WebSVN - FlightCtrl - Diff - Rev 2099 and 2143 - /branches/dongfang_FC


#ifndef _OUTPUT_H
#define _OUTPUT_H
 
#include <avr/io.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.
 */
 
#define DEBUG_MAINLOOP_TIMER 1
#define DEBUG_AIRSPEED       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
 
#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.
 */
#define DIGITAL_DEBUG_MASK 0
 
void output_init(void);
void outputSet(uint8_t num, uint8_t state);
void output_update(void);
void beep(uint16_t millis);
void beepNumber(uint8_t numbeeps);
void beepRCAlarm(void);
void beepBatteryAlarm(void);
 
#endif //_output_H
 

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/output.h - Rev 2099 → 2143

Rev 2099		Rev 2143
1	#ifndef _OUTPUT_H	1	#ifndef _OUTPUT_H
2	#define _OUTPUT_H	2	#define _OUTPUT_H
3		3
4	#include <avr/io.h>	4	#include <avr/io.h>
5		5
6	#define J3HIGH PORTD \|= (1<<PORTD5)	6	#define J3HIGH PORTD \|= (1<<PORTD5)
7	#define J3LOW PORTD &= ~(1<<PORTD5)	7	#define J3LOW PORTD &= ~(1<<PORTD5)
8	#define J3TOGGLE PORTD ^= (1<<PORTD5)	8	#define J3TOGGLE PORTD ^= (1<<PORTD5)
9		9
10	#define J4HIGH PORTD \|= (1<<PORTD4)	10	#define J4HIGH PORTD \|= (1<<PORTD4)
11	#define J4LOW PORTD &= ~(1<<PORTD4)	11	#define J4LOW PORTD &= ~(1<<PORTD4)
12	#define J4TOGGLE PORTD ^= (1<<PORTD4)	12	#define J4TOGGLE PORTD ^= (1<<PORTD4)
13		13
14	#define J5HIGH PORTD \|= (1<<PORTD3)	14	#define J5HIGH PORTD \|= (1<<PORTD3)
15	#define J5LOW PORTD &= ~(1<<PORTD3)	15	#define J5LOW PORTD &= ~(1<<PORTD3)
16	#define J5TOGGLE PORTD ^= (1<<PORTD3)	16	#define J5TOGGLE PORTD ^= (1<<PORTD3)
17		17
18	// invert means: An "1" bit in digital debug data make a LOW on the output.	18	// invert means: An "1" bit in digital debug data make a LOW on the output.
19	#define DIGITAL_DEBUG_INVERT 0	19	#define DIGITAL_DEBUG_INVERT 0
20		20
21	#define OUTPUT_HIGH(num) {PORTC \|= (4 << (num));}	21	#define OUTPUT_HIGH(num) {PORTC \|= (4 << (num));}
22	#define OUTPUT_LOW(num) {PORTC &= ~(4 << (num));}	22	#define OUTPUT_LOW(num) {PORTC &= ~(4 << (num));}
23	#define OUTPUT_TOGGLE(num) ( {PORTC ^= (4 << (num));}	23	#define OUTPUT_TOGGLE(num) ( {PORTC ^= (4 << (num));}
24		24
25	/*	25	/*
26	* Some digital debugs. A digital debug is 2 signals on the 2 LED outputs,	26	* Some digital debugs. A digital debug is 2 signals on the 2 LED outputs,
27	* turned on and off depending on some condtions given in the code.	27	* turned on and off depending on some condtions given in the code.
28	* Only one can be selected, by defining DIGITAL_DEBUG_MASK to the value	28	* Only one can be selected, by defining DIGITAL_DEBUG_MASK to the value
29	* of the debug.	29	* of the debug.
30	* In the code one can do like:	30	* In the code one can do like:
31	* if (whatever_condition) {	31	* if (whatever_condition) {
32	* DebugOut.Digital[0] \|= DEBUG_MYOWNDEBUGGER;	32	* DebugOut.Digital[0] \|= DEBUG_MYOWNDEBUGGER;
33	* } else {	33	* } else {
34	* DebugOut.Digital[0] &= ~DEBUG_MYOWNDEBUGGER;	34	* DebugOut.Digital[0] &= ~DEBUG_MYOWNDEBUGGER;
35	* }	35	* }
36	* ...	36	* ...
37	* if (whatever_other_condition) {	37	* if (whatever_other_condition) {
38	* DebugOut.Digital[1] \|= DEBUG_MYOWNDEBUGGER;	38	* DebugOut.Digital[1] \|= DEBUG_MYOWNDEBUGGER;
