Subversion Repositories FlightCtrl

#include <inttypes.h>
#include "output.h"
#include "eeprom.h"
#include "timer0.h"
uint8_t flashCnt[2], flashMask[2];

DebugOut_t debugOut;

void output_init(void) {
  // set PC2 & PC3 as output (control of J16 & J17)
  DDRB |= (1 << DDB1) | (1 << DDB2);
  outputSet(0,0);
  outputSet(1,0);
  flashCnt[0] = flashCnt[1] = 0;
  flashMask[0] = flashMask[1] = 128;
}

void outputSet(uint8_t num, uint8_t state) {
  if (staticParams.outputFlags & (OUTPUTFLAGS_INVERT_0 << num)) {
    if (state) OUTPUT_LOW(num) else OUTPUT_HIGH(num);
  } else {
    if (state) OUTPUT_HIGH(num) else OUTPUT_LOW(num);
  }
  if (staticParams.outputFlags & OUTPUTFLAGS_USE_ONBOARD_LEDS) {
    if (num) {
      if (state) GRN_ON else GRN_OFF;
    } else {
      if (state) RED_ON else RED_OFF;
    }
  }
}

void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, uint8_t manual) {
  if (timing > 250 && manual > 230) {
    // "timing" is set to "manual (a variable)" and the value is very high --> Set to the value in bitmask bit 7.
    outputSet(port, 1);
  } else if (timing > 250 && manual < 10) {
    // "timing" is set to "manual" (a variable) and the value is very low --> Set to the negated value in bitmask bit 7.
    outputSet(port, 0);
  } else if (!flashCnt[port]--) {
    // rotating mask over bitmask...
    flashCnt[port] = timing - 1;
    if (flashMask[port] == 1)
      flashMask[port] = 128;
    else
      flashMask[port] >>= 1;
    outputSet(port, flashMask[port] & bitmask);
  }
}

void output_update(void) {
  static int8_t delay = 0;
  if (!delay--) { // 10 ms intervals
    delay = 4;
  }
  if (staticParams.outputFlags & OUTPUTFLAGS_TEST_ON) {
    outputSet(0, 1);
    outputSet(1, 1);
  } else if (staticParams.outputFlags & OUTPUTFLAGS_TEST_OFF) {
    outputSet(0, 0);
    outputSet(1, 0);
  } else {
    if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_0_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) {
      flashingLight(0, 25, 0x55, 25);
    } else if (staticParams.outputDebugMask) {
      outputSet(0, debugOut.digital[0] & staticParams.outputDebugMask);
    } else if (!delay) {
      flashingLight(0, staticParams.outputFlash[0].timing, staticParams.outputFlash[0].bitmask, dynamicParams.output0Timing);
    }
    if (staticParams.outputFlags & OUTPUTFLAGS_FLASH_1_AT_BEEP && beepModulation != BEEP_MODULATION_NONE) {
      flashingLight(1, 25, 0x55, 25);
    } else if (staticParams.outputDebugMask) {
      outputSet(1, debugOut.digital[1] & staticParams.outputDebugMask);
    } else if (!delay) {
      flashingLight(1, staticParams.outputFlash[1].timing, staticParams.outputFlash[1].bitmask, dynamicParams.output1Timing);
    }
  }
}

void beep(uint16_t millis) {
  beepTime = millis;
}

/*
 * Make [numbeeps] beeps.
 */
void beepNumber(uint8_t numbeeps) {
  while(numbeeps--) {
    if(isFlying) return; //auf keinen Fall bei laufenden Motoren!
    beep(100); // 0.1 second
    delay_ms(250); // blocks 250 ms as pause to next beep,
    // this will block the flight control loop,
    // therefore do not use this function if motors are running
  }
}

/*
 * Beep the R/C alarm signal
 */
void beepRCAlarm(void) {
  if(beepModulation == BEEP_MODULATION_NONE) { // If not already beeping an alarm signal (?)
    beepTime = 15000; // 1.5 seconds
    beepModulation = BEEP_MODULATION_RCALARM;
  }
}

/*
 * Beep the battery low alarm signal
 */
void beepBatteryAlarm(void) {
  beepModulation = BEEP_MODULATION_BATTERYALARM;
  if(!beepTime) {
    beepTime = 6000; // 0.6 seconds
  }
}

/*
 * Beep the EEPROM checksum alarm
 */
void beepEEPROMAlarm(void) {
  beepModulation = BEEP_MODULATION_EEPROMALARM;
  if(!beepTime) {
    beepTime = 6000; // 0.6 seconds
  }
}