src/main/io/beeper.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23
  24 #include "platform.h"
  25
  26 #include "common/utils.h"
  27
  28 #include "config/feature.h"
  29
  30 #include "drivers/dshot_command.h"
  31 #include "drivers/io.h"
  32 #include "drivers/pwm_output.h"
  33 #include "drivers/sound_beeper.h"
  34 #include "drivers/system.h"
  35 #include "drivers/time.h"
  36
  37 #include "flight/mixer.h"
  38
  39 #include "config/config.h"
  40 #include "fc/core.h"
  41 #include "fc/runtime_config.h"
  42
  43 #include "io/statusindicator.h"
  44 #include "io/vtx_control.h"
  45
  46 #ifdef USE_GPS
  47 #include "io/gps.h"
  48 #endif
  49
  50 #ifdef USE_OSD
  51 #include "osd/osd.h"
  52 #endif
  53
  54 #include "pg/beeper.h"
  55
  56 #include "scheduler/scheduler.h"
  57
  58 #include "sensors/battery.h"
  59 #include "sensors/sensors.h"
  60
  61 #include "beeper.h"
  62
  63 #ifdef BEEPER_INVERTED
  64 #define IS_OPEN_DRAIN   false
  65 #define IS_INVERTED     true
  66 #else
  67 #define IS_OPEN_DRAIN   true
  68 #define IS_INVERTED     false
  69 #endif
  70
  71 #ifdef USE_BEEPER
  72 #ifndef BEEPER_PWM_HZ
  73 #define BEEPER_PWM_HZ   0
  74 #endif
  75 #else
  76 #define BEEPER_PIN      NONE
  77 #define BEEPER_PWM_HZ   0
  78 #endif
  79
  80 #define MAX_MULTI_BEEPS 64   //size limit for 'beep_multiBeeps[]'
  81
  82 #define BEEPER_COMMAND_REPEAT 0xFE
  83 #define BEEPER_COMMAND_STOP   0xFF
  84
  85 #ifdef USE_DSHOT
  86 static timeUs_t lastDshotBeaconCommandTimeUs;
  87 #endif
  88
  89 #ifdef USE_BEEPER
  90 /* Beeper Sound Sequences: (Square wave generation)
  91  * Sequence must end with 0xFF or 0xFE. 0xFE repeats the sequence from
  92  * start when 0xFF stops the sound when it's completed.
  93  *
  94  * "Sound" Sequences are made so that 1st, 3rd, 5th.. are the delays how
  95  * long the beeper is on and 2nd, 4th, 6th.. are the delays how long beeper
  96  * is off. Delays are in milliseconds/10 (i.e., 5 => 50ms).
  97  */
  98 // short fast beep
  99 static const uint8_t beep_shortBeep[] = {
 100     10, 10, BEEPER_COMMAND_STOP
 101 };
 102 // arming beep
 103 static const uint8_t beep_armingBeep[] = {
 104     30, 5, 5, 5, BEEPER_COMMAND_STOP
 105 };
 106 // Arming when GPS is fixed
 107 static const uint8_t beep_armingGpsFix[] = {
 108     5, 5, 15, 5, 5, 5, 15, 30, BEEPER_COMMAND_STOP
 109 };
 110 // Arming when GPS is not fixed
 111 static const uint8_t beep_armingGpsNoFix[] = {
 112     30, 5, 30, 5, 30, 5, BEEPER_COMMAND_STOP
 113 };
 114 // armed beep (first pause, then short beep)
 115 static const uint8_t beep_armedBeep[] = {
 116     0, 245, 10, 5, BEEPER_COMMAND_STOP
 117 };
 118 // disarming beeps
 119 static const uint8_t beep_disarmBeep[] = {
 120     15, 5, 15, 5, BEEPER_COMMAND_STOP
 121 };
 122 // beeps while stick held in disarm position (after pause)
 123 static const uint8_t beep_disarmRepeatBeep[] = {
 124     0, 100, 10, BEEPER_COMMAND_STOP
 125 };
 126 // Long beep and pause after that
 127 static const uint8_t beep_lowBatteryBeep[] = {
 128     25, 50, BEEPER_COMMAND_STOP
 129 };
 130 // critical battery beep
 131 static const uint8_t beep_critBatteryBeep[] = {
 132     50, 2, BEEPER_COMMAND_STOP
 133 };
 134
 135 // transmitter-signal-lost tone
 136 static const uint8_t beep_txLostBeep[] = {
 137     50, 50, BEEPER_COMMAND_STOP
 138 };
 139 // SOS morse code:
 140 static const uint8_t beep_sos[] = {
 141     10, 10, 10, 10, 10, 40, 40, 10, 40, 10, 40, 40, 10, 10, 10, 10, 10, 70, BEEPER_COMMAND_STOP
 142 };
 143 // Ready beeps. When gps has fix and copter is ready to fly.
