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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 | } |