From 7aee1b37c6415a1d3dbfa930dc0301de7dc12cd2 Mon Sep 17 00:00:00 2001 From: EmanuelFeru Date: Fri, 1 Jan 2021 13:37:54 +0100 Subject: [PATCH] Added beep for input change --- Src/util.c | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/Src/util.c b/Src/util.c index a282038..1148d75 100644 --- a/Src/util.c +++ b/Src/util.c @@ -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;