| 2,73 → 2,21 |
|---|
| #define _OUTPUT_H |
| |
| #include <avr/io.h> |
| #include "configuration.h" |
| |
| #define J3HIGH PORTD |= (1<<PORTD5) |
| #define J3LOW PORTD &= ~(1<<PORTD5) |
| #define J3TOGGLE PORTD ^= (1<<PORTD5) |
| |
| #define J4HIGH PORTD |= (1<<PORTD4) |
| #define J4LOW PORTD &= ~(1<<PORTD4) |
| #define J4TOGGLE PORTD ^= (1<<PORTD4) |
| |
| #define J5HIGH PORTD |= (1<<PORTD3) |
| #define J5LOW PORTD &= ~(1<<PORTD3) |
| #define J5TOGGLE PORTD ^= (1<<PORTD3) |
| |
| // invert means: An "1" bit in digital debug data make a LOW on the output. |
| #define DIGITAL_DEBUG_INVERT 0 |
| |
| #define OUTPUT_HIGH(num) {PORTC |= (4 << (num));} |
| #define OUTPUT_LOW(num) {PORTC &= ~(4 << (num));} |
| #define OUTPUT_TOGGLE(num) ( {PORTC ^= (4 << (num));} |
| |
| /* |
| * Some digital debugs. A digital debug is 2 signals on the 2 LED outputs, |
| * turned on and off depending on some condtions given in the code. |
| * Only one can be selected, by defining DIGITAL_DEBUG_MASK to the value |
| * of the debug. |
| * In the code one can do like: |
| * if (whatever_condition) { |
| * DebugOut.Digital[0] |= DEBUG_MYOWNDEBUGGER; |
| * } else { |
| * DebugOut.Digital[0] &= ~DEBUG_MYOWNDEBUGGER; |
| * } |
| * ... |
| * if (whatever_other_condition) { |
| * DebugOut.Digital[1] |= DEBUG_MYOWNDEBUGGER; |
| * } else { |
| * DebugOut.Digital[1] &= ~DEBUG_MYOWNDEBUGGER; |
| * } |
| * |
| * Digital debugs may be added as desired, and removed when the mystery |
| * at hand is resolved. |
| */ |
| // Control terms (multicopter) |
| // TODO: Multicopter stuff separate? |
| extern int16_t throttleTerm; |
| extern int32_t yawTerm, term[2]; |
| |
| #define DEBUG_MAINLOOP_TIMER 1 |
| #define DEBUG_HEIGHT_DIFF 2 |
| #define DEBUG_FLIGHTCLIP 4 |
| #define DEBUG_ACC0THORDER 8 |
| #define DEBUG_COMPASS 16 |
| #define DEBUG_PRESSURERANGE 32 |
| #define DEBUG_CLIP 64 |
| #define DEBUG_SENSORLIMIT 128 |
| // I2C and PWM motor and servo outputs. |
| // extern int16_t outputs[NUM_OUTPUTS]; |
| |
| #define OUTPUTFLAGS_INVERT_0 1 // Inverted: 1 means low output on atmega. Does not affect on-board LED (if used with the OUTPUTOPTIONS_USE_ONBOARD_LEDS option) |
| #define OUTPUTFLAGS_INVERT_1 2 // Inverted: 1 means low output on atmega. Does not affect on-board LED (if used with the OUTPUTOPTIONS_USE_ONBOARD_LEDS option) |
| #define OUTPUTFLAGS_FLASH_0_AT_BEEP 4 // Flash LED when beeper beeps |
| #define OUTPUTFLAGS_FLASH_1_AT_BEEP 8 // Flash LED when beeper beeps |
| #define OUTPUTFLAGS_USE_ONBOARD_LEDS 16 // Control on-board LEDs in addition to outputs |
| #define OUTPUTFLAGS_TEST_OFF 32 // For testing: Turn off both outputs |
| #define OUTPUTFLAGS_TEST_ON 64 // For testing: Turn on both outputs |
| |
| // For practical reasons put here instead of in uart0.h |
| typedef struct { |
| uint8_t digital[2]; |
| uint16_t analog[32]; // debug values |
| }__attribute__((packed)) DebugOut_t; |
| |
| extern DebugOut_t debugOut; |
| |
| /* |
| * Set to 0 for using outputs as the usual flashing lights. |
| * Set to one of the DEBUG_... defines h for using the outputs as debug lights. |
| 76,12 → 24,9 |
|---|
| #define DIGITAL_DEBUG_MASK 0 |
| |
| void output_init(void); |
| void outputSet(uint8_t num, uint8_t state); |
| void output_setLED(uint8_t num, uint8_t state); |
| void output_update(void); |
| void beep(uint16_t millis); |
| void beepNumber(uint8_t numbeeps); |
| void beepRCAlarm(void); |
| void beepI2CAlarm(void); |
| void beepBatteryAlarm(void); |
| void output_applyMulticopterMixer(void); |
| void output_setParameters(void); |
| |
| #endif //_output_H |