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1910 - 1
#include <inttypes.h>
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#include "output.h"
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#include "eeprom.h"
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#include "timer0.h"
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uint8_t flashCnt[2], flashMask[2];
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DebugOut_t debugOut;
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void output_init(void) {
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  // set PC2 & PC3 as output (control of J16 & J17)
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  DDRC |= (1 << DDC2) | (1 << DDC3);
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  outputSet(0,0);
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  outputSet(1,0);
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  flashCnt[0] = flashCnt[1] = 0;
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  flashMask[0] = flashMask[1] = 128;
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}
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void outputSet(uint8_t num, uint8_t state) {
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  if (staticParams.outputFlags & (OUTPUTFLAGS_INVERT_0 << num)) {
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    if (state) OUTPUT_LOW(num) else OUTPUT_HIGH(num);
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  } else {
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    if (state) OUTPUT_HIGH(num) else OUTPUT_LOW(num);
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  }
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  if (staticParams.outputFlags & OUTPUTFLAGS_USE_ONBOARD_LEDS) {
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    if (num) {
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      if (state) GRN_ON else GRN_OFF;
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    } else {
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      if (state) RED_ON else RED_OFF;
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    }
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  }
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}
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void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, uint8_t manual) {
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  if (timing > 250 && manual > 230) {
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    // "timing" is set to "manual (a variable)" and the value is very high --> Set to the value in bitmask bit 7.
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    outputSet(port, 1);
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  } else if (timing > 250 && manual < 10) {
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    // "timing" is set to "manual" (a variable) and the value is very low --> Set to the negated value in bitmask bit 7.
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    outputSet(port, 0);
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  } else if (!flashCnt[port]--) {
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    // rotating mask over bitmask...
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    flashCnt[port] = timing - 1;
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    if (flashMask[port] == 1)
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      flashMask[port] = 128;
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    else
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      flashMask[port] >>= 1;
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    outputSet(port, flashMask[port] & bitmask);
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  }
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}
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void output_update(void) {
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  static int8_t delay = 0;
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  if (!delay--) { // 10 ms intervals
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    delay = 4;
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  }
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  if (staticParams.outputFlags & OUTPUTFLAGS_TEST_ON) {
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    outputSet(0, 1);
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    outputSet(1, 1);
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  } else if (staticParams.outputFlags & OUTPUTFLAGS_TEST_OFF) {
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    outputSet(0, 0);
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    outputSet(1, 0);
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  } else {
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    if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_0_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) {
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      flashingLight(0, 25, 0x55, 25);
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    } else if (staticParams.outputDebugMask) {
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      outputSet(0, debugOut.digital[0] & staticParams.outputDebugMask);
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    } else if (!delay) {
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      flashingLight(0, staticParams.outputFlash[0].timing, staticParams.outputFlash[0].bitmask, dynamicParams.output0Timing);
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    }
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    if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_1_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) {
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      flashingLight(1, 25, 0x55, 25);
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    } else if (staticParams.outputDebugMask) {
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      outputSet(1, debugOut.digital[1] & staticParams.outputDebugMask);
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    } else if (!delay) {
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      flashingLight(1, staticParams.outputFlash[1].timing, staticParams.outputFlash[1].bitmask, dynamicParams.output1Timing);
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    }
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  }
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}
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void beep(uint16_t millis) {
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  beepTime = millis;
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}
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/*
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 * Make [numbeeps] beeps.
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 */
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void beepNumber(uint8_t numbeeps) {
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  while(numbeeps--) {
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    if(isMotorRunning) return; //auf keinen Fall bei laufenden Motoren!
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    beep(100); // 0.1 second
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    delay_ms(250); // blocks 250 ms as pause to next beep,
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    // this will block the flight control loop,
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    // therefore do not use this function if motors are running
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  }
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}
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/*
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 * Beep the R/C alarm signal
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 */
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void beepRCAlarm(void) {
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  if(beepModulation == BEEP_MODULATION_NONE) { // If not already beeping an alarm signal (?)
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    beepTime = 15000; // 1.5 seconds
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    beepModulation = BEEP_MODULATION_RCALARM;
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  }
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}
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/*
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 * Beep the battery low alarm signal
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 */
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void beepBatteryAlarm(void) {
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  beepModulation = BEEP_MODULATION_BATTERYALARM;
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  if(!beepTime) {
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    beepTime = 6000; // 0.6 seconds
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  }
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}
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/*
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 * Beep the EEPROM checksum alarm
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 */
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void beepEEPROMAlarm(void) {
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  beepModulation = BEEP_MODULATION_EEPROMALARM;
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  if(!beepTime) {
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    beepTime = 6000; // 0.6 seconds
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  }
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}