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#include <inttypes.h>
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#include <inttypes.h>
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#include "output.h"
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#include "output.h"
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#include "eeprom.h"
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#include "eeprom.h"
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#include "timer0.h"
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#include "timer0.h"
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 - 
 
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// To access the DebugOut struct.
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#include "uart0.h"
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uint8_t flashCnt[2], flashMask[2];
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uint8_t flashCnt[2], flashMask[2];
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// initializes the LED control outputs J16, J17
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DebugOut_t debugOut;
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 8 
 
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void output_init(void) {
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void output_init(void) {
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  // set PC2 & PC3 as output (control of J16 & J17)
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  // set PC2 & PC3 as output (control of J16 & J17)
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  DDRC |= (1 << DDC2) | (1 << DDC3);
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  DDRC |= (1 << DDC2) | (1 << DDC3);
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  OUTPUT_SET(0,0);
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  outputSet(0,0);
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  OUTPUT_SET(1,0);
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  outputSet(1,0);
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  flashCnt[0] = flashCnt[1] = 0;
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  flashCnt[0] = flashCnt[1] = 0;
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  flashMask[0] = flashMask[1] = 128;
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  flashMask[0] = flashMask[1] = 128;
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}
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}
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void outputSet(uint8_t num, uint8_t state) {
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  if (staticParams.outputFlags & (OUTPUTFLAGS_INVERT_0 << num)) {
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    if (state) OUTPUT_LOW(num) else OUTPUT_HIGH(num);
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  } else {
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    if (state) OUTPUT_HIGH(num) else OUTPUT_LOW(num);
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  }
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void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask,
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  if (staticParams.outputFlags & OUTPUTFLAGS_USE_ONBOARD_LEDS) {
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    if (num) {
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      if (state) GRN_ON else GRN_OFF;
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 27 
    } else {
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      if (state) RED_ON else RED_OFF;
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    }
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  }
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 31 
}
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    uint8_t manual) {
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void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, uint8_t manual) {
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  if (timing > 250 && manual > 230) {
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  if (timing > 250 && manual > 230) {
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    // "timing" is set to "manual" and the value is very high --> Set to the value in bitmask bit 7.
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    // "timing" is set to "manual (a variable)" and the value is very high --> Set to the value in bitmask bit 7.
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    OUTPUT_SET(port, bitmask & 128);
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    outputSet(port, 1);
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  } else if (timing > 250 && manual < 10) {
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  } else if (timing > 250 && manual < 10) {
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    // "timing" is set to "manual" and the value is very low --> Set to the negated value in bitmask bit 7.
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    // "timing" is set to "manual" (a variable) and the value is very low --> Set to the negated value in bitmask bit 7.
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    OUTPUT_SET(port, !(bitmask & 128));
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    outputSet(port, 0);
27 
  } else if (!flashCnt[port]--) {
 40 
  } else if (!flashCnt[port]--) {
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    // rotating mask over bitmask...
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    // rotating mask over bitmask...
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    flashCnt[port] = timing - 1;
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    flashCnt[port] = timing - 1;
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    if (flashMask[port] == 1)
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    if (flashMask[port] == 1)
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      flashMask[port] = 128;
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      flashMask[port] = 128;
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    else
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    else
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      flashMask[port] >>= 1;
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      flashMask[port] >>= 1;
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    OUTPUT_SET(port, flashMask[port] & bitmask);
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    outputSet(port, flashMask[port] & bitmask);
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  }
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  }
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}
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}
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 50 
 
38 
void flashingLights(void) {
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void output_update(void) {
39 
  static int8_t delay = 0;
 52 
  static int8_t delay = 0;
40 
  if (!delay--) { // 10 ms intervals
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    delay = 4;
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    flashingLight(0, staticParams.J16Timing, staticParams.J16Bitmask,
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        dynamicParams.J16Timing);
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    flashingLight(1, staticParams.J17Timing, staticParams.J17Bitmask,
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  if (!delay--) { // 10 ms intervals
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        dynamicParams.J17Timing);
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  }
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}
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 - 
 
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void output_update(void) {
 - 
 
