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1612 dongfang 1
#ifndef _OUTPUT_H
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#define _OUTPUT_H
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#include <avr/io.h>
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#include "configuration.h"
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#define OUTPUT_HIGH(num)        {PORTC |=  (4 << (num));}
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#define OUTPUT_LOW(num)         {PORTC &= ~(4 << (num));}
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#define OUTPUT_TOGGLE(num) (    {PORTC ^=  (4 << (num));}
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// Control terms (multicopter)
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// TODO: Multicopter stuff separate?
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extern int16_t throttleTerm;
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extern int32_t yawTerm, term[2];
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// I2C and PWM motor and servo outputs.
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// extern int16_t outputs[NUM_OUTPUTS];
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/*
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 * Set to 0 for using outputs as the usual flashing lights.
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 * Set to one of the DEBUG_... defines h for using the outputs as debug lights.
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 */
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#define DIGITAL_DEBUG_MASK 0
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void output_init(void);
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void output_setLED(uint8_t num, uint8_t state);
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void output_update(void);
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void output_applyMulticopterMixer(void);
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void output_setParameters(void);
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#endif //_output_H