Landed buzzer

avionics/common/include/buzzer_interface.h

@@ -3,7 +3,8 @@
 enum SongTypes {
     SongTypes_SUCCESS,
     SongTypes_NONCRITFAIL,
-    SongTypes_CRITICALFAIL
+    SongTypes_CRITICALFAIL,
+    SongTypes_LANDED,
 };
 
 /*Classes--------------------------------------------------------------*/

avionics/common/include/states/landed.h

@@ -4,6 +4,7 @@
 #include "cameras.h"
 #include "scheduler.hpp"
 #include "state_interface.h"
+#include "buzzer.h"
 
 namespace State {
 
@@ -28,6 +29,10 @@ class Landed : public IState {
      * codes and used states. Note that the returned code may be the same state.
      */
     StateId getNewState(Calculator const &) { return StateId::LANDED; }
+
+    void onEntry() override {
+      Scheduler::scheduleTask(Hal::now_ms() + Hal::ms(1), static_cast<int>(TaskID::BuzzerBeacon));
+    }
 };
 
 } // namespace State

avionics/common/include/tasks/landed_buzzer.hpp

@@ -0,0 +1,28 @@
+/**
+ * Landed Buzzer
+ *
+ * @file landed_buzzer.hpp
+ * @author UBC Rocket Avionics 2023/2024
+ * @description Class that allows landed buzzer to be run within a task
+ */
+
+#pragma once
+
+/*Includes------------------------------------------------------------*/
+#include "HAL/time.h"
+#include "buzzer.h"
+
+class LandedBuzzer {
+
+  private:
+    Buzzer buzzer_;
+
+  public:
+    LandedBuzzer(Buzzer &buzzer) : buzzer_(buzzer) {}
+
+    // run function to be called by a task
+    static void run(void *self) {
+        reinterpret_cast<LandedBuzzer *>(self)->buzzer_.sing(SongTypes_LANDED);
+    }
+    static constexpr Hal::ms freq{500};
+};

avionics/common/src/avionics.cpp

@@ -23,6 +23,7 @@
 #include "tasks/led_blinker.hpp"
 #include "tasks/main_tasks.hpp"
 #include "tasks/restart_camera.hpp"
+#include "tasks/landed_buzzer.hpp"
 
 #include "radio.h"
 #include "rocket.h"
@@ -83,6 +84,9 @@ int main(void) {
     auto &sensors = rocket.sensors;
     auto &ignitors = rocket.ignitors;
 
+    // Create instance of landed buzzer
+    LandedBuzzer landedBuzzer(rocket.buzzer);
+
     if (init_status == RocketStatus::CRITICAL_FAILURE) {
         LOG_ERROR("Critical failure; aborting in state machine");
         state_machine.abort();
@@ -112,6 +116,9 @@ int main(void) {
     if (init_status == RocketStatus::NONCRITICAL_FAILURE) {
         registerTask(TaskID::LEDBlinker, led_blink);
     }
+
+    Task buzzer(LandedBuzzer::run, &landedBuzzer, Hal::ms(45000));
+    Scheduler::preregisterTask(static_cast<int>(TaskID::BuzzerBeacon), buzzer, true, false);
 
     // RestartCamera restart_camera_(rocket.cam);
     // // This tasks sets its own reschedule interval (since the same task is run

