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Rev 763 Rev 790
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#include <inttypes.h>
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#include <inttypes.h>
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#include "led.h"
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#include "led.h"
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#include "fc.h"
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#include "fc.h"
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uint16_t LED_OffTime = 0;
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uint16_t LED1_Time = 0;
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uint16_t LED_OnTime = 0;
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uint16_t LED2_Time = 0;
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// initializes the LED control outputs J16, J17
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// initializes the LED control outputs J16, J17
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void LED_Init(void)
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void LED_Init(void)
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{
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{
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    // set PC2 & PC3 as output (control of J16 & J17)
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    // set PC2 & PC3 as output (control of J16 & J17)
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        DDRC |= (1<<DDC2)|(1<<DDC3);
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        DDRC |= (1<<DDC2)|(1<<DDC3);
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        J16_OFF;
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        J16_OFF;
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        J17_OFF;
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        J17_OFF;
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}
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}
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// called in UpdateMotors() every 2ms
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// called in UpdateMotors() every 2ms
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void LED_Update(void)
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void LED_Update(void)
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{
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{
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        static uint16_t J16_blinkcount = 0;
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        static uint16_t J16_blinkcount = 0;
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        static uint16_t J17_blinkcount = 0;
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        if (LED1_Time < 20) J16_ON;
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        else if(LED1_Time < 220)
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        {
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        if(J16_blinkcount < LED_OnTime) J16_ON;
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                if((2 * J16_blinkcount) < LED1_Time) J16_ON;
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        else J16_OFF;
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                else J16_OFF;
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                if(J16_blinkcount++ >= LED1_Time) J16_blinkcount = 0;
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        }
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        else J16_ON;
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        if (LED2_Time < 20) J17_OFF;
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        else if(LED2_Time < 220)
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        {
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                if((2 * J17_blinkcount) < LED2_Time) J17_ON;
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                else J17_OFF;
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                if(J17_blinkcount++ >= LED2_Time) J17_blinkcount = 0;
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        }
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        if( J16_blinkcount++ >= (LED_OnTime + LED_OffTime)) J16_blinkcount = 0;
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        else J17_OFF;
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}
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}
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