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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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| 1887 | - | 54 | #include "timer0.h" |
| 1612 | dongfang | 55 | |
| 56 | // To access the DebugOut struct. |
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| 57 | #include "uart0.h" |
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| 1775 | - | 58 | uint8_t flashCnt[2], flashMask[2]; |
| 1612 | dongfang | 59 | // initializes the LED control outputs J16, J17 |
| 60 | void output_init(void) { |
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| 1869 | - | 61 | // set PC2 & PC3 as output (control of J16 & J17) |
| 62 | DDRC |= (1 << DDC2) | (1 << DDC3); |
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| 63 | OUTPUT_SET(0,0); |
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| 64 | OUTPUT_SET(1,0); |
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| 65 | flashCnt[0] = flashCnt[1] = 0; |
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| 66 | flashMask[0] = flashMask[1] = 128; |
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| 1612 | dongfang | 67 | } |
| 68 | |||
| 1821 | - | 69 | void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, |
| 1869 | - | 70 | uint8_t manual) { |
| 71 | if (timing > 250 && manual > 230) { |
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| 1960 | - | 72 | // "timing" is set to "manual (a variable)" and the value is very high --> Set to the value in bitmask bit 7. |
| 1869 | - | 73 | OUTPUT_SET(port, bitmask & 128); |
| 74 | } else if (timing > 250 && manual < 10) { |
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| 1960 | - | 75 | // "timing" is set to "manual" (a variable) and the value is very low --> Set to the negated value in bitmask bit 7. |
| 1869 | - | 76 | OUTPUT_SET(port, !(bitmask & 128)); |
| 77 | } else if (!flashCnt[port]--) { |
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| 78 | // rotating mask over bitmask... |
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| 79 | flashCnt[port] = timing - 1; |
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| 80 | if (flashMask[port] == 1) |
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| 81 | flashMask[port] = 128; |
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| 82 | else |
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| 83 | flashMask[port] >>= 1; |
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| 84 | OUTPUT_SET(port, flashMask[port] & bitmask); |
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| 85 | } |
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| 1775 | - | 86 | } |
| 87 | |||
| 1612 | dongfang | 88 | void flashingLights(void) { |
| 1869 | - | 89 | static int8_t delay = 0; |
| 90 | if (!delay--) { // 10 ms intervals |
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| 91 | delay = 4; |
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| 1960 | - | 92 | if (staticParams.outputFlags & 4 && beepModulation != BEEP_MODULATION_NONE) { |
| 1908 | - | 93 | // alarm |
| 94 | flashingLight(0, 25, 0x55, 25); |
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| 95 | flashingLight(1, 25, 0xAA, 25); |
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| 96 | } else { |
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| 1960 | - | 97 | flashingLight(0, staticParams.outputFlash[0].timing, staticParams.outputFlash[0].bitmask, dynamicParams.output0Timing); |
| 98 | flashingLight(1, staticParams.outputFlash[1].timing, staticParams.outputFlash[1].bitmask, dynamicParams.output1Timing); |
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| 1908 | - | 99 | } |
| 1869 | - | 100 | } |
| 1612 | dongfang | 101 | } |
| 102 | |||
| 103 | void output_update(void) { |
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| 1960 | - | 104 | if (staticParams.outputFlags & 1) { |
| 1869 | - | 105 | OUTPUT_SET(0, 1); |
| 106 | OUTPUT_SET(1, 1); |
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| 1960 | - | 107 | } else if (staticParams.outputFlags & 2) { |
| 1869 | - | 108 | OUTPUT_SET(0, 0); |
| 109 | OUTPUT_SET(1, 0); |
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| 1960 | - | 110 | } else if (!staticParams.outputDebugMask) { |
| 111 | flashingLights(); |
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| 1869 | - | 112 | } else { |
| 1960 | - | 113 | OUTPUT_SET(0, debugOut.digital[0] & staticParams.outputDebugMask); |
| 114 | OUTPUT_SET(1, debugOut.digital[1] & staticParams.outputDebugMask); |
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| 1869 | - | 115 | } |
| 1612 | dongfang | 116 | } |
| 1887 | - | 117 | |
| 118 | void beep(uint16_t millis) { |
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| 119 | beepTime = millis; |
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| 120 | } |
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| 121 | |||
| 122 | /* |
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| 123 | * Make [numbeeps] beeps. |
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| 124 | */ |
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| 125 | void beepNumber(uint8_t numbeeps) { |
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| 126 | while(numbeeps--) { |
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| 127 | if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren! |
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| 128 | beep(100); // 0.1 second |
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| 129 | delay_ms(250); // blocks 250 ms as pause to next beep, |
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| 130 | // this will block the flight control loop, |
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| 131 | // therefore do not use this function if motors are running |
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| 132 | } |
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| 133 | } |
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| 134 | |||
| 135 | /* |
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| 136 | * Beep the R/C alarm signal |
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| 137 | */ |
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| 138 | void beepRCAlarm(void) { |
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| 1908 | - | 139 | if(beepModulation == BEEP_MODULATION_NONE) { // If not already beeping an alarm signal (?) |
| 1887 | - | 140 | beepTime = 15000; // 1.5 seconds |
| 1908 | - | 141 | beepModulation = BEEP_MODULATION_RCALARM; |
| 1887 | - | 142 | } |
| 143 | } |
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| 144 | |||
| 145 | /* |
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| 146 | * Beep the I2C bus error signal |
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| 147 | */ |
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| 148 | void beepI2CAlarm(void) { |
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| 1908 | - | 149 | if((beepModulation == BEEP_MODULATION_NONE) && (MKFlags & MKFLAG_MOTOR_RUN)) { |
| 1887 | - | 150 | beepTime = 10000; // 1 second |
| 1908 | - | 151 | beepModulation = BEEP_MODULATION_I2CALARM; |
| 1887 | - | 152 | } |
| 153 | } |
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| 154 | |||
| 155 | /* |
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| 156 | * Beep the battery low alarm signal |
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| 157 | */ |
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| 158 | void beepBatteryAlarm(void) { |
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| 1908 | - | 159 | beepModulation = BEEP_MODULATION_BATTERYALARM; |
| 1887 | - | 160 | if(!beepTime) { |
| 161 | beepTime = 6000; // 0.6 seconds |
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| 162 | } |
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| 163 | } |
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| 164 | |||
| 165 | /* |
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| 166 | * Beep the EEPROM checksum alarm |
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| 167 | */ |
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| 168 | void beepEEPROMAlarm(void) { |
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| 1908 | - | 169 | beepModulation = BEEP_MODULATION_EEPROMALARM; |
| 1887 | - | 170 | if(!beepTime) { |
| 171 | beepTime = 6000; // 0.6 seconds |
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| 172 | } |
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| 173 | } |