Subversion Repositories FlightCtrl

#ifndef _OUTPUT_H

#define _OUTPUT_H

#include <avr/io.h>

// This is for LEDs connected directly between +5V and the AVR port, without transistors.

// PORTbit = 0 --> LED on.

// To use the normal transistor set-up where 1 --> transistor conductive, reverse the 

// ON and OFF statements.

#define OUTPUT_ON(num)          {PORTC |=  (4 << (num));}

#define OUTPUT_OFF(num)         {PORTC &= ~(4 << (num));}

#define OUTPUT_SET(num, state)  {if ((state)) OUTPUT_ON(num) else OUTPUT_OFF(num)}

#define OUTPUT_TOGGLE(num) (    {PORTC ^=  (4 << (num));}

#define DEBUG_LEDTEST 256

#define DEBUG_HEIGHT_SWITCH 1

#define DEBUG_HEIGHT_DIFF 2

#define DEBUG_HOVERTHROTTLE 4

#define DEBUG_ACC0THORDER 8

#define DEBUG_COMMANDREPEATED 16

void output_init(void);

void output_update(void);

#endif //_output_H