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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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 example: 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> |
1 | #include <inttypes.h> |
52 | #include "output.h" |
2 | #include "output.h" |
53 | #include "eeprom.h" |
3 | #include "eeprom.h" |
54 | #include "timer0.h" |
4 | #include "timer0.h" |
55 | // To access the DebugOut struct. |
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56 | #include "uart0.h" |
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57 | uint8_t flashCnt[2], flashMask[2]; |
5 | uint8_t flashCnt[2], flashMask[2]; |
58 | // initializes the LED control outputs J16, J17 |
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- | 6 | ||
59 | 7 | DebugOut_t debugOut; |
|
60 | 8 | ||
61 | void output_init(void) { |
9 | void output_init(void) { |
62 | // set PC2 & PC3 as output (control of J16 & J17) |
10 | // set PC2 & PC3 as output (control of J16 & J17) |
63 | DDRC |= (1 << DDC2) | (1 << DDC3); |
11 | DDRC |= (1 << DDC2) | (1 << DDC3); |
64 | outputSet(0,0); |
12 | outputSet(0,0); |
65 | outputSet(1,0); |
13 | outputSet(1,0); |
66 | flashCnt[0] = flashCnt[1] = 0; |
14 | flashCnt[0] = flashCnt[1] = 0; |
67 | flashMask[0] = flashMask[1] = 128; |
15 | flashMask[0] = flashMask[1] = 128; |
68 | } |
16 | } |
69 | 17 | ||
70 | void outputSet(uint8_t num, uint8_t state) { |
18 | void outputSet(uint8_t num, uint8_t state) { |
71 | if (staticParams.outputFlags & (OUTPUTFLAGS_INVERT_0 << num)) { |
19 | if (staticParams.outputFlags & (OUTPUTFLAGS_INVERT_0 << num)) { |
72 | if (state) OUTPUT_LOW(num) else OUTPUT_HIGH(num); |
20 | if (state) OUTPUT_LOW(num) else OUTPUT_HIGH(num); |
73 | } else { |
21 | } else { |
74 | if (state) OUTPUT_HIGH(num) else OUTPUT_LOW(num); |
22 | if (state) OUTPUT_HIGH(num) else OUTPUT_LOW(num); |
75 | } |
23 | } |
76 | if (staticParams.outputFlags & OUTPUTFLAGS_USE_ONBOARD_LEDS) { |
24 | if (staticParams.outputFlags & OUTPUTFLAGS_USE_ONBOARD_LEDS) { |
77 | if (num) { |
25 | if (num) { |
78 | if (state) GRN_ON else GRN_OFF; |
26 | if (state) GRN_ON else GRN_OFF; |
79 | } else { |
27 | } else { |
80 | if (state) RED_ON else RED_OFF; |
28 | if (state) RED_ON else RED_OFF; |
81 | } |
29 | } |
82 | } |
30 | } |
83 | } |
31 | } |
84 | 32 | ||
85 | void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, uint8_t manual) { |
33 | void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, uint8_t manual) { |
86 | if (timing > 250 && manual > 230) { |
34 | if (timing > 250 && manual > 230) { |
87 | // "timing" is set to "manual (a variable)" and the value is very high --> Set to the value in bitmask bit 7. |
35 | // "timing" is set to "manual (a variable)" and the value is very high --> Set to the value in bitmask bit 7. |
88 | outputSet(port, 1); |
36 | outputSet(port, 1); |
89 | } else if (timing > 250 && manual < 10) { |
37 | } else if (timing > 250 && manual < 10) { |
90 | // "timing" is set to "manual" (a variable) and the value is very low --> Set to the negated value in bitmask bit 7. |
38 | // "timing" is set to "manual" (a variable) and the value is very low --> Set to the negated value in bitmask bit 7. |
91 | outputSet(port, 0); |