39	* } else {	39	* } else {
40	* DebugOut.Digital[1] &= ~DEBUG_MYOWNDEBUGGER;	40	* DebugOut.Digital[1] &= ~DEBUG_MYOWNDEBUGGER;
41	* }	41	* }
42	*	42	*
43	* Digital debugs may be added as desired, and removed when the mystery	43	* Digital debugs may be added as desired, and removed when the mystery
44	* at hand is resolved.	44	* at hand is resolved.
45	*/	45	*/
46		46
47	#define DEBUG_MAINLOOP_TIMER 1	47	#define DEBUG_MAINLOOP_TIMER 1
48	#define DEBUG_HEIGHT_DIFF 2	48	#define DEBUG_AIRSPEED 2
49	#define DEBUG_FLIGHTCLIP 4	49	#define DEBUG_FLIGHTCLIP 4
50	#define DEBUG_ACC0THORDER 8	50	#define DEBUG_ACC0THORDER 8
51	#define DEBUG_COMPASS 16	51	#define DEBUG_COMPASS 16
52	#define DEBUG_PRESSURERANGE 32	52	#define DEBUG_PRESSURERANGE 32
53	#define DEBUG_CLIP 64	53	#define DEBUG_CLIP 64
54	#define DEBUG_SENSORLIMIT 128	54	#define DEBUG_SENSORLIMIT 128
55		55
56	#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)	56	#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)
57	#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)	57	#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)
58	#define OUTPUTFLAGS_FLASH_0_AT_BEEP 4 // Flash LED when beeper beeps	58	#define OUTPUTFLAGS_FLASH_0_AT_BEEP 4 // Flash LED when beeper beeps
59	#define OUTPUTFLAGS_FLASH_1_AT_BEEP 8 // Flash LED when beeper beeps	59	#define OUTPUTFLAGS_FLASH_1_AT_BEEP 8 // Flash LED when beeper beeps
60	#define OUTPUTFLAGS_USE_ONBOARD_LEDS 16 // Control on-board LEDs in addition to outputs	60	#define OUTPUTFLAGS_USE_ONBOARD_LEDS 16 // Control on-board LEDs in addition to outputs
61	#define OUTPUTFLAGS_TEST_OFF 32 // For testing: Turn off both outputs	61	#define OUTPUTFLAGS_TEST_OFF 32 // For testing: Turn off both outputs
62	#define OUTPUTFLAGS_TEST_ON 64 // For testing: Turn on both outputs	62	#define OUTPUTFLAGS_TEST_ON 64 // For testing: Turn on both outputs
63		63
64	// For practical reasons put here instead of in uart0.h	64	// For practical reasons put here instead of in uart0.h
65	typedef struct {	65	typedef struct {
66	uint8_t digital[2];	66	uint8_t digital[2];
67	uint16_t analog[32]; // debug values	67	uint16_t analog[32]; // debug values
68	}__attribute__((packed)) DebugOut_t;	68	}__attribute__((packed)) DebugOut_t;
69		69
70	extern DebugOut_t debugOut;	70	extern DebugOut_t debugOut;
71		71
72	/*	72	/*
73	* Set to 0 for using outputs as the usual flashing lights.	73	* Set to 0 for using outputs as the usual flashing lights.
74	* Set to one of the DEBUG_... defines h for using the outputs as debug lights.	74	* Set to one of the DEBUG_... defines h for using the outputs as debug lights.
75	*/	75	*/
76	#define DIGITAL_DEBUG_MASK 0	76	#define DIGITAL_DEBUG_MASK 0
77		77
78	void output_init(void);	78	void output_init(void);
79	void outputSet(uint8_t num, uint8_t state);	79	void outputSet(uint8_t num, uint8_t state);
80	void output_update(void);	80	void output_update(void);
81	void beep(uint16_t millis);	81	void beep(uint16_t millis);
82	void beepNumber(uint8_t numbeeps);	82	void beepNumber(uint8_t numbeeps);
83	void beepRCAlarm(void);	83	void beepRCAlarm(void);
84	void beepBatteryAlarm(void);	84	void beepBatteryAlarm(void);
85		85
86	#endif //_output_H	86	#endif //_output_H
87		87