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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt werden |
18 | // + eindeutig als Ursprung verlinkt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | #include <inttypes.h> |
51 | #include <inttypes.h> |
52 | #include "output.h" |
52 | #include "output.h" |
53 | #include "eeprom.h" |
53 | #include "eeprom.h" |
54 | #include "timer0.h" |
54 | #include "timer0.h" |
55 | // To access the DebugOut struct. |
55 | // To access the DebugOut struct. |
56 | #include "uart0.h" |
56 | #include "uart0.h" |
57 | uint8_t flashCnt[2], flashMask[2]; |
57 | uint8_t flashCnt[2], flashMask[2]; |
58 | // initializes the LED control outputs J16, J17 |
58 | // initializes the LED control outputs J16, J17 |
59 | 59 | ||
60 | 60 | ||
61 | void output_init(void) { |
61 | void output_init(void) { |
62 | // set PC2 & PC3 as output (control of J16 & J17) |
62 | // set PC2 & PC3 as output (control of J16 & J17) |
63 | DDRC |= (1 << DDC2) | (1 << DDC3); |
63 | DDRC |= (1 << DDC2) | (1 << DDC3); |
64 | outputSet(0,0); |
64 | outputSet(0,0); |
65 | outputSet(1,0); |
65 | outputSet(1,0); |
66 | flashCnt[0] = flashCnt[1] = 0; |
66 | flashCnt[0] = flashCnt[1] = 0; |
67 | flashMask[0] = flashMask[1] = 128; |
67 | flashMask[0] = flashMask[1] = 128; |
68 | } |
68 | } |
69 | 69 | ||
70 | void outputSet(uint8_t num, uint8_t state) { |
70 | void outputSet(uint8_t num, uint8_t state) { |
71 | if (staticParams.outputOptions & (OUTPUTOPTIONS_INVERT_0 << num)) { |
71 | if (staticParams.outputFlags & (OUTPUTFLAGS_INVERT_0 << num)) { |
72 | if (state) OUTPUT_LOW(num) else OUTPUT_HIGH(num); |
72 | if (state) OUTPUT_LOW(num) else OUTPUT_HIGH(num); |
73 | } else { |
73 | } else { |
74 | if (state) OUTPUT_HIGH(num) else OUTPUT_LOW(num); |
74 | if (state) OUTPUT_HIGH(num) else OUTPUT_LOW(num); |
75 | } |
75 | } |
76 | if (staticParams.outputOptions & OUTPUTOPTIONS_USE_ONBOARD_LEDS) { |
76 | if (staticParams.outputFlags & OUTPUTFLAGS_USE_ONBOARD_LEDS) { |
77 | if (num) { |
77 | if (num) { |
78 | if (state) GRN_ON else GRN_OFF; |
78 | if (state) GRN_ON else GRN_OFF; |
79 | } else { |
79 | } else { |
80 | if (state) RED_ON else RED_OFF; |
80 | if (state) RED_ON else RED_OFF; |
81 | } |
81 | } |
82 | } |
82 | } |
83 | } |
83 | } |
84 | 84 | ||
85 | void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, uint8_t manual) { |
85 | void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, uint8_t manual) { |
86 | if (timing > 250 && manual > 230) { |
86 | 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. |
87 | // "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); |
88 | outputSet(port, 1); |
89 | } else if (timing > 250 && manual < 10) { |
89 | } 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. |
90 | // "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); |
91 | outputSet(port, 0); |
92 | } else if (!flashCnt[port]--) { |
92 | } else if (!flashCnt[port]--) { |
93 | // rotating mask over bitmask... |
93 | // rotating mask over bitmask... |
94 | flashCnt[port] = timing - 1; |
94 | flashCnt[port] = timing - 1; |
95 | if (flashMask[port] == 1) |
95 | if (flashMask[port] == 1) |
96 | flashMask[port] = 128; |
96 | flashMask[port] = 128; |
97 | else |
97 | else |
98 | flashMask[port] >>= 1; |
98 | flashMask[port] >>= 1; |
99 | outputSet(port, flashMask[port] & bitmask); |
99 | outputSet(port, flashMask[port] & bitmask); |
100 | } |
100 | } |
101 | } |
101 | } |
102 | 102 | ||
103 | void flashingLights(void) { |
103 | void flashingLights(void) { |
104 | static int8_t delay = 0; |
104 | static int8_t delay = 0; |
105 | if (!delay--) { // 10 ms intervals |
105 | if (!delay--) { // 10 ms intervals |
106 | delay = 4; |
106 | delay = 4; |
107 | if (staticParams.outputOptions & OUTPUTOPTIONS_FLASH_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) { |
107 | if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_0_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) { |
108 | // alarm |
108 | // alarm |
109 | flashingLight(0, 25, 0x55, 25); |
109 | flashingLight(0, 25, 0x55, 25); |
110 | flashingLight(1, 25, 0xAA, 25); |
- | |
111 | } else { |
110 | } else { |
112 | flashingLight(0, staticParams.outputFlash[0].timing, staticParams.outputFlash[0].bitmask, dynamicParams.output0Timing); |
111 | flashingLight(0, staticParams.outputFlash[0].timing, staticParams.outputFlash[0].bitmask, dynamicParams.output0Timing); |
- | 112 | } |
|
- | 113 | if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_1_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) { |
|
- | 114 | // alarm |
|
- | 115 | flashingLight(1, 25, 0x55, 25); |
|
- | 116 | } else { |
|