39 | outputSet(port, 0); |
92 | } else if (!flashCnt[port]--) { |
40 | } else if (!flashCnt[port]--) { |
93 | // rotating mask over bitmask... |
41 | // rotating mask over bitmask... |
94 | flashCnt[port] = timing - 1; |
42 | flashCnt[port] = timing - 1; |
95 | if (flashMask[port] == 1) |
43 | if (flashMask[port] == 1) |
96 | flashMask[port] = 128; |
44 | flashMask[port] = 128; |
97 | else |
45 | else |
98 | flashMask[port] >>= 1; |
46 | flashMask[port] >>= 1; |
99 | outputSet(port, flashMask[port] & bitmask); |
47 | outputSet(port, flashMask[port] & bitmask); |
100 | } |
48 | } |
101 | } |
49 | } |
102 | 50 | ||
103 | void output_update(void) { |
51 | void output_update(void) { |
104 | static int8_t delay = 0; |
52 | static int8_t delay = 0; |
105 | if (!delay--) { // 10 ms intervals |
53 | if (!delay--) { // 10 ms intervals |
106 | delay = 4; |
54 | delay = 4; |
107 | } |
55 | } |
108 | if (staticParams.outputFlags & OUTPUTFLAGS_TEST_ON) { |
56 | if (staticParams.outputFlags & OUTPUTFLAGS_TEST_ON) { |
109 | outputSet(0, 1); |
57 | outputSet(0, 1); |
110 | outputSet(1, 1); |
58 | outputSet(1, 1); |
111 | } else if (staticParams.outputFlags & OUTPUTFLAGS_TEST_OFF) { |
59 | } else if (staticParams.outputFlags & OUTPUTFLAGS_TEST_OFF) { |
112 | outputSet(0, 0); |
60 | outputSet(0, 0); |
113 | outputSet(1, 0); |
61 | outputSet(1, 0); |
114 | } else { |
62 | } else { |
115 | if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_0_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) { |
63 | if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_0_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) { |
116 | flashingLight(0, 25, 0x55, 25); |
64 | flashingLight(0, 25, 0x55, 25); |
117 | } else if (staticParams.outputDebugMask) { |
65 | } else if (staticParams.outputDebugMask) { |
118 | outputSet(0, debugOut.digital[0] & staticParams.outputDebugMask); |
66 | outputSet(0, debugOut.digital[0] & staticParams.outputDebugMask); |
119 | } else if (!delay) { |
67 | } else if (!delay) { |
120 | flashingLight(0, staticParams.outputFlash[0].timing, staticParams.outputFlash[0].bitmask, dynamicParams.output0Timing); |
68 | flashingLight(0, staticParams.outputFlash[0].timing, staticParams.outputFlash[0].bitmask, dynamicParams.output0Timing); |
121 | } |
69 | } |
122 | if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_1_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) { |
70 | if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_1_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) { |
123 | flashingLight(1, 25, 0x55, 25); |
71 | flashingLight(1, 25, 0x55, 25); |
124 | } else if (staticParams.outputDebugMask) { |
72 | } else if (staticParams.outputDebugMask) { |
125 | outputSet(1, debugOut.digital[1] & staticParams.outputDebugMask); |
73 | outputSet(1, debugOut.digital[1] & staticParams.outputDebugMask); |
126 | } else if (!delay) { |
74 | } else if (!delay) { |
127 | flashingLight(1, staticParams.outputFlash[1].timing, staticParams.outputFlash[1].bitmask, dynamicParams.output1Timing); |
75 | flashingLight(1, staticParams.outputFlash[1].timing, staticParams.outputFlash[1].bitmask, dynamicParams.output1Timing); |
128 | } |
76 | } |
129 | } |
77 | } |
130 | } |
78 | } |