 144 static const uint8_t beep_readyBeep[] = {
 145     4, 5, 4, 5, 8, 5, 15, 5, 8, 5, 4, 5, 4, 5, BEEPER_COMMAND_STOP
 146 };
 147 // 2 fast short beeps
 148 static const uint8_t beep_2shortBeeps[] = {
 149     5, 5, 5, 5, BEEPER_COMMAND_STOP
 150 };
 151 // 2 longer beeps
 152 static const uint8_t beep_2longerBeeps[] = {
 153     20, 15, 35, 5, BEEPER_COMMAND_STOP
 154 };
 155 // 3 beeps
 156 static const uint8_t beep_gyroCalibrated[] = {
 157     20, 10, 20, 10, 20, 10, BEEPER_COMMAND_STOP
 158 };
 159
 160 // Cam connection opened
 161 static const uint8_t beep_camOpenBeep[] = {
 162     5, 15, 10, 15, 20, BEEPER_COMMAND_STOP
 163 };
 164
 165 // Cam connection close
 166 static const uint8_t beep_camCloseBeep[] = {
 167     10, 8, 5, BEEPER_COMMAND_STOP
 168 };
 169
 170 // RC Smoothing filter not initialized - 3 short + 1 long
 171 static const uint8_t beep_rcSmoothingInitFail[] = {
 172     10, 10, 10, 10, 10, 10, 50, 25, BEEPER_COMMAND_STOP
 173 };
 174
 175 // array used for variable # of beeps (reporting GPS sat count, etc)
 176 static uint8_t beep_multiBeeps[MAX_MULTI_BEEPS + 1];
 177
 178 #define BEEPER_CONFIRMATION_BEEP_DURATION 2
 179 #define BEEPER_CONFIRMATION_BEEP_GAP_DURATION 20
 180
 181 #define BEEPER_WARNING_LONG_BEEP_MULTIPLIER 5
 182
 183 #define BEEPER_WARNING_BEEP_1_DURATION 20
 184 #define BEEPER_WARNING_BEEP_2_DURATION 5
 185 #define BEEPER_WARNING_BEEP_GAP_DURATION 10
 186
 187 static bool beeperIsOn = false;
 188
 189 // Place in current sequence
 190 static uint16_t beeperPos = 0;
 191 // Time when beeper routine must act next time
 192 static uint32_t beeperNextToggleTime = 0;
 193 // Time of last arming beep in microseconds (for blackbox)
 194 static uint32_t armingBeepTimeMicros = 0;
 195
 196 static void beeperProcessCommand(timeUs_t currentTimeUs);
 197
 198 typedef struct beeperTableEntry_s {
 199     uint8_t mode;
 200     uint8_t priority; // 0 = Highest
 201     const uint8_t *sequence;
 202     const char *name;
 203 } beeperTableEntry_t;
 204
 205 #define BEEPER_ENTRY(a,b,c,d) a,b,c,d
 206
 207 // IMPORTANT: these are in priority order, 0 = Highest
 208 static const beeperTableEntry_t beeperTable[] = {
 209     { BEEPER_ENTRY(BEEPER_GYRO_CALIBRATED,       0, beep_gyroCalibrated,   "GYRO_CALIBRATED") },
 210     { BEEPER_ENTRY(BEEPER_RX_LOST,               1, beep_txLostBeep,       "RX_LOST") },
 211     { BEEPER_ENTRY(BEEPER_RX_LOST_LANDING,       2, beep_sos,              "RX_LOST_LANDING") },
 212     { BEEPER_ENTRY(BEEPER_DISARMING,             3, beep_disarmBeep,       "DISARMING") },
