Made beep functions available also for other variants

Beep function "short" and "long" can be used also for other variants than TRASNPOTTER

Inc/defines.h

@@ -157,6 +157,10 @@ typedef struct {
   uint16_t l_rx2;
 } adc_buf_t;
 
+// Define Beep functions
+void longBeep(uint8_t freq);
+void shortBeep(uint8_t freq);
+
 // Define low-pass filter functions. Implementation is in main.c
 void filtLowPass16(int16_t u, uint16_t coef, int16_t *y);
 void filtLowPass32(int32_t u, uint16_t coef, int32_t *y);

Src/main.c

@@ -87,8 +87,6 @@ extern I2C_HandleTypeDef hi2c2;
   int feedforward;
 
   void saveConfig(void);
-  void longBeep(void);
-  void shortBeep(uint8_t freq);
 
   /* Virtual address defined by the user: 0xFFFF value is prohibited */
   uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1337};
@@ -377,7 +375,7 @@ int main(void) {
           while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
             HAL_Delay(10);
           }
-          longBeep();
+          longBeep(5);
           HAL_Delay(350);
           poweroff();
         } else {
@@ -523,10 +521,8 @@ int main(void) {
     #ifndef TRANSPOTTER
       // ####### MOTOR ENABLING: Only if the initial input is very small (for SAFETY) #######
       if (enable == 0 && (cmd1 > -50 && cmd1 < 50) && (cmd2 > -50 && cmd2 < 50)){
-        buzzerPattern = 0;
+        shortBeep(6);                     // make 2 beeps indicating the motor enable
-        buzzerFreq = 6; HAL_Delay(100);   // make 2 beeps indicating the motor enable
+        shortBeep(4); HAL_Delay(100);
-        buzzerFreq = 4; HAL_Delay(200);
-        buzzerFreq = 0;
         enable = 1;                       // enable motors
       }
 
@@ -587,7 +583,7 @@ int main(void) {
 
       if ((distance / 1345.0) - setDistance > 0.5 && (lastDistance / 1345.0) - setDistance > 0.5) { // Error, robot too far away!
         enable = 0;
-        longBeep();
+        longBeep(5);
         #ifdef SUPPORT_LCD
           LCD_ClearDisplay(&lcd);
           HAL_Delay(5);
@@ -736,8 +732,15 @@ int main(void) {
 }
 
 #ifdef TRANSPOTTER
-  void longBeep(){
+  void saveConfig() {
-      buzzerFreq = 5;
+    HAL_FLASH_Unlock();
+    EE_WriteVariable(VirtAddVarTab[0], saveValue);
+    HAL_FLASH_Lock();
+  }
+#endif
+
+void longBeep(uint8_t freq){
+    buzzerFreq = freq;
     HAL_Delay(500);
     buzzerFreq = 0;
 }
@@ -748,58 +751,6 @@ int main(void) {
     buzzerFreq = 0;
 }
 
-  void saveConfig() {
-    HAL_FLASH_Unlock();
-    EE_WriteVariable(VirtAddVarTab[0], saveValue);
-    HAL_FLASH_Lock();
-  }
-#endif
-
-/** System Clock Configuration
-*/
-void SystemClock_Config(void) {
-  RCC_OscInitTypeDef RCC_OscInitStruct;
-  RCC_ClkInitTypeDef RCC_ClkInitStruct;
-  RCC_PeriphCLKInitTypeDef PeriphClkInit;
-
-  /**Initializes the CPU, AHB and APB busses clocks
-    */
-  RCC_OscInitStruct.OscillatorType      = RCC_OSCILLATORTYPE_HSI;
-  RCC_OscInitStruct.HSIState            = RCC_HSI_ON;
-  RCC_OscInitStruct.HSICalibrationValue = 16;
-  RCC_OscInitStruct.PLL.PLLState        = RCC_PLL_ON;
-  RCC_OscInitStruct.PLL.PLLSource       = RCC_PLLSOURCE_HSI_DIV2;
-  RCC_OscInitStruct.PLL.PLLMUL          = RCC_PLL_MUL16;
-  HAL_RCC_OscConfig(&RCC_OscInitStruct);
-
-  /**Initializes the CPU, AHB and APB busses clocks
-    */
-  RCC_ClkInitStruct.ClockType           = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
-  RCC_ClkInitStruct.SYSCLKSource        = RCC_SYSCLKSOURCE_PLLCLK;
-  RCC_ClkInitStruct.AHBCLKDivider       = RCC_SYSCLK_DIV1;
-  RCC_ClkInitStruct.APB1CLKDivider      = RCC_HCLK_DIV2;
-  RCC_ClkInitStruct.APB2CLKDivider      = RCC_HCLK_DIV1;
-
-  HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2);
-
-  PeriphClkInit.PeriphClockSelection    = RCC_PERIPHCLK_ADC;
-  // PeriphClkInit.AdcClockSelection    = RCC_ADCPCLK2_DIV8;  // 8 MHz
-  PeriphClkInit.AdcClockSelection       = RCC_ADCPCLK2_DIV4;  // 16 MHz
-  HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);
-
-  /**Configure the Systick interrupt time
-    */
-  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000);
-
-  /**Configure the Systick
-    */
-  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
-
-  /* SysTick_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
-}
-
-
 // ===========================================================
   /* Low pass filter fixed-point 16 bits: fixdt(1,16,4)
   * Max:  2047.9375
@@ -916,3 +867,47 @@ void rateLimiter16(int16_t u, int16_t rate, int16_t *y)
 }
 
 // ===========================================================
+
+/** System Clock Configuration
+*/
+void SystemClock_Config(void) {
+  RCC_OscInitTypeDef RCC_OscInitStruct;
+  RCC_ClkInitTypeDef RCC_ClkInitStruct;
+  RCC_PeriphCLKInitTypeDef PeriphClkInit;
+
+  /**Initializes the CPU, AHB and APB busses clocks
+    */
+  RCC_OscInitStruct.OscillatorType      = RCC_OSCILLATORTYPE_HSI;
+  RCC_OscInitStruct.HSIState            = RCC_HSI_ON;
+  RCC_OscInitStruct.HSICalibrationValue = 16;
+  RCC_OscInitStruct.PLL.PLLState        = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource       = RCC_PLLSOURCE_HSI_DIV2;
+  RCC_OscInitStruct.PLL.PLLMUL          = RCC_PLL_MUL16;
+  HAL_RCC_OscConfig(&RCC_OscInitStruct);
+
+  /**Initializes the CPU, AHB and APB busses clocks
+    */
+  RCC_ClkInitStruct.ClockType           = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource        = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider       = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider      = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider      = RCC_HCLK_DIV1;
+
+  HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2);
+
+  PeriphClkInit.PeriphClockSelection    = RCC_PERIPHCLK_ADC;
+  // PeriphClkInit.AdcClockSelection    = RCC_ADCPCLK2_DIV8;  // 8 MHz
+  PeriphClkInit.AdcClockSelection       = RCC_ADCPCLK2_DIV4;  // 16 MHz
+  HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);
+
+  /**Configure the Systick interrupt time
+    */
+  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000);
+
+  /**Configure the Systick
+    */
+  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
+
+  /* SysTick_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
+}