113 | flashingLight(1, staticParams.outputFlash[1].timing, staticParams.outputFlash[1].bitmask, dynamicParams.output1Timing); |
117 | flashingLight(1, staticParams.outputFlash[0].timing, staticParams.outputFlash[0].bitmask, dynamicParams.output0Timing); |
114 | } |
118 | } |
115 | } |
119 | } |
116 | } |
120 | } |
117 | 121 | ||
118 | void output_update(void) { |
122 | void output_update(void) { |
119 | if (staticParams.outputOptions & OUTPUTOPTIONS_TEST_ON) { |
123 | if (staticParams.outputFlags & OUTPUTFLAGS_TEST_ON) { |
120 | outputSet(0, 1); |
124 | outputSet(0, 1); |
121 | outputSet(1, 1); |
125 | outputSet(1, 1); |
122 | } else if (staticParams.outputOptions & OUTPUTOPTIONS_TEST_OFF) { |
126 | } else if (staticParams.outputFlags & OUTPUTFLAGS_TEST_OFF) { |
123 | outputSet(0, 0); |
127 | outputSet(0, 0); |
124 | outputSet(1, 0); |
128 | outputSet(1, 0); |
125 | } else if (!staticParams.outputDebugMask) { |
129 | } else if (!staticParams.outputDebugMask) { |
126 | flashingLights(); |
130 | flashingLights(); |
127 | } else { |
131 | } else { |
128 | outputSet(0, debugOut.digital[0] & staticParams.outputDebugMask); |
132 | outputSet(0, debugOut.digital[0] & staticParams.outputDebugMask); |
129 | outputSet(1, debugOut.digital[1] & staticParams.outputDebugMask); |
133 | outputSet(1, debugOut.digital[1] & staticParams.outputDebugMask); |
130 | } |
134 | } |
131 | } |
135 | } |
132 | 136 | ||
133 | void beep(uint16_t millis) { |
137 | void beep(uint16_t millis) { |
134 | beepTime = millis; |
138 | beepTime = millis; |
135 | } |
139 | } |
136 | 140 | ||
137 | /* |
141 | /* |
138 | * Make [numbeeps] beeps. |
142 | * Make [numbeeps] beeps. |
139 | */ |
143 | */ |
140 | void beepNumber(uint8_t numbeeps) { |
144 | void beepNumber(uint8_t numbeeps) { |
141 | while(numbeeps--) { |
145 | while(numbeeps--) { |
142 | if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren! |
146 | if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren! |
143 | beep(100); // 0.1 second |
147 | beep(100); // 0.1 second |
144 | delay_ms(250); // blocks 250 ms as pause to next beep, |
148 | delay_ms(250); // blocks 250 ms as pause to next beep, |
145 | // this will block the flight control loop, |
149 | // this will block the flight control loop, |
146 | // therefore do not use this function if motors are running |
150 | // therefore do not use this function if motors are running |
147 | } |
151 | } |
148 | } |
152 | } |
149 | 153 | ||
150 | /* |
154 | /* |
151 | * Beep the R/C alarm signal |
155 | * Beep the R/C alarm signal |
152 | */ |
156 | */ |
153 | void beepRCAlarm(void) { |
157 | void beepRCAlarm(void) { |
154 | if(beepModulation == BEEP_MODULATION_NONE) { // If not already beeping an alarm signal (?) |
158 | if(beepModulation == BEEP_MODULATION_NONE) { // If not already beeping an alarm signal (?) |
155 | beepTime = 15000; // 1.5 seconds |
159 | beepTime = 15000; // 1.5 seconds |
156 | beepModulation = BEEP_MODULATION_RCALARM; |
160 | beepModulation = BEEP_MODULATION_RCALARM; |
157 | } |
161 | } |
158 | } |
162 | } |
159 | 163 | ||
160 | /* |
164 | /* |
161 | * Beep the I2C bus error signal |
165 | * Beep the I2C bus error signal |
162 | */ |
166 | */ |
163 | void beepI2CAlarm(void) { |
167 | void beepI2CAlarm(void) { |
164 | if((beepModulation == BEEP_MODULATION_NONE) && (MKFlags & MKFLAG_MOTOR_RUN)) { |
168 | if((beepModulation == BEEP_MODULATION_NONE) && (MKFlags & MKFLAG_MOTOR_RUN)) { |
165 | beepTime = 10000; // 1 second |
169 | beepTime = 10000; // 1 second |
166 | beepModulation = BEEP_MODULATION_I2CALARM; |
170 | beepModulation = BEEP_MODULATION_I2CALARM; |
167 | } |
171 | } |
168 | } |
172 | } |
169 | 173 | ||
170 | /* |
174 | /* |
171 | * Beep the battery low alarm signal |
175 | * Beep the battery low alarm signal |
172 | */ |
176 | */ |
173 | void beepBatteryAlarm(void) { |
177 | void beepBatteryAlarm(void) { |
174 | beepModulation = BEEP_MODULATION_BATTERYALARM; |
178 | beepModulation = BEEP_MODULATION_BATTERYALARM; |
175 | if(!beepTime) { |
179 | if(!beepTime) { |
176 | beepTime = 6000; // 0.6 seconds |
180 | beepTime = 6000; // 0.6 seconds |
177 | } |
181 | } |
178 | } |
182 | } |
179 | 183 | ||
180 | /* |
184 | /* |
181 | * Beep the EEPROM checksum alarm |
185 | * Beep the EEPROM checksum alarm |
182 | */ |
186 | */ |
183 | void beepEEPROMAlarm(void) { |
187 | void beepEEPROMAlarm(void) { |
184 | beepModulation = BEEP_MODULATION_EEPROMALARM; |
188 | beepModulation = BEEP_MODULATION_EEPROMALARM; |
185 | if(!beepTime) { |
189 | if(!beepTime) { |
186 | beepTime = 6000; // 0.6 seconds |
190 | beepTime = 6000; // 0.6 seconds |
187 | } |
191 | } |
188 | } |
192 | } |
189 | 193 |