 213     { BEEPER_ENTRY(BEEPER_ARMING,                4, beep_armingBeep,       "ARMING")  },
 214     { BEEPER_ENTRY(BEEPER_ARMING_GPS_FIX,        5, beep_armingGpsFix,     "ARMING_GPS_FIX") },
 215     { BEEPER_ENTRY(BEEPER_ARMING_GPS_NO_FIX,     6, beep_armingGpsNoFix,   "ARMING_GPS_NO_FIX") },
 216     { BEEPER_ENTRY(BEEPER_BAT_CRIT_LOW,          7, beep_critBatteryBeep,  "BAT_CRIT_LOW") },
 217     { BEEPER_ENTRY(BEEPER_BAT_LOW,               8, beep_lowBatteryBeep,   "BAT_LOW") },
 218     { BEEPER_ENTRY(BEEPER_GPS_STATUS,            9, beep_multiBeeps,       "GPS_STATUS") },
 219     { BEEPER_ENTRY(BEEPER_RX_SET,                10, beep_shortBeep,       "RX_SET") },
 220     { BEEPER_ENTRY(BEEPER_ACC_CALIBRATION,       11, beep_2shortBeeps,     "ACC_CALIBRATION") },
 221     { BEEPER_ENTRY(BEEPER_ACC_CALIBRATION_FAIL,  12, beep_2longerBeeps,    "ACC_CALIBRATION_FAIL") },
 222     { BEEPER_ENTRY(BEEPER_READY_BEEP,            13, beep_readyBeep,       "READY_BEEP") },
 223     { BEEPER_ENTRY(BEEPER_MULTI_BEEPS,           14, beep_multiBeeps,      "MULTI_BEEPS") }, // FIXME having this listed makes no sense since the beep array will not be initialised.
 224     { BEEPER_ENTRY(BEEPER_DISARM_REPEAT,         15, beep_disarmRepeatBeep, "DISARM_REPEAT") },
 225     { BEEPER_ENTRY(BEEPER_ARMED,                 16, beep_armedBeep,       "ARMED") },
 226     { BEEPER_ENTRY(BEEPER_SYSTEM_INIT,           17, NULL,                 "SYSTEM_INIT") },
 227     { BEEPER_ENTRY(BEEPER_USB,                   18, NULL,                 "ON_USB") },
 228     { BEEPER_ENTRY(BEEPER_BLACKBOX_ERASE,        19, beep_2shortBeeps,     "BLACKBOX_ERASE") },
 229     { BEEPER_ENTRY(BEEPER_CRASH_FLIP_MODE,       20, beep_2longerBeeps,    "CRASH_FLIP") },
 230     { BEEPER_ENTRY(BEEPER_CAM_CONNECTION_OPEN,   21, beep_camOpenBeep,     "CAM_CONNECTION_OPEN") },
 231     { BEEPER_ENTRY(BEEPER_CAM_CONNECTION_CLOSE,  22, beep_camCloseBeep,    "CAM_CONNECTION_CLOSE") },
 232     { BEEPER_ENTRY(BEEPER_RC_SMOOTHING_INIT_FAIL,23, beep_rcSmoothingInitFail, "RC_SMOOTHING_INIT_FAIL") },
 233     { BEEPER_ENTRY(BEEPER_ALL,                   24, NULL,                 "ALL") },
 234 };
 235
 236 static const beeperTableEntry_t *currentBeeperEntry = NULL;
 237
 238 #define BEEPER_TABLE_ENTRY_COUNT (sizeof(beeperTable) / sizeof(beeperTableEntry_t))
 239
 240 /*
 241  * Called to activate/deactivate beeper, using the given "BEEPER_..." value.
 242  * This function returns immediately (does not block).
