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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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| 1868 | - | 35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 1612 | dongfang | 36 | // + with our written permission |
| 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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| 1869 | - | 60 | // set PC2 & PC3 as output (control of J16 & J17) |
| 61 | DDRC |= (1 << DDC2) | (1 << DDC3); |
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| 62 | OUTPUT_SET(0,0); |
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| 63 | OUTPUT_SET(1,0); |
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| 64 | flashCnt[0] = flashCnt[1] = 0; |
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| 65 | flashMask[0] = flashMask[1] = 128; |
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| 1612 | dongfang | 66 | } |
| 67 | |||
| 1821 | - | 68 | void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, |
| 1869 | - | 69 | uint8_t manual) { |
| 70 | if (timing > 250 && manual > 230) { |
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| 71 | // "timing" is set to "manual" and the value is very high --> Set to the value in bitmask bit 7. |
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| 72 | OUTPUT_SET(port, bitmask & 128); |
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| 73 | } else if (timing > 250 && manual < 10) { |
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| 74 | // "timing" is set to "manual" and the value is very low --> Set to the negated value in bitmask bit 7. |
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| 75 | OUTPUT_SET(port, !(bitmask & 128)); |
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| 76 | } else if (!flashCnt[port]--) { |
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| 77 | // rotating mask over bitmask... |
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| 78 | flashCnt[port] = timing - 1; |
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| 79 | if (flashMask[port] == 1) |
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| 80 | flashMask[port] = 128; |
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| 81 | else |
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| 82 | flashMask[port] >>= 1; |
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| 83 | OUTPUT_SET(port, flashMask[port] & bitmask); |
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| 84 | } |
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| 1775 | - | 85 | } |
| 86 | |||
| 1612 | dongfang | 87 | void flashingLights(void) { |
| 1869 | - | 88 | static int8_t delay = 0; |
| 89 | if (!delay--) { // 10 ms intervals |
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| 90 | delay = 4; |
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| 91 | flashingLight(0, staticParams.J16Timing, staticParams.J16Bitmask, |
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| 92 | dynamicParams.J16Timing); |
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| 93 | flashingLight(1, staticParams.J17Timing, staticParams.J17Bitmask, |
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| 94 | dynamicParams.J17Timing); |
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| 95 | } |
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| 1612 | dongfang | 96 | } |
| 97 | |||
| 98 | void output_update(void) { |
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| 1869 | - | 99 | if (!DIGITAL_DEBUG_MASK) |
| 100 | flashingLights(); |
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| 101 | else if (DIGITAL_DEBUG_MASK == DEBUG_LEDTEST_ON) { |
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| 102 | OUTPUT_SET(0, 1); |
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| 103 | OUTPUT_SET(1, 1); |
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| 104 | } else if (DIGITAL_DEBUG_MASK == DEBUG_LEDTEST_OFF) { |
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| 105 | OUTPUT_SET(0, 0); |
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| 106 | OUTPUT_SET(1, 0); |
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| 107 | } else if (DIGITAL_DEBUG_MASK == DEBUG_LEDTEST_0) { |
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| 108 | OUTPUT_SET(0, 1); |
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| 109 | OUTPUT_SET(1, 0); |
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| 110 | } else if (DIGITAL_DEBUG_MASK == DEBUG_LEDTEST_1) { |
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| 111 | OUTPUT_SET(0, 0); |
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| 112 | OUTPUT_SET(1, 1); |
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| 113 | } else { |
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| 114 | OUTPUT_SET(0, DebugOut.Digital[0] & DIGITAL_DEBUG_MASK); |
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| 115 | OUTPUT_SET(1, DebugOut.Digital[1] & DIGITAL_DEBUG_MASK); |
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| 116 | } |
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| 1612 | dongfang | 117 | } |