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Rev 1910 Rev 2099
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#define J5HIGH    PORTD |= (1<<PORTD3)
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#define J5HIGH    PORTD |= (1<<PORTD3)
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#define J5LOW     PORTD &= ~(1<<PORTD3)
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#define J5LOW     PORTD &= ~(1<<PORTD3)
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#define J5TOGGLE  PORTD ^= (1<<PORTD3)
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#define J5TOGGLE  PORTD ^= (1<<PORTD3)
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// invert means: An "1" bit in digital debug data make a LOW on the output.
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// invert means: An "1" bit in digital debug data make a LOW on the output.
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#define OUTPUT_INVERT 0
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#define DIGITAL_DEBUG_INVERT 0
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#define OUTPUT_HIGH(num)        {PORTC |=  (4 << (num));}
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#define OUTPUT_LOW(num)         {PORTC &= ~(4 << (num));}
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#define OUTPUT_HIGH(num)        {PORTC |=  (4 << (num));}
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#define OUTPUT_SET(num, state)  {if (OUTPUT_INVERT) { if(state) OUTPUT_LOW(num) else OUTPUT_HIGH(num)} else {if(state) OUTPUT_HIGH(num) else OUTPUT_LOW(num)}}
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#define OUTPUT_LOW(num)         {PORTC &= ~(4 << (num));}
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#define OUTPUT_TOGGLE(num) (    {PORTC ^=  (4 << (num));}
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#define OUTPUT_TOGGLE(num) (    {PORTC ^=  (4 << (num));}
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 * }
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 * }
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 *
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 *
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 * Digital debugs may be added as desired, and removed when the mystery
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 * Digital debugs may be added as desired, and removed when the mystery
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 * at hand is resolved.
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 * at hand is resolved.
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 */
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 */
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#define DEBUG_NONE 0
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#define DEBUG_LEDTEST_ON  1000
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#define DEBUG_LEDTEST_OFF 1001
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#define DEBUG_MAINLOOP_TIMER 1
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#define DEBUG_MAINLOOP_TIMER 1
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#define DEBUG_HEIGHT_DIFF 2
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#define DEBUG_HEIGHT_DIFF    2
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#define DEBUG_HOVERTHROTTLE 4
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#define DEBUG_FLIGHTCLIP     4
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#define DEBUG_ACC0THORDER 8
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#define DEBUG_ACC0THORDER    8
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#define DEBUG_COMMANDREPEATED 16
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#define DEBUG_COMPASS       16
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#define DEBUG_PRESSURERANGE 32
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#define DEBUG_PRESSURERANGE 32
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#define DEBUG_CLIP 64
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#define DEBUG_CLIP          64
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#define DEBUG_SENSORLIMIT  128
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#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)
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#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)
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#define OUTPUTFLAGS_FLASH_0_AT_BEEP  4 // Flash LED when beeper beeps
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#define OUTPUTFLAGS_FLASH_1_AT_BEEP  8 // Flash LED when beeper beeps
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#define OUTPUTFLAGS_USE_ONBOARD_LEDS 16 // Control on-board LEDs in addition to outputs
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#define OUTPUTFLAGS_TEST_OFF         32 // For testing: Turn off both outputs
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#define OUTPUTFLAGS_TEST_ON          64 // For testing: Turn on both outputs
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// For practical reasons put here instead of in uart0.h
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typedef struct {
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    uint8_t digital[2];
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    uint16_t analog[32]; // debug values
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}__attribute__((packed)) DebugOut_t;
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#define DEBUG_SENSORLIMIT 128
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extern DebugOut_t debugOut;
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/*
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/*
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 * Set to 0 for using outputs as the usual flashing lights.
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 * Set to 0 for using outputs as the usual flashing lights.
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 * Set to one of the DEBUG_... defines h for using the outputs as debug lights.
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 * Set to one of the DEBUG_... defines h for using the outputs as debug lights.
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 */
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 */
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#define DIGITAL_DEBUG_MASK 0
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#define DIGITAL_DEBUG_MASK DEBUG_NONE
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void output_init(void);
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void output_init(void);
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void outputSet(uint8_t num, uint8_t state);
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void output_update(void);
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void output_update(void);
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void beep(uint16_t millis);
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void beepNumber(uint8_t numbeeps);
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void beep(uint16_t millis);
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void beepRCAlarm(void);
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void beepNumber(uint8_t numbeeps);