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Add BUZZER as a runtime-assignable timer output mode #11675

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34044cc
Add BUZZER as a runtime-assignable timer output mode
sensei-hacker Jun 7, 2026
8d703ea
refactor(msp): use TIM_USE_* bit indices as MSP2_INAV_OUTPUT_ASSIGNME…
sensei-hacker Jun 7, 2026
49148fc
fix(beeper): allow compile-time beeper pads to be reassigned at runtime
sensei-hacker Jun 8, 2026
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16 changes: 8 additions & 8 deletions src/main/drivers/pwm_mapping.c
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Original file line number Diff line number Diff line change
Expand Up @@ -212,27 +212,27 @@ static bool checkPwmTimerConflicts(const timerHardware_t *timHw)
}

static void timerHardwareOverride(timerHardware_t * timer) {
// Never modify a beeper timer — beeperPwmInit() must find TIM_USE_BEEPER intact
if (timer->usageFlags & TIM_USE_BEEPER) {
return;
}
switch (timerOverrides(timer2id(timer->tim))->outputMode) {
case OUTPUT_MODE_MOTORS:
timer->usageFlags &= ~(TIM_USE_SERVO|TIM_USE_LED);
timer->usageFlags &= ~(TIM_USE_SERVO|TIM_USE_LED|TIM_USE_BEEPER);
timer->usageFlags |= TIM_USE_MOTOR;
break;
case OUTPUT_MODE_SERVOS:
timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_LED);
timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_LED|TIM_USE_BEEPER);
timer->usageFlags |= TIM_USE_SERVO;
break;
case OUTPUT_MODE_LED:
timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_SERVO);
timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_SERVO|TIM_USE_BEEPER);
timer->usageFlags |= TIM_USE_LED;
break;
case OUTPUT_MODE_PINIO:
timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_SERVO|TIM_USE_LED);
timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_SERVO|TIM_USE_LED|TIM_USE_BEEPER);
timer->usageFlags |= TIM_USE_PINIO;
break;
case OUTPUT_MODE_BEEPER:
timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_SERVO|TIM_USE_LED|TIM_USE_PINIO);
timer->usageFlags |= TIM_USE_BEEPER;
break;
}
}

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8 changes: 3 additions & 5 deletions src/main/drivers/pwm_mapping.h
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Original file line number Diff line number Diff line change
Expand Up @@ -88,11 +88,9 @@ typedef struct {
const timerHardware_t * timServos[MAX_PWM_OUTPUTS];
} timMotorServoHardware_t;

// Output assignment types for MSP2_INAV_OUTPUT_ASSIGNMENT response
// LED outputs are not reported here; they are already identified by TIM_USE_LED
// in the MSP2_INAV_OUTPUT_MAPPING_EXT2 usageFlags response.
#define OUTPUT_ASSIGNMENT_TYPE_MOTOR 1
#define OUTPUT_ASSIGNMENT_TYPE_SERVO 2
// MSP2_INAV_OUTPUT_ASSIGNMENT type byte: bit index of the TIM_USE_* flag.
// Matches the JavaScript TIM_USE_* constants in outputMapping.js (which are bit indices).
// Use __builtin_ctz(TIM_USE_x) to derive these from the bit-mask definitions in timer.h.
#endif // SITL_BUILD

bool pwmMotorAndServoInit(void);
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23 changes: 23 additions & 0 deletions src/main/drivers/sound_beeper.c
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Expand Up @@ -78,6 +78,29 @@ void beeperInit(const beeperDevConfig_t *config)
#if !defined(BEEPER)
UNUSED(config);
#else
// Runtime output assignment: scan for any pad explicitly set to OUTPUT_MODE_BEEPER.
// pwmBuildTimerOutputList() runs before beeperInit(), so TIM_USE_BEEPER is already
// set on the runtime-assigned pad by the time we get here.
for (int idx = 0; idx < timerHardwareCount; idx++) {
const timerHardware_t *timHw = &timerHardware[idx];
if (timerOverrides(timer2id(timHw->tim))->outputMode == OUTPUT_MODE_BEEPER) {
beeperPwmInit(timHw->tag, BEEPER_PWM_FREQUENCY);
beeperConfigMutable()->pwmMode = true;
systemBeep(false);
return;
}
Comment on lines +84 to +91

