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