 243  */
 244 void beeper(beeperMode_e mode)
 245 {
 246     if (
 247         mode == BEEPER_SILENCE || (
 248             (beeperConfig()->beeper_off_flags & BEEPER_GET_FLAG(BEEPER_USB))
 249             && getBatteryState() == BATTERY_NOT_PRESENT
 250         ) || IS_RC_MODE_ACTIVE(BOXBEEPERMUTE)
 251     ) {
 252         beeperSilence();
 253         return;
 254     }
 255
 256     const beeperTableEntry_t *selectedCandidate = NULL;
 257     for (uint32_t i = 0; i < BEEPER_TABLE_ENTRY_COUNT; i++) {
 258         const beeperTableEntry_t *candidate = &beeperTable[i];
 259         if (candidate->mode != mode) {
 260             continue;
 261         }
 262
 263         if (!currentBeeperEntry) {
 264             selectedCandidate = candidate;
 265             break;
 266         }
 267
 268         if (candidate->priority < currentBeeperEntry->priority) {
 269             selectedCandidate = candidate;
 270         }
 271
 272         break;
 273     }
 274
 275     if (!selectedCandidate) {
 276         return;
 277     }
 278
 279     currentBeeperEntry = selectedCandidate;
 280
 281     beeperPos = 0;
 282     beeperNextToggleTime = 0;
 283 }
 284
 285 void beeperSilence(void)
 286 {
 287     BEEP_OFF;
 288     beeperIsOn = false;
 289
 290     warningLedDisable();
 291     warningLedRefresh();
 292
 293     beeperNextToggleTime = 0;
 294     beeperPos = 0;
 295
 296     currentBeeperEntry = NULL;
 297 }
 298
 299 /*
 300  * Emits the given number of 20ms beeps (with 200ms spacing).
 301  * This function returns immediately (does not block).
 302  */
 303 void beeperConfirmationBeeps(uint8_t beepCount)
 304 {
 305     uint32_t i = 0;
 306     uint32_t cLimit = beepCount * 2;
 307     if (cLimit > MAX_MULTI_BEEPS) {
 308         cLimit = MAX_MULTI_BEEPS;
 309     }
 310     do {
 311         beep_multiBeeps[i++] = BEEPER_CONFIRMATION_BEEP_DURATION;
 312         beep_multiBeeps[i++] = BEEPER_CONFIRMATION_BEEP_GAP_DURATION;
 313     } while (i < cLimit);
 314     beep_multiBeeps[i] = BEEPER_COMMAND_STOP;
 315
 316     beeper(BEEPER_MULTI_BEEPS);
 317 }
 318
 319 void beeperWarningBeeps(uint8_t beepCount)
 320 {
 321     uint8_t longBeepCount = beepCount / BEEPER_WARNING_LONG_BEEP_MULTIPLIER;
 322     uint8_t shortBeepCount = beepCount % BEEPER_WARNING_LONG_BEEP_MULTIPLIER;
 323
 324     unsigned i = 0;
 325
 326     unsigned count = 0;
 327     while (i < MAX_MULTI_BEEPS - 1 && count < WARNING_FLASH_COUNT) {
 328         beep_multiBeeps[i++] = WARNING_FLASH_DURATION_MS / 10;
 329         if (++count < WARNING_FLASH_COUNT) {
 330             beep_multiBeeps[i++] = WARNING_FLASH_DURATION_MS / 10;
 331         } else {
 332             beep_multiBeeps[i++] = WARNING_PAUSE_DURATION_MS / 10;
 333         }
 334     }
 335
 336     while (i < MAX_MULTI_BEEPS - 1 && longBeepCount > 0) {
 337         beep_multiBeeps[i++] = WARNING_CODE_DURATION_LONG_MS / 10;
 338         if (--longBeepCount > 0) {
 339             beep_multiBeeps[i++] = WARNING_CODE_DURATION_LONG_MS / 10;
 340         } else {
 341             beep_multiBeeps[i++] = WARNING_PAUSE_DURATION_MS / 10;
 342         }
 343     }
 344
 345     while (i < MAX_MULTI_BEEPS - 1 && shortBeepCount > 0) {
 346         beep_multiBeeps[i++] = WARNING_CODE_DURATION_SHORT_MS / 10;
 347         if (--shortBeepCount > 0) {
 348             beep_multiBeeps[i++] = WARNING_CODE_DURATION_LONG_MS / 10;
 349         }
 350     }
 351
 352     beep_multiBeeps[i] = BEEPER_COMMAND_STOP;
 353
 354     beeper(BEEPER_MULTI_BEEPS);
 355 }
 356
 357 #ifdef USE_GPS
 358 static void beeperGpsStatus(void)
 359 {
 360     if (!(beeperConfig()->beeper_off_flags & BEEPER_GET_FLAG(BEEPER_GPS_STATUS))) {
 361         // if GPS 3D fix and at least the minimum number available, then beep out number of satellites
 362         if (STATE(GPS_FIX) && gpsSol.numSat > gpsConfig()->gpsMinimumSats) {
 363             uint8_t i = 0;
 364             do {
 365                 beep_multiBeeps[i++] = 5;
 366                 beep_multiBeeps[i++] = 10;
 367             } while (i < MAX_MULTI_BEEPS && gpsSol.numSat > i / 2);
 368
 369             beep_multiBeeps[i - 1] = 50; // extend last pause
 370             beep_multiBeeps[i] = BEEPER_COMMAND_STOP;
 371
 372             beeper(BEEPER_MULTI_BEEPS);    //initiate sequence
 373         }
 374     }
 375 }
 376 #endif
 377
 378 /*
 379  * Beeper handler function to be called periodically in loop. Updates beeper
 380  * state via time schedule.