50 
  if (!DIGITAL_DEBUG_MASK) {
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    // If there is a warning beep, also flash it.
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    if (beepTime) {
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      if (beepTime & beepModulation) {
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        OUTPUT_SET(0, 1);
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        OUTPUT_SET(1, 1);
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      } else {
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        OUTPUT_SET(0, 0);
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        OUTPUT_SET(1, 0);
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59 
      }
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60 
    }else
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61 
      flashingLights();
 54 
    delay = 4;
62 
  }
 55 
  }
63 
  else if (DIGITAL_DEBUG_MASK == DEBUG_LEDTEST_ON) {
 56 
  if (staticParams.outputFlags & OUTPUTFLAGS_TEST_ON) {
64 
    OUTPUT_SET(0, 1);
 57 
    outputSet(0, 1);
65 
    OUTPUT_SET(1, 1);
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    outputSet(1, 1);
66 
  } else if (DIGITAL_DEBUG_MASK == DEBUG_LEDTEST_OFF) {
 59 
  } else if (staticParams.outputFlags & OUTPUTFLAGS_TEST_OFF) {
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    OUTPUT_SET(0, 0);
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    outputSet(0, 0);
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 61 
    outputSet(1, 0);
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 62 
  } else {
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 63 
    if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_0_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) {
68 
    OUTPUT_SET(1, 0);
 64 
      flashingLight(0, 25, 0x55, 25);
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 65 
    } else if (staticParams.outputDebugMask) {
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 66 
      outputSet(0, debugOut.digital[0] & staticParams.outputDebugMask);
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 67 
    } else if (!delay) {
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 68 
      flashingLight(0, staticParams.outputFlash[0].timing, staticParams.outputFlash[0].bitmask, dynamicParams.output0Timing);
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 69 
    }
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 70 
    if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_1_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) {
69 
  } else {
 71 
      flashingLight(1, 25, 0x55, 25);
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 72 
    } else if (staticParams.outputDebugMask) {
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 73 
      outputSet(1, debugOut.digital[1] & staticParams.outputDebugMask);
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 74 
    } else if (!delay) {
70 
    OUTPUT_SET(0, DebugOut.Digital[0] & DIGITAL_DEBUG_MASK);
 75 
      flashingLight(1, staticParams.outputFlash[1].timing, staticParams.outputFlash[1].bitmask, dynamicParams.output1Timing);
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    OUTPUT_SET(1, DebugOut.Digital[1] & DIGITAL_DEBUG_MASK);
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    }
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  }
 77 
  }
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}
 78 
}
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91 
 
 96 
 
92 
/*
 97 
/*
93 
 * Beep the R/C alarm signal
 98 
 * Beep the R/C alarm signal
94 
 */
 99 
 */
95 
void beepRCAlarm(void) {
 100 
void beepRCAlarm(void) {
96 
  if(beepModulation == 0xFFFF) { // If not already beeping an alarm signal (?)
 101 
  if(beepModulation == BEEP_MODULATION_NONE) { // If not already beeping an alarm signal (?)
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    beepTime = 15000; // 1.5 seconds
 102 
    beepTime = 15000; // 1.5 seconds
98 
    beepModulation = 0x0C00;
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99 
  }
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100 
}
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101 
 
 - 
 
102 
/*
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103 
 * Beep the I2C bus error signal
 - 
 
104 
 */
 - 
 
105 
void beepI2CAlarm(void) {
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106 
  if((beepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN)) {
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107 
    beepTime = 10000; // 1 second
 - 
 
108 
    beepModulation = 0x0080;
 103 
    beepModulation = BEEP_MODULATION_RCALARM;
109 
  }
 104 
  }
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}
 105 
}
111 
 
 106 
 
112 
/*
 107 
/*
113 
 * Beep the battery low alarm signal
 108 
 * Beep the battery low alarm signal
114 
 */
 109 
 */
115 
void beepBatteryAlarm(void) {
 110 
void beepBatteryAlarm(void) {
116 
  beepModulation = 0x0300;
 111 
  beepModulation = BEEP_MODULATION_BATTERYALARM;
117 
  if(!beepTime) {
 112 
  if(!beepTime) {
118 
    beepTime = 6000; // 0.6 seconds
 113 
    beepTime = 6000; // 0.6 seconds
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119 
  }
 114 
  }
120 
}
 115 
}
121 
 
 116 
 
122 
/*
 117 
/*
123 
 * Beep the EEPROM checksum alarm
 118 
 * Beep the EEPROM checksum alarm
124 
 */
 119 
 */
125 
void beepEEPROMAlarm(void) {
 120 
void beepEEPROMAlarm(void) {
126 
  beepModulation = 0x0007;
 121 
  beepModulation = BEEP_MODULATION_EEPROMALARM;
127 
  if(!beepTime) {
 122 
  if(!beepTime) {