WebSVN - FlightCtrl - Diff - Rev 2099 and 2102 - /branches/dongfang_FC


#include <inttypes.h>
#include "output.h"
#include "eeprom.h"
#include "timer0.h"
uint8_t flashCnt[2], flashMask[2];
 
DebugOut_t debugOut;
 
void output_init(void) {
  // set PC2 & PC3 as output (control of J16 & J17)
  DDRC |= (1 << DDC2) | (1 << DDC3);
  outputSet(0,0);
  outputSet(1,0);
  flashCnt[0] = flashCnt[1] = 0;
  flashMask[0] = flashMask[1] = 128;
}
 
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 (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" (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;
    if (flashMask[port] == 1)
      flashMask[port] = 128;
    else
      flashMask[port] >>= 1;
    outputSet(port, flashMask[port] & bitmask);
  }
}
 
void output_update(void) {
  static int8_t delay = 0;
  if (!delay--) { // 10 ms intervals
    delay = 4;
  }
  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 {
    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);
    }
  }
}
 
void beep(uint16_t millis) {
  beepTime = millis;
}
 
/*
 * Make [numbeeps] beeps.
 */
void beepNumber(uint8_t numbeeps) {
  while(numbeeps--) {
    if(isMotorRunning) 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 == BEEP_MODULATION_NONE) { // If not already beeping an alarm signal (?)
    beepTime = 15000; // 1.5 seconds
    beepModulation = BEEP_MODULATION_RCALARM;
  }
}
 
/*
 * Beep the battery low alarm signal
 */
void beepBatteryAlarm(void) {
  beepModulation = BEEP_MODULATION_BATTERYALARM;
  if(!beepTime) {
    beepTime = 6000; // 0.6 seconds
  }
}
 
/*
 * Beep the EEPROM checksum alarm
 */
void beepEEPROMAlarm(void) {
  beepModulation = BEEP_MODULATION_EEPROMALARM;
  if(!beepTime) {
    beepTime = 6000; // 0.6 seconds
  }
}
 

