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Rev 1869 Rev 1887
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// +  POSSIBILITY OF SUCH DAMAGE.
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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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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// To access the DebugOut struct.
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// To access the DebugOut struct.
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#include "uart0.h"
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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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  } else {
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  } else {
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    OUTPUT_SET(0, DebugOut.Digital[0] & DIGITAL_DEBUG_MASK);
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    OUTPUT_SET(0, DebugOut.Digital[0] & DIGITAL_DEBUG_MASK);
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    OUTPUT_SET(1, DebugOut.Digital[1] & DIGITAL_DEBUG_MASK);
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    OUTPUT_SET(1, DebugOut.Digital[1] & DIGITAL_DEBUG_MASK);
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  }
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  }
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}
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}
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void beep(uint16_t millis) {
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  beepTime = millis;
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}
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/*
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 * Make [numbeeps] beeps.
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 */
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void beepNumber(uint8_t numbeeps) {
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  while(numbeeps--) {
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    if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren!
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    beep(100); // 0.1 second
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    delay_ms(250); // blocks 250 ms as pause to next beep,
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    // this will block the flight control loop,
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    // therefore do not use this function if motors are running
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  }
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}
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/*
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 * Beep the R/C alarm signal
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 */
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void beepRCAlarm(void) {
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  if(beepModulation == 0xFFFF) { // If not already beeping an alarm signal (?)
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    beepTime = 15000; // 1.5 seconds
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    beepModulation = 0x0C00;
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  }
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}
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/*
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 * Beep the I2C bus error signal
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 */
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void beepI2CAlarm(void) {
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  if((beepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN)) {
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    beepTime = 10000; // 1 second
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    beepModulation = 0x0080;
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  }
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}
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/*
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 * Beep the battery low alarm signal
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 */
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void beepBatteryAlarm(void) {
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  beepModulation = 0x0300;
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  if(!beepTime) {
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    beepTime = 6000; // 0.6 seconds
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  }
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}
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/*
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 * Beep the EEPROM checksum alarm
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 */
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void beepEEPROMAlarm(void) {
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  beepModulation = 0x0007;
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  if(!beepTime) {
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    beepTime = 6000; // 0.6 seconds
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  }
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}