@qodo-code-review qodo-code-review Bot Jul 1, 2026

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Action required

1. Wrong beeper pad chosen 🐞 Bug ≡ Correctness

beeperInit() selects the first timerHardware entry whose *timer* override is OUTPUT_MODE_BEEPER and
initializes PWM beeper on that entry’s tag, so on timers with multiple exposed channels it can
initialize/report the buzzer on the wrong pad and the buzzer may not sound on the user-intended pin.
MSP2_INAV_OUTPUT_ASSIGNMENT mirrors this by also reporting only the first matching timerHardware
index, potentially mislabeling the buzzer output in the UI.
Agent Prompt 
## Issue description
Runtime buzzer selection is currently keyed off `timerOverrides(timer2id(timHw->tim))->outputMode == OUTPUT_MODE_BEEPER`, but `timerOverrides` is per **timer instance** (TIMx), not per **timer channel/pad**. On timers with multiple pads, this makes the chosen buzzer pad dependent on `timerHardware[]` order, which can differ from the pad the user expects.

## Issue Context
- `timer2id()` maps only by `tim` pointer, so all channels on the same timer share one override.
- `beeperInit()` breaks at the first `timerHardware[]` entry whose timer is in `OUTPUT_MODE_BEEPER`.
- MSP2 output assignment similarly reports only the first matching hardware index.

## Fix Focus Areas
- src/main/drivers/sound_beeper.c[81-103]
- src/main/fc/fc_msp.c[1823-1830]

### Implementation direction
- Introduce a way to select the beeper **pad** (timerHardware index or ioTag) rather than only selecting the timer:
  - Option A (best): add a small config field (PG) like `ioTag_t runtimeBeeperTag` set by MSP/CLI/UI, and use that tag for `beeperPwmInit()`.
  - Option B (minimal guard): if `OUTPUT_MODE_BEEPER` is set on a timer with multiple `timerHardware[]` entries, either:
    - refuse it and log an error, or
    - pick a deterministic channel (e.g., prefer the one that was compile-time BEEPER tag if present; otherwise require explicit tag).
- Update MSP2 output-assignment reporting to match the selected beeper tag/index (and avoid reporting a misleading first entry).

ⓘ Copy this prompt and use it to remediate the issue with your preferred AI generation tools

Comment on lines +86 to +91

@qodo-code-review qodo-code-review Bot Jul 1, 2026

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Remediation recommended

2. Pwm beeper init unchecked 🐞 Bug ☼ Reliability

In the runtime-assigned beeper path, beeperInit() sets pwmMode=true and returns without verifying
that beeperPwmInit() succeeded; if PWM allocation fails, pwmWriteBeeper() becomes a no-op and the
compile-time beeper fallback is skipped, disabling beeps silently. This creates a brittle failure
mode when timer channel allocation fails (e.g., no TCH available).
Agent Prompt 
## Issue description
The runtime `OUTPUT_MODE_BEEPER` path unconditionally commits to PWM mode (`beeperConfigMutable()->pwmMode = true`) and returns after calling `beeperPwmInit()`, but `beeperPwmInit()` can fail and leave the beeper backend uninitialized. In that case `pwmWriteBeeper()` no-ops and there is no fallback.

## Issue Context
- `beeperPwmInit()` can return early when `timerGetTCH()` fails.
- `pwmWriteBeeper()` returns immediately when `beeperPwm == NULL`.

## Fix Focus Areas
- src/main/drivers/sound_beeper.c[81-91]

### Implementation direction
- Make `beeperPwmInit()` report success (e.g., return `bool`), or add a small getter like `bool beeperPwmIsInitialized(void)`.
- In the runtime assignment path:
  - only set `pwmMode=true` and `return` if initialization succeeded;
  - otherwise continue into the existing compile-time beeper initialization path (or log an error and keep beeper in GPIO mode if possible).

ⓘ Copy this prompt and use it to remediate the issue with your preferred AI generation tools

}

// Skip compile-time beeper pad if the user has overridden it to another function.
for (int idx = 0; idx < timerHardwareCount; idx++) {
if (timerHardware[idx].tag == config->ioTag) {
if (!(timerHardware[idx].usageFlags & TIM_USE_BEEPER)) {
return;
}
break;
}
}

beeperIO = IOGetByTag(config->ioTag);
beeperInverted = config->isInverted;

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5 changes: 4 additions & 1 deletion src/main/fc/cli.c
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Original file line number Diff line number Diff line change
Expand Up @@ -177,6 +177,7 @@ static const char * outputModeNames[] = {
"SERVOS",
"LED",
"PINIO",
"BEEPER",
NULL
};

