Rev 2099 | Go to most recent revision | Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1910 | - | 1 | #include <inttypes.h> |
| 2 | #include "output.h" |
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| 3 | #include "eeprom.h" |
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| 4 | #include "timer0.h" |
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| 5 | |||
| 6 | // To access the DebugOut struct. |
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| 7 | #include "uart0.h" |
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| 8 | uint8_t flashCnt[2], flashMask[2]; |
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| 9 | // initializes the LED control outputs J16, J17 |
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| 10 | void output_init(void) { |
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| 11 | // set PC2 & PC3 as output (control of J16 & J17) |
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| 12 | DDRC |= (1 << DDC2) | (1 << DDC3); |
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| 13 | OUTPUT_SET(0,0); |
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| 14 | OUTPUT_SET(1,0); |
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| 15 | flashCnt[0] = flashCnt[1] = 0; |
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| 16 | flashMask[0] = flashMask[1] = 128; |
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| 17 | } |
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| 18 | |||
| 19 | void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, |
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| 20 | uint8_t manual) { |
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| 21 | if (timing > 250 && manual > 230) { |
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| 22 | // "timing" is set to "manual" and the value is very high --> Set to the value in bitmask bit 7. |
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| 23 | OUTPUT_SET(port, bitmask & 128); |
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| 24 | } else if (timing > 250 && manual < 10) { |
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| 25 | // "timing" is set to "manual" and the value is very low --> Set to the negated value in bitmask bit 7. |
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| 26 | OUTPUT_SET(port, !(bitmask & 128)); |
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| 27 | } else if (!flashCnt[port]--) { |
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| 28 | // rotating mask over bitmask... |
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| 29 | flashCnt[port] = timing - 1; |
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| 30 | if (flashMask[port] == 1) |
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| 31 | flashMask[port] = 128; |
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| 32 | else |
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| 33 | flashMask[port] >>= 1; |
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| 34 | OUTPUT_SET(port, flashMask[port] & bitmask); |
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| 35 | } |
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| 36 | } |
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| 37 | |||
| 38 | void flashingLights(void) { |
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| 39 | static int8_t delay = 0; |
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| 40 | if (!delay--) { // 10 ms intervals |
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| 41 | delay = 4; |
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| 42 | flashingLight(0, staticParams.J16Timing, staticParams.J16Bitmask, |
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| 43 | dynamicParams.J16Timing); |
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| 44 | flashingLight(1, staticParams.J17Timing, staticParams.J17Bitmask, |
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| 45 | dynamicParams.J17Timing); |
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| 46 | } |
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| 47 | } |
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| 48 | |||
| 49 | void output_update(void) { |
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| 50 | if (!DIGITAL_DEBUG_MASK) { |
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| 51 | // If there is a warning beep, also flash it. |
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| 52 | if (beepTime) { |
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| 53 | if (beepTime & beepModulation) { |
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| 54 | OUTPUT_SET(0, 1); |
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| 55 | OUTPUT_SET(1, 1); |
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| 56 | } else { |
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| 57 | OUTPUT_SET(0, 0); |
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| 58 | OUTPUT_SET(1, 0); |
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| 59 | } |
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| 60 | }else |
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| 61 | flashingLights(); |
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| 62 | } |
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| 63 | else if (DIGITAL_DEBUG_MASK == DEBUG_LEDTEST_ON) { |
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| 64 | OUTPUT_SET(0, 1); |
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| 65 | OUTPUT_SET(1, 1); |
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| 66 | } else if (DIGITAL_DEBUG_MASK == DEBUG_LEDTEST_OFF) { |
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| 67 | OUTPUT_SET(0, 0); |
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| 68 | OUTPUT_SET(1, 0); |
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| 69 | } else { |
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| 70 | OUTPUT_SET(0, DebugOut.Digital[0] & DIGITAL_DEBUG_MASK); |
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| 71 | OUTPUT_SET(1, DebugOut.Digital[1] & DIGITAL_DEBUG_MASK); |
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| 72 | } |
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| 73 | } |
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| 74 | |||
| 75 | void beep(uint16_t millis) { |
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| 76 | beepTime = millis; |
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| 77 | } |
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| 78 | |||
| 79 | /* |
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| 80 | * Make [numbeeps] beeps. |
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| 81 | */ |
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| 82 | void beepNumber(uint8_t numbeeps) { |
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| 83 | while(numbeeps--) { |
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| 84 | if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren! |
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| 85 | beep(100); // 0.1 second |
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| 86 | delay_ms(250); // blocks 250 ms as pause to next beep, |
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| 87 | // this will block the flight control loop, |
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| 88 | // therefore do not use this function if motors are running |
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| 89 | } |
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| 90 | } |
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| 91 | |||
| 92 | /* |
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| 93 | * Beep the R/C alarm signal |
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| 94 | */ |
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| 95 | void beepRCAlarm(void) { |
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| 96 | if(beepModulation == 0xFFFF) { // If not already beeping an alarm signal (?) |
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| 97 | beepTime = 15000; // 1.5 seconds |
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| 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 |
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| 104 | */ |
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| 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 |
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| 108 | beepModulation = 0x0080; |
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| 109 | } |
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| 110 | } |
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| 111 | |||
| 112 | /* |
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| 113 | * Beep the battery low alarm signal |
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| 114 | */ |
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| 115 | void beepBatteryAlarm(void) { |
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| 116 | beepModulation = 0x0300; |
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| 117 | if(!beepTime) { |
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| 118 | beepTime = 6000; // 0.6 seconds |
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| 119 | } |
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| 120 | } |
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| 121 | |||
| 122 | /* |
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| 123 | * Beep the EEPROM checksum alarm |
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| 124 | */ |
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| 125 | void beepEEPROMAlarm(void) { |
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| 126 | beepModulation = 0x0007; |
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| 127 | if(!beepTime) { |
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| 128 | beepTime = 6000; // 0.6 seconds |
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| 129 | } |
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| 130 | } |