Rev 2099	Rev 2102
1	#include <inttypes.h>	1	#include <inttypes.h>
2	#include "output.h"	2	#include "output.h"
3	#include "eeprom.h"	3	#include "eeprom.h"
4	#include "timer0.h"	4	#include "timer0.h"
5	uint8_t flashCnt[2], flashMask[2];	5	uint8_t flashCnt[2], flashMask[2];
6		6
7	DebugOut_t debugOut;	7	DebugOut_t debugOut;
8		8
9	void output_init(void) {	9	void output_init(void) {
10	// set PC2 & PC3 as output (control of J16 & J17)	10	// set PC2 & PC3 as output (control of J16 & J17)
11	DDRC \|= (1 << DDC2) \| (1 << DDC3);	11	DDRC \|= (1 << DDC2) \| (1 << DDC3);
12	outputSet(0,0);	12	outputSet(0,0);
13	outputSet(1,0);	13	outputSet(1,0);
14	flashCnt[0] = flashCnt[1] = 0;	14	flashCnt[0] = flashCnt[1] = 0;
15	flashMask[0] = flashMask[1] = 128;	15	flashMask[0] = flashMask[1] = 128;
16	}	16	}
17		17
18	void outputSet(uint8_t num, uint8_t state) {	18	void outputSet(uint8_t num, uint8_t state) {
19	if (staticParams.outputFlags & (OUTPUTFLAGS_INVERT_0 << num)) {	19	if (staticParams.outputFlags & (OUTPUTFLAGS_INVERT_0 << num)) {
20	if (state) OUTPUT_LOW(num) else OUTPUT_HIGH(num);	20	if (state) OUTPUT_LOW(num) else OUTPUT_HIGH(num);
21	} else {	21	} else {
22	if (state) OUTPUT_HIGH(num) else OUTPUT_LOW(num);	22	if (state) OUTPUT_HIGH(num) else OUTPUT_LOW(num);
23	}	23	}
24	if (staticParams.outputFlags & OUTPUTFLAGS_USE_ONBOARD_LEDS) {	24	if (staticParams.outputFlags & OUTPUTFLAGS_USE_ONBOARD_LEDS) {
25	if (num) {	25	if (num) {
26	if (state) GRN_ON else GRN_OFF;	26	if (state) GRN_ON else GRN_OFF;
27	} else {	27	} else {
28	if (state) RED_ON else RED_OFF;	28	if (state) RED_ON else RED_OFF;
29	}	29	}
30	}	30	}
31	}	31	}
32		32
33	void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, uint8_t manual) {	33	void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, uint8_t manual) {
34	if (timing > 250 && manual > 230) {	34	if (timing > 250 && manual > 230) {
35	// "timing" is set to "manual (a variable)" and the value is very high --> Set to the value in bitmask bit 7.	35	// "timing" is set to "manual (a variable)" and the value is very high --> Set to the value in bitmask bit 7.
36	outputSet(port, 1);	36	outputSet(port, 1);
37	} else if (timing > 250 && manual < 10) {	37	} else if (timing > 250 && manual < 10) {
38	// "timing" is set to "manual" (a variable) and the value is very low --> Set to the negated value in bitmask bit 7.	38	// "timing" is set to "manual" (a variable) and the value is very low --> Set to the negated value in bitmask bit 7.
39	outputSet(port, 0);	39	outputSet(port, 0);
40	} else if (!flashCnt[port]--) {	40	} else if (!flashCnt[port]--) {
41	// rotating mask over bitmask...	41	// rotating mask over bitmask...
42	flashCnt[port] = timing - 1;	42	flashCnt[port] = timing - 1;
43	if (flashMask[port] == 1)	43	if (flashMask[port] == 1)
44	flashMask[port] = 128;	44	flashMask[port] = 128;
45	else	45	else
46	flashMask[port] >>= 1;	46	flashMask[port] >>= 1;
47	outputSet(port, flashMask[port] & bitmask);	47	outputSet(port, flashMask[port] & bitmask);
48	}	48	}
49	}	49	}
50		50
51	void output_update(void) {	51	void output_update(void) {
52	static int8_t delay = 0;	52	static int8_t delay = 0;
53	if (!delay--) { // 10 ms intervals	53	if (!delay--) { // 10 ms intervals
54	delay = 4;	54	delay = 4;
55	}	55	}
56	if (staticParams.outputFlags & OUTPUTFLAGS_TEST_ON) {	56	if (staticParams.outputFlags & OUTPUTFLAGS_TEST_ON) {
57	outputSet(0, 1);	57	outputSet(0, 1);
58	outputSet(1, 1);	58	outputSet(1, 1);
59	} else if (staticParams.outputFlags & OUTPUTFLAGS_TEST_OFF) {	59	} else if (staticParams.outputFlags & OUTPUTFLAGS_TEST_OFF) {
60	outputSet(0, 0);	60	outputSet(0, 0);
61	outputSet(1, 0);	61	outputSet(1, 0);
62	} else {	62	} else {
63	if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_0_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) {	63	if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_0_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) {
