| 0,0 → 1,125 |
|---|
| #include <inttypes.h> |
| #include "output.h" |
| #include "eeprom.h" |
| #include "timer0.h" |
| uint8_t flashCnt[2], flashMask[2]; |
| |
| DebugOut_t debugOut; |
| |
| void output_init(void) { |
| // set PC2 & PC3 as output (control of J16 & J17) |
| DDRB |= (1 << DDB1) | (1 << DDB2); |
| outputSet(0,0); |
| outputSet(1,0); |
| flashCnt[0] = flashCnt[1] = 0; |
| flashMask[0] = flashMask[1] = 128; |
| } |
| |
| void outputSet(uint8_t num, uint8_t state) { |
| if (staticParams.outputFlags & (OUTPUTFLAGS_INVERT_0 << num)) { |
| if (state) OUTPUT_LOW(num) else OUTPUT_HIGH(num); |
| } else { |
| if (state) OUTPUT_HIGH(num) else OUTPUT_LOW(num); |
| } |
| if (staticParams.outputFlags & OUTPUTFLAGS_USE_ONBOARD_LEDS) { |
| if (num) { |
| if (state) GRN_ON else GRN_OFF; |
| } else { |
| if (state) RED_ON else RED_OFF; |
| } |
| } |
| } |
| |
| void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, uint8_t manual) { |
| if (timing > 250 && manual > 230) { |
| // "timing" is set to "manual (a variable)" and the value is very high --> Set to the value in bitmask bit 7. |
| outputSet(port, 1); |
| } else if (timing > 250 && manual < 10) { |
| // "timing" is set to "manual" (a variable) and the value is very low --> Set to the negated value in bitmask bit 7. |
| outputSet(port, 0); |
| } else if (!flashCnt[port]--) { |
| // rotating mask over bitmask... |
| flashCnt[port] = timing - 1; |
| if (flashMask[port] == 1) |
| flashMask[port] = 128; |
| else |
| flashMask[port] >>= 1; |
| outputSet(port, flashMask[port] & bitmask); |
| } |
| } |
| |
| void output_update(void) { |
| static int8_t delay = 0; |
| if (!delay--) { // 10 ms intervals |
| delay = 4; |
| } |
| if (staticParams.outputFlags & OUTPUTFLAGS_TEST_ON) { |
| outputSet(0, 1); |
| outputSet(1, 1); |
| } else if (staticParams.outputFlags & OUTPUTFLAGS_TEST_OFF) { |
| outputSet(0, 0); |
| outputSet(1, 0); |
| } else { |
| if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_0_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) { |
| flashingLight(0, 25, 0x55, 25); |
| } else if (staticParams.outputDebugMask) { |
| outputSet(0, debugOut.digital[0] & staticParams.outputDebugMask); |
| } else if (!delay) { |
| flashingLight(0, staticParams.outputFlash[0].timing, staticParams.outputFlash[0].bitmask, dynamicParams.output0Timing); |
| } |
| if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_1_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) { |
| flashingLight(1, 25, 0x55, 25); |
| } else if (staticParams.outputDebugMask) { |
| outputSet(1, debugOut.digital[1] & staticParams.outputDebugMask); |
| } else if (!delay) { |
| flashingLight(1, staticParams.outputFlash[1].timing, staticParams.outputFlash[1].bitmask, dynamicParams.output1Timing); |
| } |
| } |
| } |
| |
| void beep(uint16_t millis) { |
| beepTime = millis; |
| } |
| |
| /* |
| * Make [numbeeps] beeps. |
| */ |
| void beepNumber(uint8_t numbeeps) { |
| while(numbeeps--) { |
| if(isFlying) return; //auf keinen Fall bei laufenden Motoren! |
| beep(100); // 0.1 second |
| delay_ms(250); // blocks 250 ms as pause to next beep, |
| // this will block the flight control loop, |
| // therefore do not use this function if motors are running |
| } |
| } |
| |
| /* |
| * Beep the R/C alarm signal |
| */ |
| void beepRCAlarm(void) { |
| if(beepModulation == BEEP_MODULATION_NONE) { // If not already beeping an alarm signal (?) |
| beepTime = 15000; // 1.5 seconds |
| beepModulation = BEEP_MODULATION_RCALARM; |
| } |
| } |
| |
| /* |
| * Beep the battery low alarm signal |
| */ |
| void beepBatteryAlarm(void) { |
| beepModulation = BEEP_MODULATION_BATTERYALARM; |
| if(!beepTime) { |
| beepTime = 6000; // 0.6 seconds |
| } |
| } |
| |
| /* |
| * Beep the EEPROM checksum alarm |
| */ |
| void beepEEPROMAlarm(void) { |
| beepModulation = BEEP_MODULATION_EEPROMALARM; |
| if(!beepTime) { |
| beepTime = 6000; // 0.6 seconds |
| } |
| } |