Expand Down Expand Up @@ -3225,6 +3226,8 @@ static void cliTimerOutputMode(char *cmdline)
mode = OUTPUT_MODE_LED;
} else if(!sl_strcasecmp("PINIO", tok)) {
mode = OUTPUT_MODE_PINIO;
} else if(!sl_strcasecmp("BEEPER", tok)) {
mode = OUTPUT_MODE_BEEPER;
} else {
cliShowParseError();
return;
Expand Down Expand Up @@ -5037,7 +5040,7 @@ const clicmd_t cmdTable[] = {
#ifdef USE_OSD
CLI_COMMAND_DEF("osd_layout", "get or set the layout of OSD items", "[<layout> [<item> [<col> <row> [<visible>]]]]", cliOsdLayout),
#endif
CLI_COMMAND_DEF("timer_output_mode", "get or set the outputmode for a given timer.", "[<timer> [<AUTO|MOTORS|SERVOS|LED|PINIO>]]", cliTimerOutputMode),
CLI_COMMAND_DEF("timer_output_mode", "get or set the outputmode for a given timer.", "[<timer> [<AUTO|MOTORS|SERVOS|LED|PINIO|BEEPER>]]", cliTimerOutputMode),
};

static void cliHelp(char *cmdline)
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24 changes: 20 additions & 4 deletions src/main/fc/fc_msp.c
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Expand Up @@ -1812,14 +1812,22 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
const timMotorServoHardware_t *hw = pwmGetOutputAssignment();
for (int m = 0; m < hw->maxTimMotorCount; m++) {
sbufWriteU8(dst, (uint8_t)(hw->timMotors[m] - timerHardware));
sbufWriteU8(dst, OUTPUT_ASSIGNMENT_TYPE_MOTOR);
sbufWriteU8(dst, __builtin_ctz(TIM_USE_MOTOR));
sbufWriteU8(dst, (uint8_t)(m + 1));
}
for (int s = 0; s < hw->maxTimServoCount; s++) {
sbufWriteU8(dst, (uint8_t)(hw->timServos[s] - timerHardware));
sbufWriteU8(dst, OUTPUT_ASSIGNMENT_TYPE_SERVO);
sbufWriteU8(dst, __builtin_ctz(TIM_USE_SERVO));
sbufWriteU8(dst, (uint8_t)(s + 1));
}
for (int idx = 0; idx < timerHardwareCount; idx++) {
if (timerOverrides(timer2id(timerHardware[idx].tim))->outputMode == OUTPUT_MODE_BEEPER) {
sbufWriteU8(dst, (uint8_t)idx);
sbufWriteU8(dst, __builtin_ctz(TIM_USE_BEEPER));
sbufWriteU8(dst, 1);
break;
}
}
}
break;
#endif
Expand Down Expand Up @@ -4911,14 +4919,22 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu

for (int m = 0; m < tempOut.maxTimMotorCount; m++) {
sbufWriteU8(dst, (uint8_t)(tempOut.timMotors[m] - timerHardware));
sbufWriteU8(dst, OUTPUT_ASSIGNMENT_TYPE_MOTOR);
sbufWriteU8(dst, __builtin_ctz(TIM_USE_MOTOR));
sbufWriteU8(dst, (uint8_t)(m + 1));
}
for (int s = 0; s < tempOut.maxTimServoCount; s++) {
sbufWriteU8(dst, (uint8_t)(tempOut.timServos[s] - timerHardware));
sbufWriteU8(dst, OUTPUT_ASSIGNMENT_TYPE_SERVO);
sbufWriteU8(dst, __builtin_ctz(TIM_USE_SERVO));
sbufWriteU8(dst, (uint8_t)(s + 1));
}
for (int idx = 0; idx < timerHardwareCount; idx++) {
if (proposedModes[timer2id(timerHardware[idx].tim)] == OUTPUT_MODE_BEEPER) {
sbufWriteU8(dst, (uint8_t)idx);
sbufWriteU8(dst, __builtin_ctz(TIM_USE_BEEPER));
sbufWriteU8(dst, 1);
break;
}
}
*ret = MSP_RESULT_ACK;
}
break;
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3 changes: 2 additions & 1 deletion src/main/flight/mixer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,8 @@ typedef enum {
OUTPUT_MODE_MOTORS,
OUTPUT_MODE_SERVOS,
OUTPUT_MODE_LED,
OUTPUT_MODE_PINIO
OUTPUT_MODE_PINIO,
OUTPUT_MODE_BEEPER
} outputMode_e;

typedef struct motorAxisCorrectionLimits_s {
Expand Down
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