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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 J3LOW     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 J4LOW     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 J5LOW     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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#define DIGITAL_DEBUG_INVERT 0
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#include "configuration.h"
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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_TOGGLE(num) (    {PORTC ^=  (4 << (num));}
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#define OUTPUT_TOGGLE(num) (    {PORTC ^=  (4 << (num));}
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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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 * 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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 * of the debug.
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 * In the code one can do like:
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// Control terms (multicopter)
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 * if (whatever_condition) {
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 *      DebugOut.Digital[0] |= DEBUG_MYOWNDEBUGGER;
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 * } else {
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 *      DebugOut.Digital[0] &= ~DEBUG_MYOWNDEBUGGER;
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 * }
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 * ...
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// TODO: Multicopter stuff separate?
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 * if (whatever_other_condition) {
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 *      DebugOut.Digital[1] |= DEBUG_MYOWNDEBUGGER;
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 * } else {
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 *      DebugOut.Digital[1] &= ~DEBUG_MYOWNDEBUGGER;
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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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extern int16_t throttleTerm;
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 * at hand is resolved.
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 */
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#define DEBUG_MAINLOOP_TIMER 1
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#define DEBUG_HEIGHT_DIFF    2
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#define DEBUG_FLIGHTCLIP     4
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#define DEBUG_ACC0THORDER    8
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#define DEBUG_COMPASS       16
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#define DEBUG_PRESSURERANGE 32
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#define DEBUG_CLIP          64
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#define DEBUG_SENSORLIMIT  128
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#define OUTPUTFLAGS_INVERT_0         1 // Inverted: 1 means low output on atmega. Does not affect on-board LED (if used with the OUTPUTOPTIONS_USE_ONBOARD_LEDS option)
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#define OUTPUTFLAGS_INVERT_1         2 // Inverted: 1 means low output on atmega. Does not affect on-board LED (if used with the OUTPUTOPTIONS_USE_ONBOARD_LEDS option)
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#define OUTPUTFLAGS_FLASH_0_AT_BEEP  4 // Flash LED when beeper beeps
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#define OUTPUTFLAGS_FLASH_1_AT_BEEP  8 // Flash LED when beeper beeps
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#define OUTPUTFLAGS_USE_ONBOARD_LEDS 16 // Control on-board LEDs in addition to outputs
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#define OUTPUTFLAGS_TEST_OFF         32 // For testing: Turn off both outputs
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#define OUTPUTFLAGS_TEST_ON          64 // For testing: Turn on both outputs
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extern int32_t yawTerm, term[2];
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// For practical reasons put here instead of in uart0.h
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typedef struct {
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    uint8_t digital[2];
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    uint16_t analog[32]; // debug values
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}__attribute__((packed)) DebugOut_t;
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// I2C and PWM motor and servo outputs.
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// extern int16_t outputs[NUM_OUTPUTS];
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extern DebugOut_t debugOut;
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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 0
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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 outputSet(uint8_t num, uint8_t state);
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void output_setLED(uint8_t num, uint8_t state);
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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 beepNumber(uint8_t numbeeps);
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void beepRCAlarm(void);
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void beepI2CAlarm(void);
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void output_applyMulticopterMixer(void);
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void beepBatteryAlarm(void);
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void output_setParameters(void);
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#endif //_output_H
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#endif //_output_H
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