Rev 2111 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2108 | - | 1 | #include <inttypes.h> |
| 2 | #include "output.h" |
||
| 3 | #include "eeprom.h" |
||
| 4 | #include "timer0.h" |
||
| 5 | uint8_t flashCnt[2], flashMask[2]; |
||
| 6 | |||
| 7 | DebugOut_t debugOut; |
||
| 8 | |||
| 9 | void output_init(void) { |
||
| 10 | // set PC2 & PC3 as output (control of J16 & J17) |
||
| 2135 | - | 11 | DDRB |= (1 << DDB1) | (1 << DDB2); |
| 2108 | - | 12 | outputSet(0,0); |
| 13 | outputSet(1,0); |
||
| 14 | flashCnt[0] = flashCnt[1] = 0; |
||
| 15 | flashMask[0] = flashMask[1] = 128; |
||
| 16 | } |
||
| 17 | |||
| 18 | void outputSet(uint8_t num, uint8_t state) { |
||
| 19 | if (staticParams.outputFlags & (OUTPUTFLAGS_INVERT_0 << num)) { |
||
| 20 | if (state) OUTPUT_LOW(num) else OUTPUT_HIGH(num); |
||
| 21 | } else { |
||
| 22 | if (state) OUTPUT_HIGH(num) else OUTPUT_LOW(num); |
||
| 23 | } |
||
| 24 | if (staticParams.outputFlags & OUTPUTFLAGS_USE_ONBOARD_LEDS) { |
||
| 25 | if (num) { |
||
| 26 | if (state) GRN_ON else GRN_OFF; |
||
| 27 | } else { |
||
| 28 | if (state) RED_ON else RED_OFF; |
||
| 29 | } |
||
| 30 | } |
||
| 31 | } |
||
| 32 | |||
| 33 | void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, uint8_t manual) { |
||
| 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. |
||
| 36 | outputSet(port, 1); |
||
| 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. |
||
| 39 | outputSet(port, 0); |
||
| 40 | } else if (!flashCnt[port]--) { |
||
| 41 | // rotating mask over bitmask... |
||
| 42 | flashCnt[port] = timing - 1; |
||
| 43 | if (flashMask[port] == 1) |
||
| 44 | flashMask[port] = 128; |
||
| 45 | else |
||
| 46 | flashMask[port] >>= 1; |
||
| 47 | outputSet(port, flashMask[port] & bitmask); |
||
| 48 | } |
||
| 49 | } |
||
| 50 | |||
| 51 | void output_update(void) { |
||
| 52 | static int8_t delay = 0; |
||
| 53 | if (!delay--) { // 10 ms intervals |
||
| 54 | delay = 4; |
||
| 55 | } |
||
| 56 | if (staticParams.outputFlags & OUTPUTFLAGS_TEST_ON) { |
||
| 57 | outputSet(0, 1); |
||
| 58 | outputSet(1, 1); |
||
| 59 | } else if (staticParams.outputFlags & OUTPUTFLAGS_TEST_OFF) { |
||
| 60 | outputSet(0, 0); |
||
| 61 | outputSet(1, 0); |
||
| 62 | } else { |
||
| 63 | if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_0_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) { |
||
| 64 | flashingLight(0, 25, 0x55, 25); |
||
| 65 | } else if (staticParams.outputDebugMask) { |
||
| 66 | outputSet(0, debugOut.digital[0] & staticParams.outputDebugMask); |
||
| 67 | } else if (!delay) { |
||
| 68 | flashingLight(0, staticParams.outputFlash[0].timing, staticParams.outputFlash[0].bitmask, dynamicParams.output0Timing); |
||
| 69 | } |
||
| 70 | if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_1_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) { |
||
| 71 | flashingLight(1, 25, 0x55, 25); |
||
| 72 | } else if (staticParams.outputDebugMask) { |
||
| 73 | outputSet(1, debugOut.digital[1] & staticParams.outputDebugMask); |
||
| 74 | } else if (!delay) { |
||
| 75 | flashingLight(1, staticParams.outputFlash[1].timing, staticParams.outputFlash[1].bitmask, dynamicParams.output1Timing); |
||
| 76 | } |
||
| 77 | } |
||
| 78 | } |
||
| 79 | |||
| 80 | void beep(uint16_t millis) { |
||
| 81 | beepTime = millis; |
||
| 82 | } |
||
| 83 | |||
| 84 | /* |
||
| 85 | * Make [numbeeps] beeps. |
||
| 86 | */ |
||
| 87 | void beepNumber(uint8_t numbeeps) { |
||
| 88 | while(numbeeps--) { |
||
| 89 | if(isFlying) return; //auf keinen Fall bei laufenden Motoren! |
||
| 90 | beep(100); // 0.1 second |
||
| 91 | delay_ms(250); // blocks 250 ms as pause to next beep, |
||
| 92 | // this will block the flight control loop, |
||
| 93 | // therefore do not use this function if motors are running |
||
| 94 | } |
||
| 95 | } |
||
| 96 | |||
| 97 | /* |
||
| 98 | * Beep the R/C alarm signal |
||
| 99 | */ |
||
| 100 | void beepRCAlarm(void) { |
||
| 101 | if(beepModulation == BEEP_MODULATION_NONE) { // If not already beeping an alarm signal (?) |
||
| 102 | beepTime = 15000; // 1.5 seconds |
||
| 103 | beepModulation = BEEP_MODULATION_RCALARM; |
||
| 104 | } |
||
| 105 | } |
||
| 106 | |||
| 107 | /* |
||
| 108 | * Beep the battery low alarm signal |
||
| 109 | */ |
||
| 110 | void beepBatteryAlarm(void) { |
||
| 111 | beepModulation = BEEP_MODULATION_BATTERYALARM; |
||
| 112 | if(!beepTime) { |
||
| 113 | beepTime = 6000; // 0.6 seconds |
||
| 114 | } |
||
| 115 | } |
||
| 116 | |||
| 117 | /* |
||
| 118 | * Beep the EEPROM checksum alarm |
||
| 119 | */ |
||
| 120 | void beepEEPROMAlarm(void) { |
||
| 121 | beepModulation = BEEP_MODULATION_EEPROMALARM; |
||
| 122 | if(!beepTime) { |
||
| 123 | beepTime = 6000; // 0.6 seconds |
||
| 124 | } |
||
| 125 | } |