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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | #include <inttypes.h> |
| 2 | #include "output.h" |
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| 3 | #include "eeprom.h" |
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| 1887 | - | 4 | #include "timer0.h" |
| 1775 | - | 5 | uint8_t flashCnt[2], flashMask[2]; |
| 1964 | - | 6 | |
| 2052 | - | 7 | DebugOut_t debugOut; |
| 1964 | - | 8 | |
| 1612 | dongfang | 9 | void output_init(void) { |
| 1869 | - | 10 | // set PC2 & PC3 as output (control of J16 & J17) |
| 11 | DDRC |= (1 << DDC2) | (1 << DDC3); |
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| 1964 | - | 12 | outputSet(0,0); |
| 13 | outputSet(1,0); |
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| 1869 | - | 14 | flashCnt[0] = flashCnt[1] = 0; |
| 15 | flashMask[0] = flashMask[1] = 128; |
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| 1612 | dongfang | 16 | } |
| 17 | |||
| 1964 | - | 18 | void outputSet(uint8_t num, uint8_t state) { |
| 1986 | - | 19 | if (staticParams.outputFlags & (OUTPUTFLAGS_INVERT_0 << num)) { |
| 1968 | - | 20 | if (state) OUTPUT_LOW(num) else OUTPUT_HIGH(num); |
| 21 | } else { |
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| 22 | if (state) OUTPUT_HIGH(num) else OUTPUT_LOW(num); |
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| 23 | } |
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| 1986 | - | 24 | if (staticParams.outputFlags & OUTPUTFLAGS_USE_ONBOARD_LEDS) { |
| 1968 | - | 25 | if (num) { |
| 26 | if (state) GRN_ON else GRN_OFF; |
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| 27 | } else { |
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| 28 | if (state) RED_ON else RED_OFF; |
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| 29 | } |
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| 30 | } |
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| 1964 | - | 31 | } |
| 32 | |||
| 33 | void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, uint8_t manual) { |
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| 1869 | - | 34 | if (timing > 250 && manual > 230) { |
| 1960 | - | 35 | // "timing" is set to "manual (a variable)" and the value is very high --> Set to the value in bitmask bit 7. |
| 1964 | - | 36 | outputSet(port, 1); |
| 1869 | - | 37 | } else if (timing > 250 && manual < 10) { |
| 1960 | - | 38 | // "timing" is set to "manual" (a variable) and the value is very low --> Set to the negated value in bitmask bit 7. |
| 1964 | - | 39 | outputSet(port, 0); |
| 1869 | - | 40 | } else if (!flashCnt[port]--) { |
| 41 | // rotating mask over bitmask... |
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| 42 | flashCnt[port] = timing - 1; |
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| 43 | if (flashMask[port] == 1) |
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| 44 | flashMask[port] = 128; |
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| 45 | else |
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| 46 | flashMask[port] >>= 1; |
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| 1964 | - | 47 | outputSet(port, flashMask[port] & bitmask); |
| 1869 | - | 48 | } |
| 1775 | - | 49 | } |
| 50 | |||
| 2019 | - | 51 | void output_update(void) { |
| 1869 | - | 52 | static int8_t delay = 0; |
| 53 | if (!delay--) { // 10 ms intervals |
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| 54 | delay = 4; |
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| 2019 | - | 55 | } |
| 56 | if (staticParams.outputFlags & OUTPUTFLAGS_TEST_ON) { |
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| 57 | outputSet(0, 1); |
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| 58 | outputSet(1, 1); |
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| 59 | } else if (staticParams.outputFlags & OUTPUTFLAGS_TEST_OFF) { |
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| 60 | outputSet(0, 0); |
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| 61 | outputSet(1, 0); |
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| 62 | } else { |
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| 1986 | - | 63 | if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_0_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) { |
| 1908 | - | 64 | flashingLight(0, 25, 0x55, 25); |
| 2019 | - | 65 | } else if (staticParams.outputDebugMask) { |
| 66 | outputSet(0, debugOut.digital[0] & staticParams.outputDebugMask); |
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| 67 | } else if (!delay) { |
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| 1960 | - | 68 | flashingLight(0, staticParams.outputFlash[0].timing, staticParams.outputFlash[0].bitmask, dynamicParams.output0Timing); |
| 1908 | - | 69 | } |
| 1986 | - | 70 | if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_1_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) { |
| 71 | flashingLight(1, 25, 0x55, 25); |
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| 2019 | - | 72 | } else if (staticParams.outputDebugMask) { |
| 73 | outputSet(1, debugOut.digital[1] & staticParams.outputDebugMask); |
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| 74 | } else if (!delay) { |
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| 2018 | - | 75 | flashingLight(1, staticParams.outputFlash[1].timing, staticParams.outputFlash[1].bitmask, dynamicParams.output1Timing); |
| 1986 | - | 76 | } |
| 1869 | - | 77 | } |
| 1612 | dongfang | 78 | } |
| 79 | |||
| 1887 | - | 80 | void beep(uint16_t millis) { |
| 81 | beepTime = millis; |
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| 82 | } |
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| 83 | |||
| 84 | /* |
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| 85 | * Make [numbeeps] beeps. |
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| 86 | */ |
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| 87 | void beepNumber(uint8_t numbeeps) { |
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| 88 | while(numbeeps--) { |
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| 89 | if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren! |
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| 90 | beep(100); // 0.1 second |
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| 91 | delay_ms(250); // blocks 250 ms as pause to next beep, |
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| 92 | // this will block the flight control loop, |
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| 93 | // therefore do not use this function if motors are running |
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| 94 | } |
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| 95 | } |
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| 96 | |||
| 97 | /* |
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| 98 | * Beep the R/C alarm signal |
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| 99 | */ |
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| 100 | void beepRCAlarm(void) { |
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| 1908 | - | 101 | if(beepModulation == BEEP_MODULATION_NONE) { // If not already beeping an alarm signal (?) |
| 1887 | - | 102 | beepTime = 15000; // 1.5 seconds |
| 1908 | - | 103 | beepModulation = BEEP_MODULATION_RCALARM; |
| 1887 | - | 104 | } |
| 105 | } |
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| 106 | |||
| 107 | /* |
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| 108 | * Beep the I2C bus error signal |
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| 109 | */ |
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| 110 | void beepI2CAlarm(void) { |
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| 1908 | - | 111 | if((beepModulation == BEEP_MODULATION_NONE) && (MKFlags & MKFLAG_MOTOR_RUN)) { |
| 1887 | - | 112 | beepTime = 10000; // 1 second |
| 1908 | - | 113 | beepModulation = BEEP_MODULATION_I2CALARM; |
| 1887 | - | 114 | } |
| 115 | } |
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| 116 | |||
| 117 | /* |
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| 118 | * Beep the battery low alarm signal |
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| 119 | */ |
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| 120 | void beepBatteryAlarm(void) { |
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| 1908 | - | 121 | beepModulation = BEEP_MODULATION_BATTERYALARM; |
| 1887 | - | 122 | if(!beepTime) { |
| 123 | beepTime = 6000; // 0.6 seconds |
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| 124 | } |
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| 125 | } |
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| 126 | |||
| 127 | /* |
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| 128 | * Beep the EEPROM checksum alarm |
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| 129 | */ |
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| 130 | void beepEEPROMAlarm(void) { |
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| 1908 | - | 131 | beepModulation = BEEP_MODULATION_EEPROMALARM; |
| 1887 | - | 132 | if(!beepTime) { |
| 133 | beepTime = 6000; // 0.6 seconds |
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| 134 | } |
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| 135 | } |