Subversion Repositories FlightCtrl

Compare Revisions

Ignore whitespace Rev 2098 → Rev 2099

/branches/dongfang_FC_fixedwing/output.c
2,28 → 2,41
#include "output.h"
#include "eeprom.h"
#include "timer0.h"
uint8_t flashCnt[2], flashMask[2];
 
// To access the DebugOut struct.
#include "uart0.h"
uint8_t flashCnt[2], flashMask[2];
// initializes the LED control outputs J16, J17
DebugOut_t debugOut;
 
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);
outputSet(0,0);
outputSet(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) {
void outputSet(uint8_t num, uint8_t state) {
if (staticParams.outputFlags & (OUTPUTFLAGS_INVERT_0 << num)) {
if (state) OUTPUT_LOW(num) else OUTPUT_HIGH(num);
} else {
if (state) OUTPUT_HIGH(num) else OUTPUT_LOW(num);
}
if (staticParams.outputFlags & OUTPUTFLAGS_USE_ONBOARD_LEDS) {
if (num) {
if (state) GRN_ON else GRN_OFF;
} else {
if (state) RED_ON else RED_OFF;
}
}
}
 
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);
// "timing" is set to "manual (a variable)" and the value is very high --> Set to the value in bitmask bit 7.
outputSet(port, 1);
} 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));
// "timing" is set to "manual" (a variable) and the value is very low --> Set to the negated value in bitmask bit 7.
outputSet(port, 0);
} else if (!flashCnt[port]--) {
// rotating mask over bitmask...
flashCnt[port] = timing - 1;
31,44 → 44,36
flashMask[port] = 128;
else
flashMask[port] >>= 1;
OUTPUT_SET(port, flashMask[port] & bitmask);
outputSet(port, flashMask[port] & bitmask);
}
}
 
void flashingLights(void) {
void output_update(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);
if (staticParams.outputFlags & OUTPUTFLAGS_TEST_ON) {
outputSet(0, 1);
outputSet(1, 1);
} else if (staticParams.outputFlags & OUTPUTFLAGS_TEST_OFF) {
outputSet(0, 0);
outputSet(1, 0);
} else {
OUTPUT_SET(0, DebugOut.Digital[0] & DIGITAL_DEBUG_MASK);
OUTPUT_SET(1, DebugOut.Digital[1] & DIGITAL_DEBUG_MASK);
if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_0_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) {
flashingLight(0, 25, 0x55, 25);
} else if (staticParams.outputDebugMask) {
outputSet(0, debugOut.digital[0] & staticParams.outputDebugMask);
} else if (!delay) {
flashingLight(0, staticParams.outputFlash[0].timing, staticParams.outputFlash[0].bitmask, dynamicParams.output0Timing);
}
if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_1_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) {
flashingLight(1, 25, 0x55, 25);
} else if (staticParams.outputDebugMask) {
outputSet(1, debugOut.digital[1] & staticParams.outputDebugMask);
} else if (!delay) {
flashingLight(1, staticParams.outputFlash[1].timing, staticParams.outputFlash[1].bitmask, dynamicParams.output1Timing);
}
}
}
 
93,27 → 98,17
* Beep the R/C alarm signal
*/
void beepRCAlarm(void) {
if(beepModulation == 0xFFFF) { // If not already beeping an alarm signal (?)
if(beepModulation == BEEP_MODULATION_NONE) { // If not already beeping an alarm signal (?)
beepTime = 15000; // 1.5 seconds
beepModulation = 0x0C00;
beepModulation = BEEP_MODULATION_RCALARM;
}
}
 
/*
* 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;
beepModulation = BEEP_MODULATION_BATTERYALARM;
if(!beepTime) {
beepTime = 6000; // 0.6 seconds
}
123,7 → 118,7
* Beep the EEPROM checksum alarm
*/
void beepEEPROMAlarm(void) {
beepModulation = 0x0007;
beepModulation = BEEP_MODULATION_EEPROMALARM;
if(!beepTime) {
beepTime = 6000; // 0.6 seconds
}