131 | 79 | ||
132 | void beep(uint16_t millis) { |
80 | void beep(uint16_t millis) { |
133 | beepTime = millis; |
81 | beepTime = millis; |
134 | } |
82 | } |
135 | 83 | ||
136 | /* |
84 | /* |
137 | * Make [numbeeps] beeps. |
85 | * Make [numbeeps] beeps. |
138 | */ |
86 | */ |
139 | void beepNumber(uint8_t numbeeps) { |
87 | void beepNumber(uint8_t numbeeps) { |
140 | while(numbeeps--) { |
88 | while(numbeeps--) { |
141 | if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren! |
89 | if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren! |
142 | beep(100); // 0.1 second |
90 | beep(100); // 0.1 second |
143 | delay_ms(250); // blocks 250 ms as pause to next beep, |
91 | delay_ms(250); // blocks 250 ms as pause to next beep, |
144 | // this will block the flight control loop, |
92 | // this will block the flight control loop, |
145 | // therefore do not use this function if motors are running |
93 | // therefore do not use this function if motors are running |
146 | } |
94 | } |
147 | } |
95 | } |
148 | 96 | ||
149 | /* |
97 | /* |
150 | * Beep the R/C alarm signal |
98 | * Beep the R/C alarm signal |
151 | */ |
99 | */ |
152 | void beepRCAlarm(void) { |
100 | void beepRCAlarm(void) { |
153 | if(beepModulation == BEEP_MODULATION_NONE) { // If not already beeping an alarm signal (?) |
101 | if(beepModulation == BEEP_MODULATION_NONE) { // If not already beeping an alarm signal (?) |
154 | beepTime = 15000; // 1.5 seconds |
102 | beepTime = 15000; // 1.5 seconds |
155 | beepModulation = BEEP_MODULATION_RCALARM; |
103 | beepModulation = BEEP_MODULATION_RCALARM; |
156 | } |
104 | } |
157 | } |
105 | } |
158 | 106 | ||
159 | /* |
107 | /* |
160 | * Beep the I2C bus error signal |
108 | * Beep the I2C bus error signal |
161 | */ |
109 | */ |
162 | void beepI2CAlarm(void) { |
110 | void beepI2CAlarm(void) { |
163 | if((beepModulation == BEEP_MODULATION_NONE) && (MKFlags & MKFLAG_MOTOR_RUN)) { |
111 | if((beepModulation == BEEP_MODULATION_NONE) && (MKFlags & MKFLAG_MOTOR_RUN)) { |
164 | beepTime = 10000; // 1 second |
112 | beepTime = 10000; // 1 second |
165 | beepModulation = BEEP_MODULATION_I2CALARM; |
113 | beepModulation = BEEP_MODULATION_I2CALARM; |
166 | } |
114 | } |
167 | } |
115 | } |
168 | 116 | ||
169 | /* |
117 | /* |
170 | * Beep the battery low alarm signal |
118 | * Beep the battery low alarm signal |
171 | */ |
119 | */ |
172 | void beepBatteryAlarm(void) { |
120 | void beepBatteryAlarm(void) { |
173 | beepModulation = BEEP_MODULATION_BATTERYALARM; |
121 | beepModulation = BEEP_MODULATION_BATTERYALARM; |
174 | if(!beepTime) { |
122 | if(!beepTime) { |
175 | beepTime = 6000; // 0.6 seconds |
123 | beepTime = 6000; // 0.6 seconds |
176 | } |
124 | } |
177 | } |
125 | } |
178 | 126 | ||
179 | /* |
127 | /* |
180 | * Beep the EEPROM checksum alarm |
128 | * Beep the EEPROM checksum alarm |
181 | */ |
129 | */ |
182 | void beepEEPROMAlarm(void) { |
130 | void beepEEPROMAlarm(void) { |
183 | beepModulation = BEEP_MODULATION_EEPROMALARM; |
131 | beepModulation = BEEP_MODULATION_EEPROMALARM; |
184 | if(!beepTime) { |
132 | if(!beepTime) { |
185 | beepTime = 6000; // 0.6 seconds |
133 | beepTime = 6000; // 0.6 seconds |
186 | } |
134 | } |
187 | } |
135 | } |
188 | 136 |