 381  */
 382 void beeperUpdate(timeUs_t currentTimeUs)
 383 {
 384     // If beeper option from AUX switch has been selected
 385     if (IS_RC_MODE_ACTIVE(BOXBEEPERON)) {
 386         beeper(BEEPER_RX_SET);
 387 #ifdef USE_GPS
 388     } else if (featureIsEnabled(FEATURE_GPS) && IS_RC_MODE_ACTIVE(BOXBEEPGPSCOUNT)) {
 389         beeperGpsStatus();
 390 #endif
 391     }
 392
 393     // Beeper routine doesn't need to update if there aren't any sounds ongoing
 394     if (currentBeeperEntry == NULL) {
 395         return;
 396     }
 397
 398     if (beeperNextToggleTime > currentTimeUs) {
 399         schedulerIgnoreTaskExecTime();
 400         return;
 401     }
 402
 403     if (!beeperIsOn) {
 404 #ifdef USE_DSHOT
 405         if (!areMotorsRunning()
 406             && ((currentBeeperEntry->mode == BEEPER_RX_SET && !(beeperConfig()->dshotBeaconOffFlags & BEEPER_GET_FLAG(BEEPER_RX_SET)))
 407             || (currentBeeperEntry->mode == BEEPER_RX_LOST && !(beeperConfig()->dshotBeaconOffFlags & BEEPER_GET_FLAG(BEEPER_RX_LOST))))) {
 408
 409             if ((currentTimeUs - getLastDisarmTimeUs() > DSHOT_BEACON_GUARD_DELAY_US) && !isTryingToArm()) {
 410                 lastDshotBeaconCommandTimeUs = currentTimeUs;
 411                 dshotCommandWrite(ALL_MOTORS, getMotorCount(), beeperConfig()->dshotBeaconTone, DSHOT_CMD_TYPE_INLINE);
 412             }
 413         }
 414 #endif
 415
 416         if (currentBeeperEntry->sequence[beeperPos] != 0) {
 417             if (!(beeperConfig()->beeper_off_flags & BEEPER_GET_FLAG(currentBeeperEntry->mode))) {
 418                 BEEP_ON;
 419                 beeperIsOn = true;
 420             }
 421
 422             warningLedEnable();
 423             warningLedRefresh();
 424             // if this was arming beep then mark time (for blackbox)
 425             if (
 426                 beeperPos == 0
 427                 && (currentBeeperEntry->mode == BEEPER_ARMING || currentBeeperEntry->mode == BEEPER_ARMING_GPS_FIX
 428                 || currentBeeperEntry->mode == BEEPER_ARMING_GPS_NO_FIX)) {
 429                 armingBeepTimeMicros = micros();
 430             }
 431         }
 432     } else {
 433         if (currentBeeperEntry->sequence[beeperPos] != 0) {
 434             BEEP_OFF;
 435             beeperIsOn = false;
 436
 437             warningLedDisable();
 438             warningLedRefresh();
 439         }
 440     }
 441
 442 #if defined(USE_OSD)
 443     static bool beeperWasOn = false;
 444     if (beeperIsOn && !beeperWasOn) {
 445         osdSetVisualBeeperState(true);
 446     }
 447     beeperWasOn = beeperIsOn;
 448 #endif
 449
 450     beeperProcessCommand(currentTimeUs);
 451 }
 452
 453 /*
 454  * Calculates array position when next to change beeper state is due.
