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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_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_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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/*
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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_SIGNAL        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 OUTPUTOPTIONS_INVERT_0         1
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#define OUTPUTOPTIONS_INVERT_1         2
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#define OUTPUTOPTIONS_FLASH_AT_BEEP    4
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#define OUTPUTOPTIONS_USE_ONBOARD_LEDS 8
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#define OUTPUTOPTIONS_TEST_LO         64
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#define DEBUG_SENSORLIMIT 128
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#define OUTPUTOPTIONS_TEST_HI        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 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_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);