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#ifndef _OUTPUT_H
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#ifndef _OUTPUT_H
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#define _OUTPUT_H
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#define _OUTPUT_H
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#include <avr/io.h>
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#include <avr/io.h>
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#define J3HIGH    PORTD |= (1<<PORTD5)
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#define J3HIGH    PORTD |= (1<<PORTD5)
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#define J3LOW     PORTD &= ~(1<<PORTD5)
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#define J3LOW     PORTD &= ~(1<<PORTD5)
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#define J3TOGGLE  PORTD ^= (1<<PORTD5)
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#define J3TOGGLE  PORTD ^= (1<<PORTD5)
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#define J4HIGH    PORTD |= (1<<PORTD4)
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#define J4HIGH    PORTD |= (1<<PORTD4)
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#define J4LOW     PORTD &= ~(1<<PORTD4)
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#define J4LOW     PORTD &= ~(1<<PORTD4)
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#define J4TOGGLE  PORTD ^= (1<<PORTD4)
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#define J4TOGGLE  PORTD ^= (1<<PORTD4)
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#define J5HIGH    PORTD |= (1<<PORTD3)
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#define J5HIGH    PORTD |= (1<<PORTD3)
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#define J5LOW     PORTD &= ~(1<<PORTD3)
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#define J5LOW     PORTD &= ~(1<<PORTD3)
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#define J5TOGGLE  PORTD ^= (1<<PORTD3)
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#define J5TOGGLE  PORTD ^= (1<<PORTD3)
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// invert means: An "1" bit in digital debug data make a LOW on the output.
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// invert means: An "1" bit in digital debug data make a LOW on the output.
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#define DIGITAL_DEBUG_INVERT 0
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#define DIGITAL_DEBUG_INVERT 0
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#define OUTPUT_HIGH(num)        {PORTC |=  (4 << (num));}
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#define OUTPUT_HIGH(num)        {PORTC |=  (4 << (num));}
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#define OUTPUT_LOW(num)         {PORTC &= ~(4 << (num));}
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#define OUTPUT_LOW(num)         {PORTC &= ~(4 << (num));}
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#define OUTPUT_SET(num, state)  {if (DIGITAL_DEBUG_INVERT){if(state) OUTPUT_LOW(num) else OUTPUT_HIGH(num)} else {if(state) OUTPUT_HIGH(num) else OUTPUT_LOW(num)}}
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#define OUTPUT_SET(num, state)  {if (DIGITAL_DEBUG_INVERT){if(state) OUTPUT_LOW(num) else OUTPUT_HIGH(num)} else {if(state) OUTPUT_HIGH(num) else OUTPUT_LOW(num)}}
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#define OUTPUT_TOGGLE(num) (    {PORTC ^=  (4 << (num));}
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#define OUTPUT_TOGGLE(num) (    {PORTC ^=  (4 << (num));}
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/*
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/*
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 * Some digital debugs. A digital debug is 2 signals on the 2 LED outputs,
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 * Some digital debugs. A digital debug is 2 signals on the 2 LED outputs,
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 * turned on and off depending on some condtions given in the code.
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 * turned on and off depending on some condtions given in the code.
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 * Only one can be selected, by defining DIGITAL_DEBUG_MASK to the value
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 * Only one can be selected, by defining DIGITAL_DEBUG_MASK to the value
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 * of the debug.
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 * of the debug.
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 * In the code one can do like:
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 * In the code one can do like:
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 * if (whatever_condition) {
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 * if (whatever_condition) {
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 *      DebugOut.Digital[0] |= DEBUG_MYOWNDEBUGGER;
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 *      DebugOut.Digital[0] |= DEBUG_MYOWNDEBUGGER;
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 * } else {
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 * } else {
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 *      DebugOut.Digital[0] &= ~DEBUG_MYOWNDEBUGGER;
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 *      DebugOut.Digital[0] &= ~DEBUG_MYOWNDEBUGGER;
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 * }
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 * }
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 * ...
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 * ...
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 * if (whatever_other_condition) {
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 * if (whatever_other_condition) {
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 *      DebugOut.Digital[1] |= DEBUG_MYOWNDEBUGGER;
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 *      DebugOut.Digital[1] |= DEBUG_MYOWNDEBUGGER;
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 * } else {
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 * } else {
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 *      DebugOut.Digital[1] &= ~DEBUG_MYOWNDEBUGGER;
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 *      DebugOut.Digital[1] &= ~DEBUG_MYOWNDEBUGGER;
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 * }
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 * }
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 *
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 *
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 * Digital debugs may be added as desired, and removed when the mystery
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 * Digital debugs may be added as desired, and removed when the mystery
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 * at hand is resolved.
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 * at hand is resolved.
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 */
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 */
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// Both on
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// Both on
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#define DEBUG_LEDTEST_ON  1000
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#define DEBUG_LEDTEST_ON  1000
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// Both off
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// Both off
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#define DEBUG_LEDTEST_OFF 1001
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#define DEBUG_LEDTEST_OFF 1001
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// #0 on
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// #0 on
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#define DEBUG_LEDTEST_0   1002
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#define DEBUG_LEDTEST_0   1002
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// #1 on
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// #1 on
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#define DEBUG_LEDTEST_1   1003
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#define DEBUG_LEDTEST_1   1003
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#define DEBUG_MAINLOOP_TIMER 1
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#define DEBUG_MAINLOOP_TIMER 1
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#define DEBUG_HEIGHT_DIFF 2
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#define DEBUG_HEIGHT_DIFF 2
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#define DEBUG_HOVERTHROTTLE 4
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#define DEBUG_HOVERTHROTTLE 4
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#define DEBUG_ACC0THORDER 8
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#define DEBUG_ACC0THORDER 8
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#define DEBUG_COMMANDREPEATED 16
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#define DEBUG_COMMANDREPEATED 16
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#define DEBUG_PRESSURERANGE 32
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#define DEBUG_PRESSURERANGE 32
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#define DEBUG_CLIP 64
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#define DEBUG_CLIP 64
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#define DEBUG_SENSORLIMIT 128
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#define DEBUG_SENSORLIMIT 128
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/*
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/*
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 * Set to 0 for using outputs as the usual flashing lights.
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 * Set to 0 for using outputs as the usual flashing lights.
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 * Set to one of the DEBUG_... defines h for using the outputs as debug lights.
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 * Set to one of the DEBUG_... defines h for using the outputs as debug lights.
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 */
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 */
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#define DIGITAL_DEBUG_MASK DEBUG_ACC0THORDER
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#define DIGITAL_DEBUG_MASK 0
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void output_init(void);
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void output_init(void);
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void output_update(void);
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void output_update(void);
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void beep(uint16_t millis);
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void beep(uint16_t millis);
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void beepNumber(uint8_t numbeeps);
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void beepNumber(uint8_t numbeeps);
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void beepRCAlarm(void);
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void beepRCAlarm(void);
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void beepI2CAlarm(void);
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void beepI2CAlarm(void);
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void beepBatteryAlarm(void);
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void beepBatteryAlarm(void);
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#endif //_output_H
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#endif //_output_H
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