
+  #endif
   saveConfig();
   HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, GPIO_PIN_RESET);
   while(1) {}