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1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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25 | // + mit unserer Zustimmung zulässig |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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30 | // + this list of conditions and the following disclaimer. |
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31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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32 | // + from this software without specific prior written permission. |
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33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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34 | // + for non-commercial use (directly or indirectly) |
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35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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36 | // + with our written permission |
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37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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38 | // + clearly linked as origin |
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39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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49 | // + POSSIBILITY OF SUCH DAMAGE. |
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50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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51 | #include <inttypes.h> |
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52 | #include "output.h" |
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53 | #include "eeprom.h" |
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54 | |||
55 | // To access the DebugOut struct. |
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56 | #include "uart0.h" |
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1775 | - | 57 | uint8_t flashCnt[2], flashMask[2]; |
1612 | dongfang | 58 | // initializes the LED control outputs J16, J17 |
59 | void output_init(void) { |
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60 | // set PC2 & PC3 as output (control of J16 & J17) |
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61 | DDRC |= (1<<DDC2)|(1<<DDC3); |
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1775 | - | 62 | OUTPUT_OFF(0); OUTPUT_OFF(1); |
63 | flashCnt[0] = flashCnt[1] = 0; |
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64 | flashMask[0] = flashMask[1] = 128; |
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1612 | dongfang | 65 | } |
66 | |||
1775 | - | 67 | void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, uint8_t manual) { |
68 | if (timing > 250 && manual > 230) { |
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69 | // "timing" is set to "manual" and the value is very high --> Set to the value in bitmask bit 7. |
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70 | OUTPUT_SET(port, bitmask & 128); |
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71 | } else if (timing > 250 && manual < 10) { |
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72 | // "timing" is set to "manual" and the value is very low --> Set to the negated value in bitmask bit 7. |
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73 | OUTPUT_SET(port, !(bitmask & 128)); |
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74 | } else if(!flashCnt[port]--) { |
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75 | // rotating mask over bitmask... |
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76 | flashCnt[port] = timing - 1; |
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77 | if(flashMask[port] == 1) flashMask[port] = 128; else flashMask[port] >>= 1; |
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78 | OUTPUT_SET(port, flashMask[port] & bitmask); |
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79 | } |
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80 | } |
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81 | |||
1612 | dongfang | 82 | void flashingLights(void) { |
83 | static int8_t delay = 0; |
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1775 | - | 84 | if(!delay--) { // 10 ms intervals |
1612 | dongfang | 85 | delay = 4; |
1775 | - | 86 | flashingLight(0, staticParams.J16Timing, staticParams.J16Bitmask, dynamicParams.J16Timing); |
87 | flashingLight(1, staticParams.J17Timing, staticParams.J17Bitmask, dynamicParams.J17Timing); |
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1612 | dongfang | 88 | } |
89 | } |
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90 | |||
1796 | - | 91 | /* |
92 | * Set to 0 for using outputs as the usual flashing lights. |
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93 | * Set to one of the DEBUG_... constants in output.h for using the outputs as debug lights. |
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94 | */ |
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1801 | - | 95 | #define DIGITAL_DEBUG_MASK DEBUG_MK3MAG |
1775 | - | 96 | |
97 | // invert means: An "1" bit in digital debug data will feed NO base current to output transistor. |
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98 | #define DIGITAL_DEBUG_INVERT 0 |
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99 | |||
1612 | dongfang | 100 | void output_update(void) { |
1775 | - | 101 | uint8_t output0, output1; |
102 | if (!DIGITAL_DEBUG_MASK) |
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103 | flashingLights(); |
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104 | else { |
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105 | if (DIGITAL_DEBUG_MASK == DEBUG_LEDTEST) { |
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106 | // Show the state for a SET bit. If inverse, then invert. |
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107 | output0 = output1 = ~DIGITAL_DEBUG_INVERT; |
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108 | } else if (DIGITAL_DEBUG_INVERT) { |
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109 | output0 = (~DebugOut.Digital[0]) & DIGITAL_DEBUG_MASK; |
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110 | output1 = (~DebugOut.Digital[1]) & DIGITAL_DEBUG_MASK; |
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111 | } else { |
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112 | output0 = DebugOut.Digital[0] & DIGITAL_DEBUG_MASK; |
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113 | output1 = DebugOut.Digital[1] & DIGITAL_DEBUG_MASK; |
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114 | } |
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115 | OUTPUT_SET(0, output0); |
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116 | OUTPUT_SET(1, output1); |
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117 | } |
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1612 | dongfang | 118 | } |