ardupilot/ArduCopter/leds.pde

static void update_lights()
{
	switch(led_mode){
		case NORMAL_LEDS:
			update_motor_light();
			update_GPS_light();
			break;

		case AUTO_TRIM_LEDS:
			dancing_light();
			break;
	}
}

static void update_GPS_light(void)
{
	// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
	// ---------------------------------------------------------------------
	switch (g_gps->status()){

		case(2):
			if(home_is_set) {                      // JLN update
			    digitalWrite(C_LED_PIN, LED_ON);  //Turn LED C on when gps has valid fix AND home is set.
			} else {
            	digitalWrite(C_LED_PIN, LED_OFF);
            }
			break;

		case(1):
			if (g_gps->valid_read == true){
				GPS_light = !GPS_light; // Toggle light on and off to indicate gps messages being received, but no GPS fix lock
				if (GPS_light){
					digitalWrite(C_LED_PIN, LED_OFF);
				}else{
					digitalWrite(C_LED_PIN, LED_ON);
				}
				g_gps->valid_read = false;
			}
			break;

		default:
			digitalWrite(C_LED_PIN, LED_OFF);
			break;
	}
}

static void update_motor_light(void)
{
	if(motors.armed() == false){
		motor_light = !motor_light;

		// blink
		if(motor_light){
			digitalWrite(A_LED_PIN, LED_ON);
		}else{
			digitalWrite(A_LED_PIN, LED_OFF);
		}
	}else{
		if(!motor_light){
			motor_light = true;
			digitalWrite(A_LED_PIN, LED_ON);
		}
	}
}

static void dancing_light()
{
	static byte step;

	if (step++ == 3)
		step = 0;

	switch(step)
	{
		case 0:
			digitalWrite(C_LED_PIN, LED_OFF);
			digitalWrite(A_LED_PIN, LED_ON);
			break;

		case 1:
			digitalWrite(A_LED_PIN, LED_OFF);
			digitalWrite(B_LED_PIN, LED_ON);
			break;

		case 2:
			digitalWrite(B_LED_PIN, LED_OFF);
			digitalWrite(C_LED_PIN, LED_ON);
			break;
	}
}
static void clear_leds()
{
	digitalWrite(A_LED_PIN, LED_OFF);
	digitalWrite(B_LED_PIN, LED_OFF);
	digitalWrite(C_LED_PIN, LED_OFF);
	motor_light = false;
	led_mode = NORMAL_LEDS;
}

/////////////////////////////////////////////////////////////////////////////////////////////
//	Copter LEDS by Robert Lefebvre
//	Based on the work of U4eake, Bill Sanford, Max Levine, and Oliver
//	g.copter_leds_mode controls the copter leds function via bitmath
//	Zeroeth bit turns motor leds on and off:  00000001
//	First bit turns GPS function on and off: 00000010
//	Second bit turns Aux function on and off: 00000100
//	Third bit turns on Beeper (legacy Piezo) function: 00001000
//	Fourth bit toggles between Fast Flash or Oscillate on Low Battery: 000100000 (0) does Fast Flash, (1) does Oscillate
//	This code is written in order to be backwards compatible with the old Motor_LEDS code
//	I hope to include at least some of the Show_LEDS code in the future
//	copter_leds_GPS_blink controls the blinking of the GPS LEDS
//	copter_leds_motor_blink controls the blinking of the motor LEDS
//	Piezo Code and beeps once on Startup to verify operation
//	Piezo Enables Tone on reaching low battery or current alert
/////////////////////////////////////////////////////////////////////////////////////////////


#if COPTER_LEDS == ENABLED
static void update_copter_leds(void)
{
	if (g.copter_leds_mode == 0) {					
		copter_leds_reset();								//method of reintializing LED state
	}

	if ( bitRead(g.copter_leds_mode, 0) ) {
		if (motors.armed() == true) {
			if (low_batt == true) {
				if ( bitRead(g.copter_leds_mode, 4 )) {
					copter_leds_oscillate();				//if motors are armed, but battery level is low, motor leds fast blink
				}else{
					copter_leds_fast_blink();				//if motors are armed, but battery level is low, motor leds oscillate
				}
			} else {
				copter_leds_on();							//if motors are armed, battery level OK, all motor leds ON
			}
		} else {
			copter_leds_slow_blink();						//if motors are not armed, blink motor leds
		}
	}