avionics/envs/board/src/buzzer.cpp

@@ -177,11 +177,66 @@ void Buzzer::sing(SongTypes song) const {
         buzz(NOTE_A6, 2500);
         break;
     }
+    case SongTypes_LANDED: {
+        // Play the 2001: A Space Odyssey theme
+        int tempo = 2;
+        buzz(NOTE_C5, 2000 / tempo);
+        buzz(NOTE_G5, 2000 / tempo);
+        buzz(NOTE_C6, 3500 / tempo);
+        buzz(NOTE_E6, 250 / tempo);
+        buzz(NOTE_DS6, 4000 / tempo);
+
+        buzz(NOTE_C4, 500 / tempo);
+        buzz(NOTE_G3, 500 / tempo);
+        buzz(NOTE_C4, 500 / tempo);
+        buzz(NOTE_G3, 500 / tempo);
+        buzz(NOTE_C4, 500 / tempo);
+        buzz(NOTE_G3, 500 / tempo);
+        buzz(NOTE_C4, 500 / tempo);
+        buzz(NOTE_G3, 500 / tempo);
+
+        buzz(NOTE_C5, 2000 / tempo);
+        buzz(NOTE_G5, 2000 / tempo);
+        buzz(NOTE_C6, 3500 / tempo);
+        buzz(NOTE_DS6, 250 / tempo);
+        buzz(NOTE_E6, 4000 / tempo);
+
+        buzz(NOTE_C4, 500 / tempo);
+        buzz(NOTE_G3, 500 / tempo);
+        buzz(NOTE_C4, 500 / tempo);
+        buzz(NOTE_G3, 500 / tempo);
+        buzz(NOTE_C4, 500 / tempo);
+        buzz(NOTE_G3, 500 / tempo);
+        buzz(NOTE_C4, 500 / tempo);
+        buzz(NOTE_G3, 500 / tempo);
+
+        buzz(NOTE_C5, 2000 / tempo);
+        buzz(NOTE_G5, 2000 / tempo);
+        buzz(NOTE_C6, 3500 / tempo);
+        buzz(NOTE_E6, 250 / tempo);
+        buzz(NOTE_A6, 4000 / tempo);
+
+        buzz(NOTE_A5, 250 / tempo);
+        buzz(NOTE_B5, 250 / tempo);
+        buzz(NOTE_C6, 2500 / tempo);
+        buzz(NOTE_D6, 1000 / tempo);
+
+        buzz(NOTE_E6, 500 / tempo);
+        buzz(NOTE_F6, 500 / tempo);
+        buzz(NOTE_G6, 2500 / tempo);
+        buzz(NOTE_E6, 250 / tempo);
+        buzz(NOTE_F6, 250 / tempo);
+
+        buzz(NOTE_G6, 2000 / tempo);
+        buzz(NOTE_A6, 1000 / tempo);
+        buzz(NOTE_B6, 1000 / tempo);
+        buzz(NOTE_C7, 8000 / tempo);
+        break;
+    }
     }
 }
 
 void Buzzer::buzz(long frequency, long length) const {
-
     long delayValue = 1000000 / frequency / 2; // delay between transitions
     // 1 000 000 microseconds, divided by the frequency, divided by 2 b/c
     // there are two phases to each cycle
@@ -191,11 +246,11 @@ void Buzzer::buzz(long frequency, long length) const {
     for (long i = 0; i < numCycles; i++) { // for the calculated length of time
         Hal::digitalWrite(
             M_MELODY_PIN,
-            Hal::PinDigital::HI); // write high to push out the diaphram
-        Hal::sleep_us(delayValue);  // wait for the calculated delay value
+            Hal::PinDigital::HI);  // write high to push out the diaphram
+        Hal::sleep_us(delayValue); // wait for the calculated delay value
         Hal::digitalWrite(
             M_MELODY_PIN,
-            Hal::PinDigital::LO); // write low to pull back the diaphram
+            Hal::PinDigital::LO);  // write low to pull back the diaphram
         Hal::sleep_us(delayValue); // wait for the calculated delay value
     }
 }

avionics/rockets/bnb_stage_1/include/scheduler.hpp

@@ -8,6 +8,7 @@ enum class TaskID {
     RadioTxBulk = 1,
     LEDBlinker = 2,
     RestartCamera = 3,
+    BuzzerBeacon = 4, 
     kNum,
 };
 

avionics/rockets/bnb_stage_2/include/scheduler.hpp

@@ -8,6 +8,7 @@ enum class TaskID {
     RadioTxBulk = 1,
     LEDBlinker = 2,
     RestartCamera = 3,
+    BuzzerBeacon = 4, 
     kNum,
 };
 

avionics/rockets/hollyburn/include/scheduler.hpp

@@ -8,6 +8,7 @@ enum class TaskID {
     RadioTxBulk = 1,
     LEDBlinker = 2,
     RestartCamera = 3,
+    BuzzerBeacon = 4, 
     kNum,
 };
 

avionics/rockets/silvertip/include/scheduler.hpp

@@ -8,6 +8,7 @@ enum class TaskID {
     RadioTxBulk = 1,
     LEDBlinker = 2,
     RestartCamera = 3,
+    BuzzerBeacon = 4, 
     kNum,
 };
 

avionics/tests/fake_include/scheduler.hpp

@@ -9,6 +9,7 @@ enum class TaskID {
     RadioTxBulk = 1,
     LEDBlinker = 2,
     RestartCamera = 3,
+    BuzzerBeacon = 4, 
     kNum,
 };