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hoverboard-firmware-hack-foc-serial-esc
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Added beep for input change

This commit is contained in:
EmanuelFeru 2021-01-01 13:37:54 +01:00
parent 31c321c83a
commit 7aee1b37c6
1 changed files with 14 additions and 3 deletions
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17
Src/util.c
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@ -88,7 +88,8 @@ ExtU rtU_Right; /* External inputs */
ExtY rtY_Right; /* External outputs */
//---------------
uint8_t inIdx = 0;
uint8_t inIdx = 0;
static uint8_t inIdxPrev = 0;
#if defined(PRI_INPUT1) && defined(PRI_INPUT2) && defined(AUX_INPUT1) && defined(AUX_INPUT2)
InputStruct input1[INPUTS_NR] = { {0, 0, 0, PRI_INPUT1}, {0, 0, 0, AUX_INPUT1} };
InputStruct input2[INPUTS_NR] = { {0, 0, 0, PRI_INPUT2}, {0, 0, 0, AUX_INPUT2} };
@ -993,13 +994,23 @@ void handleTimeout(void) {
}
#endif
if (timeoutFlgADC || timeoutFlgSerial || timeoutFlgGen) { // In case of timeout bring the system to a Safe State
// In case of timeout bring the system to a Safe State
if (timeoutFlgADC || timeoutFlgSerial || timeoutFlgGen) {
ctrlModReq = OPEN_MODE; // Request OPEN_MODE. This will bring the motor power to 0 in a controlled way
input1[inIdx].cmd = 0;
input2[inIdx].cmd = 0;
} else {
ctrlModReq = ctrlModReqRaw; // Follow the Mode request
}
// Beep in case of Input index change
if (inIdx && !inIdxPrev) { // rising edge
beepShort(8);
inIdxPrev = inIdx;
} else if (!inIdx && inIdxPrev) { // falling edge
beepShort(18);
inIdxPrev = inIdx;
}
}
/*
@ -1359,7 +1370,7 @@ void sideboardSensors(uint8_t sensors) {
#if !defined(VARIANT_HOVERBOARD) && (defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3))
static uint8_t sensor1_prev, sensor2_prev;
static uint8_t sensor1_index; // holds the press index number for sensor1, when used as a button
uint8_t sensor1_trig, sensor2_trig;
uint8_t sensor1_trig = 0, sensor2_trig = 0;
#if defined(SIDEBOARD_SERIAL_USART2)
uint8_t sideboardIdx = SIDEBOARD_SERIAL_USART2;
uint16_t sideboardSns = Sideboard_L.sensors;