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| 1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + Nur für den privaten Gebrauch |
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| 4 | // + www.MikroKopter.com |
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| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 18 | // + eindeutig als Ursprung verlinkt werden |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 21 | // + Benutzung auf eigene Gefahr |
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| 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 25 | // + mit unserer Zustimmung zulässig |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 30 | // + this list of conditions and the following disclaimer. |
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| 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 32 | // + from this software without specific prior written permission. |
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| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 34 | // + for non-commercial use (directly or indirectly) |
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| 35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 36 | // + with our written permission |
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| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 38 | // + clearly linked as origin |
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| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 49 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 51 | #include <inttypes.h> |
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| 52 | #include "output.h" |
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| 53 | #include "eeprom.h" |
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| 54 | |||
| 55 | // To access the DebugOut struct. |
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| 56 | #include "uart0.h" |
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| 1775 | - | 57 | uint8_t flashCnt[2], flashMask[2]; |
| 1612 | dongfang | 58 | // initializes the LED control outputs J16, J17 |
| 59 | void output_init(void) { |
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| 60 | // set PC2 & PC3 as output (control of J16 & J17) |
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| 61 | DDRC |= (1<<DDC2)|(1<<DDC3); |
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| 1775 | - | 62 | OUTPUT_OFF(0); OUTPUT_OFF(1); |
| 63 | flashCnt[0] = flashCnt[1] = 0; |
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| 64 | flashMask[0] = flashMask[1] = 128; |
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| 1612 | dongfang | 65 | } |
| 66 | |||
| 1775 | - | 67 | void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, uint8_t manual) { |
| 68 | if (timing > 250 && manual > 230) { |
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| 69 | // "timing" is set to "manual" and the value is very high --> Set to the value in bitmask bit 7. |
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| 70 | OUTPUT_SET(port, bitmask & 128); |
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| 71 | } else if (timing > 250 && manual < 10) { |
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| 72 | // "timing" is set to "manual" and the value is very low --> Set to the negated value in bitmask bit 7. |
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| 73 | OUTPUT_SET(port, !(bitmask & 128)); |
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| 74 | } else if(!flashCnt[port]--) { |
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| 75 | // rotating mask over bitmask... |
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| 76 | flashCnt[port] = timing - 1; |
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| 77 | if(flashMask[port] == 1) flashMask[port] = 128; else flashMask[port] >>= 1; |
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| 78 | OUTPUT_SET(port, flashMask[port] & bitmask); |
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| 79 | } |
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| 80 | } |
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| 81 | |||
| 1612 | dongfang | 82 | void flashingLights(void) { |
| 83 | static int8_t delay = 0; |
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| 1775 | - | 84 | if(!delay--) { // 10 ms intervals |
| 1612 | dongfang | 85 | delay = 4; |
| 1775 | - | 86 | flashingLight(0, staticParams.J16Timing, staticParams.J16Bitmask, dynamicParams.J16Timing); |
| 87 | flashingLight(1, staticParams.J17Timing, staticParams.J17Bitmask, dynamicParams.J17Timing); |
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| 1612 | dongfang | 88 | } |
| 89 | } |
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| 90 | |||
| 1775 | - | 91 | #define DIGITAL_DEBUG_MASK 0 |
| 92 | |||
| 93 | // invert means: An "1" bit in digital debug data will feed NO base current to output transistor. |
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| 94 | #define DIGITAL_DEBUG_INVERT 0 |
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| 95 | |||
| 1612 | dongfang | 96 | void output_update(void) { |
| 1775 | - | 97 | uint8_t output0, output1; |
| 98 | if (!DIGITAL_DEBUG_MASK) |
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| 99 | flashingLights(); |
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| 100 | else { |
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| 101 | if (DIGITAL_DEBUG_MASK == DEBUG_LEDTEST) { |
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| 102 | // Show the state for a SET bit. If inverse, then invert. |
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| 103 | output0 = output1 = ~DIGITAL_DEBUG_INVERT; |
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| 104 | } else if (DIGITAL_DEBUG_INVERT) { |
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| 105 | output0 = (~DebugOut.Digital[0]) & DIGITAL_DEBUG_MASK; |
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| 106 | output1 = (~DebugOut.Digital[1]) & DIGITAL_DEBUG_MASK; |
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| 107 | } else { |
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| 108 | output0 = DebugOut.Digital[0] & DIGITAL_DEBUG_MASK; |
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| 109 | output1 = DebugOut.Digital[1] & DIGITAL_DEBUG_MASK; |
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| 110 | } |
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| 111 | OUTPUT_SET(0, output0); |
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| 112 | OUTPUT_SET(1, output1); |
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| 113 | } |
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| 1612 | dongfang | 114 | } |