| 0,0 → 1,130 |
|---|
| #include <inttypes.h> |
| #include "output.h" |
| #include "eeprom.h" |
| #include "timer0.h" |
| |
| // To access the DebugOut struct. |
| #include "uart0.h" |
| uint8_t flashCnt[2], flashMask[2]; |
| // initializes the LED control outputs J16, J17 |
| void output_init(void) { |
| // set PC2 & PC3 as output (control of J16 & J17) |
| DDRC |= (1 << DDC2) | (1 << DDC3); |
| OUTPUT_SET(0,0); |
| OUTPUT_SET(1,0); |
| flashCnt[0] = flashCnt[1] = 0; |
| flashMask[0] = flashMask[1] = 128; |
| } |
| |
| void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, |
| uint8_t manual) { |
| if (timing > 250 && manual > 230) { |
| // "timing" is set to "manual" and the value is very high --> Set to the value in bitmask bit 7. |
| OUTPUT_SET(port, bitmask & 128); |
| } else if (timing > 250 && manual < 10) { |
| // "timing" is set to "manual" and the value is very low --> Set to the negated value in bitmask bit 7. |
| OUTPUT_SET(port, !(bitmask & 128)); |
| } else if (!flashCnt[port]--) { |
| // rotating mask over bitmask... |
| flashCnt[port] = timing - 1; |
| if (flashMask[port] == 1) |
| flashMask[port] = 128; |
| else |
| flashMask[port] >>= 1; |
| OUTPUT_SET(port, flashMask[port] & bitmask); |
| } |
| } |
| |
| void flashingLights(void) { |
| static int8_t delay = 0; |
| if (!delay--) { // 10 ms intervals |
| delay = 4; |
| flashingLight(0, staticParams.J16Timing, staticParams.J16Bitmask, |
| dynamicParams.J16Timing); |
| flashingLight(1, staticParams.J17Timing, staticParams.J17Bitmask, |
| dynamicParams.J17Timing); |
| } |
| } |
| |
| void output_update(void) { |
| if (!DIGITAL_DEBUG_MASK) { |
| // If there is a warning beep, also flash it. |
| if (beepTime) { |
| if (beepTime & beepModulation) { |
| OUTPUT_SET(0, 1); |
| OUTPUT_SET(1, 1); |
| } else { |
| OUTPUT_SET(0, 0); |
| OUTPUT_SET(1, 0); |
| } |
| }else |
| flashingLights(); |
| } |
| else if (DIGITAL_DEBUG_MASK == DEBUG_LEDTEST_ON) { |
| OUTPUT_SET(0, 1); |
| OUTPUT_SET(1, 1); |
| } else if (DIGITAL_DEBUG_MASK == DEBUG_LEDTEST_OFF) { |
| OUTPUT_SET(0, 0); |
| OUTPUT_SET(1, 0); |
| } else { |
| OUTPUT_SET(0, DebugOut.Digital[0] & DIGITAL_DEBUG_MASK); |
| OUTPUT_SET(1, DebugOut.Digital[1] & DIGITAL_DEBUG_MASK); |
| } |
| } |
| |
| void beep(uint16_t millis) { |
| beepTime = millis; |
| } |
| |
| /* |
| * Make [numbeeps] beeps. |
| */ |
| void beepNumber(uint8_t numbeeps) { |
| while(numbeeps--) { |
| if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren! |
| beep(100); // 0.1 second |
| delay_ms(250); // blocks 250 ms as pause to next beep, |
| // this will block the flight control loop, |
| // therefore do not use this function if motors are running |
| } |
| } |
| |
| /* |
| * Beep the R/C alarm signal |
| */ |
| void beepRCAlarm(void) { |
| if(beepModulation == 0xFFFF) { // If not already beeping an alarm signal (?) |
| beepTime = 15000; // 1.5 seconds |
| beepModulation = 0x0C00; |
| } |
| } |
| |
| /* |
| * Beep the I2C bus error signal |
| */ |
| void beepI2CAlarm(void) { |
| if((beepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN)) { |
| beepTime = 10000; // 1 second |
| beepModulation = 0x0080; |
| } |
| } |
| |
| /* |
| * Beep the battery low alarm signal |
| */ |
| void beepBatteryAlarm(void) { |
| beepModulation = 0x0300; |
| if(!beepTime) { |
| beepTime = 6000; // 0.6 seconds |
| } |
| } |
| |
| /* |
| * Beep the EEPROM checksum alarm |
| */ |
| void beepEEPROMAlarm(void) { |
| beepModulation = 0x0007; |
| if(!beepTime) { |
| beepTime = 6000; // 0.6 seconds |
| } |
| } |