 455  */
 456 static void beeperProcessCommand(timeUs_t currentTimeUs)
 457 {
 458     if (currentBeeperEntry->sequence[beeperPos] == BEEPER_COMMAND_REPEAT) {
 459         beeperPos = 0;
 460     } else if (currentBeeperEntry->sequence[beeperPos] == BEEPER_COMMAND_STOP) {
 461         beeperSilence();
 462     } else {
 463         // Otherwise advance the sequence and calculate next toggle time
 464         beeperNextToggleTime = currentTimeUs + 1000 * 10 * currentBeeperEntry->sequence[beeperPos];
 465         beeperPos++;
 466     }
 467 }
 468
 469 /*
 470  * Returns the time that the last arming beep occurred (in system-uptime
 471  * microseconds).  This is fetched and logged by blackbox.
 472  */
 473 uint32_t getArmingBeepTimeMicros(void)
 474 {
 475     return armingBeepTimeMicros;
 476 }
 477
 478 /*
 479  * Returns the 'beeperMode_e' value for the given beeper-table index,
 480  * or BEEPER_SILENCE if none.
 481  */
 482 beeperMode_e beeperModeForTableIndex(int idx)
 483 {
 484     return (idx >= 0 && idx < (int)BEEPER_TABLE_ENTRY_COUNT) ? beeperTable[idx].mode : BEEPER_SILENCE;
 485 }
 486
 487 /*
 488  * Returns the binary mask for the 'beeperMode_e' value corresponding to a given
 489  * beeper-table index, or 0 if the beeperMode is BEEPER_SILENCE.
 490  */
 491 uint32_t beeperModeMaskForTableIndex(int idx)
 492 {
 493     beeperMode_e beeperMode = beeperModeForTableIndex(idx);
 494     if (beeperMode == BEEPER_SILENCE)
 495         return 0;
 496     return BEEPER_GET_FLAG(beeperMode);
 497 }
 498
 499 /*
 500  * Returns the name for the given beeper-table index, or NULL if none.
 501  */
 502 const char *beeperNameForTableIndex(int idx)
 503 {
 504     return (idx >= 0 && idx < (int)BEEPER_TABLE_ENTRY_COUNT) ? beeperTable[idx].name : NULL;
 505 }
 506
 507 /*
 508  * Returns the number of entries in the beeper-sounds table.
 509  */
 510 int beeperTableEntryCount(void)
 511 {
 512     return (int)BEEPER_TABLE_ENTRY_COUNT;
 513 }
 514
 515 /*
 516  * Returns true if the beeper is on, false otherwise
 517  */
 518 bool isBeeperOn(void)
 519 {
 520     return beeperIsOn;
 521 }
 522
 523 #else
 524
 525 // Stub out beeper functions if #BEEPER not defined
 526 void beeper(beeperMode_e mode) {UNUSED(mode);}
 527 void beeperSilence(void) {}
 528 void beeperConfirmationBeeps(uint8_t beepCount) {UNUSED(beepCount);}
 529 void beeperWarningBeeps(uint8_t beepCount) {UNUSED(beepCount);}
 530 void beeperUpdate(timeUs_t currentTimeUs) {UNUSED(currentTimeUs);}
 531 uint32_t getArmingBeepTimeMicros(void) {return 0;}
 532 beeperMode_e beeperModeForTableIndex(int idx) {UNUSED(idx); return BEEPER_SILENCE;}
 533 uint32_t beeperModeMaskForTableIndex(int idx) {UNUSED(idx); return 0;}
 534 const char *beeperNameForTableIndex(int idx) {UNUSED(idx); return NULL;}
 535 int beeperTableEntryCount(void) {return 0;}
 536 bool isBeeperOn(void) {return false;}
 537
 538 #endif
 539
 540 #ifdef USE_DSHOT
 541 timeUs_t getLastDshotBeaconCommandTimeUs(void)
 542 {
 543     return lastDshotBeaconCommandTimeUs;
 544 }
 545 #endif