64	flashingLight(0, 25, 0x55, 25);	64	flashingLight(0, 25, 0x55, 25);
65	} else if (staticParams.outputDebugMask) {	65	} else if (staticParams.outputDebugMask) {
66	outputSet(0, debugOut.digital[0] & staticParams.outputDebugMask);	66	outputSet(0, debugOut.digital[0] & staticParams.outputDebugMask);
67	} else if (!delay) {	67	} else if (!delay) {
68	flashingLight(0, staticParams.outputFlash[0].timing, staticParams.outputFlash[0].bitmask, dynamicParams.output0Timing);	68	flashingLight(0, staticParams.outputFlash[0].timing, staticParams.outputFlash[0].bitmask, dynamicParams.output0Timing);
69	}	69	}
70	if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_1_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) {	70	if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_1_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) {
71	flashingLight(1, 25, 0x55, 25);	71	flashingLight(1, 25, 0x55, 25);
72	} else if (staticParams.outputDebugMask) {	72	} else if (staticParams.outputDebugMask) {
73	outputSet(1, debugOut.digital[1] & staticParams.outputDebugMask);	73	outputSet(1, debugOut.digital[1] & staticParams.outputDebugMask);
74	} else if (!delay) {	74	} else if (!delay) {
75	flashingLight(1, staticParams.outputFlash[1].timing, staticParams.outputFlash[1].bitmask, dynamicParams.output1Timing);	75	flashingLight(1, staticParams.outputFlash[1].timing, staticParams.outputFlash[1].bitmask, dynamicParams.output1Timing);
76	}	76	}
77	}	77	}
78	}	78	}
79		79
80	void beep(uint16_t millis) {	80	void beep(uint16_t millis) {
81	beepTime = millis;	81	beepTime = millis;
82	}	82	}
83		83
84	/*	84	/*
85	* Make [numbeeps] beeps.	85	* Make [numbeeps] beeps.
86	*/	86	*/
87	void beepNumber(uint8_t numbeeps) {	87	void beepNumber(uint8_t numbeeps) {
88	while(numbeeps--) {	88	while(numbeeps--) {
89	if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren!	89	if(isMotorRunning) return; //auf keinen Fall bei laufenden Motoren!
90	beep(100); // 0.1 second	90	beep(100); // 0.1 second
91	delay_ms(250); // blocks 250 ms as pause to next beep,	91	delay_ms(250); // blocks 250 ms as pause to next beep,
92	// this will block the flight control loop,	92	// this will block the flight control loop,
93	// therefore do not use this function if motors are running	93	// therefore do not use this function if motors are running
94	}	94	}
95	}	95	}
96		96
97	/*	97	/*
98	* Beep the R/C alarm signal	98	* Beep the R/C alarm signal
99	*/	99	*/
100	void beepRCAlarm(void) {	100	void beepRCAlarm(void) {
101	if(beepModulation == BEEP_MODULATION_NONE) { // If not already beeping an alarm signal (?)	101	if(beepModulation == BEEP_MODULATION_NONE) { // If not already beeping an alarm signal (?)
102	beepTime = 15000; // 1.5 seconds	102	beepTime = 15000; // 1.5 seconds
103	beepModulation = BEEP_MODULATION_RCALARM;	103	beepModulation = BEEP_MODULATION_RCALARM;
104	}	104	}
105	}	105	}
106		106
107	/*	107	/*
108	* Beep the battery low alarm signal	108	* Beep the battery low alarm signal
109	*/	109	*/
110	void beepBatteryAlarm(void) {	110	void beepBatteryAlarm(void) {
111	beepModulation = BEEP_MODULATION_BATTERYALARM;	111	beepModulation = BEEP_MODULATION_BATTERYALARM;
112	if(!beepTime) {	112	if(!beepTime) {
113	beepTime = 6000; // 0.6 seconds	113	beepTime = 6000; // 0.6 seconds
114	}	114	}
115	}	115	}
116		116
117	/*	117	/*
118	* Beep the EEPROM checksum alarm	118	* Beep the EEPROM checksum alarm
119	*/	119	*/
120	void beepEEPROMAlarm(void) {	120	void beepEEPROMAlarm(void) {
121	beepModulation = BEEP_MODULATION_EEPROMALARM;	121	beepModulation = BEEP_MODULATION_EEPROMALARM;
122	if(!beepTime) {	122	if(!beepTime) {
123	beepTime = 6000; // 0.6 seconds	123	beepTime = 6000; // 0.6 seconds
124	}	124	}
125	}	125	}
126		126

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/output.c @ 2099 - Rev 2099 → 2102