	if ( bitRead(g.copter_leds_mode, 1) ){

		// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
		// ---------------------------------------------------------------------
		switch (g_gps->status()){

			case(2):
				if(home_is_set) {
					copter_leds_GPS_on();  								//Turn GPS LEDs on when gps has valid fix AND home is set
				} else {
					copter_leds_GPS_fast_blink();						//if GPS has fix, but home is not set, blink GPS LED fast
				}
				break;

			case(1):

				copter_leds_GPS_slow_blink();							//if GPS has valid reads, but no fix, blink GPS LED slow

				break;

			default:
				copter_leds_GPS_off();									//if no valid GPS signal, turn GPS LED off
				break;
		}
	}

	if ( bitRead(g.copter_leds_mode, 2) ) {
		if (200 <= g.rc_7.control_in && g.rc_7.control_in < 400) {
			copter_leds_aux_on();										//if sub-control of Ch7 is high, turn Aux LED on
		} else if (g.rc_7.control_in < 200) {
			copter_leds_aux_off();										//if sub-control of Ch7 is low, turn Aux LED off
		}
	}

}

static void copter_leds_reset(void) {
	digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
	digitalWrite(COPTER_LED_2, COPTER_LED_OFF);  						
	digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
	digitalWrite(COPTER_LED_4, COPTER_LED_OFF);
	digitalWrite(COPTER_LED_5, COPTER_LED_OFF);	
	digitalWrite(COPTER_LED_6, COPTER_LED_OFF);
	digitalWrite(COPTER_LED_7, COPTER_LED_OFF);
	digitalWrite(COPTER_LED_8, COPTER_LED_OFF);
}

static void copter_leds_on(void) {
	if ( !bitRead(g.copter_leds_mode, 2) ){
		digitalWrite(COPTER_LED_1, COPTER_LED_ON);	
	}
	#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
		if ( !bitRead(g.copter_leds_mode, 3) ){	
			digitalWrite(COPTER_LED_2, COPTER_LED_ON);
		}
	#else
		digitalWrite(COPTER_LED_2, COPTER_LED_ON);
	#endif
	if ( !bitRead(g.copter_leds_mode, 1) ){
		digitalWrite(COPTER_LED_3, COPTER_LED_ON);
	}
	digitalWrite(COPTER_LED_4, COPTER_LED_ON);
	digitalWrite(COPTER_LED_5, COPTER_LED_ON);
	digitalWrite(COPTER_LED_6, COPTER_LED_ON);
	digitalWrite(COPTER_LED_7, COPTER_LED_ON);
	digitalWrite(COPTER_LED_8, COPTER_LED_ON);
}

static void copter_leds_off(void) {
	if ( !bitRead(g.copter_leds_mode, 2) ){
		digitalWrite(COPTER_LED_1, COPTER_LED_OFF);	
	}
	#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
		if ( !bitRead(g.copter_leds_mode, 3) ){	
			digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
		}
	#else
		digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
	#endif
	if ( !bitRead(g.copter_leds_mode, 1) ){
		digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
	}
	digitalWrite(COPTER_LED_4, COPTER_LED_OFF);
	digitalWrite(COPTER_LED_5, COPTER_LED_OFF);
	digitalWrite(COPTER_LED_6, COPTER_LED_OFF);
	digitalWrite(COPTER_LED_7, COPTER_LED_OFF);
	digitalWrite(COPTER_LED_8, COPTER_LED_OFF);
}

static void copter_leds_slow_blink(void) {
	copter_leds_motor_blink++;                                				// this increments once every 1/10 second because it is in the 10hz loop
	if ( 0 < copter_leds_motor_blink && copter_leds_motor_blink < 6 ){		// when the counter reaches 5 (1/2 sec), then toggle the leds
		copter_leds_on();
	}else if (5 < copter_leds_motor_blink && copter_leds_motor_blink < 11){
		copter_leds_off();
	}
	else copter_leds_motor_blink = 0;              							// start blink cycle again  
}

static void copter_leds_fast_blink(void) {
	copter_leds_motor_blink++;                                				// this increments once every 1/10 second because it is in the 10hz loop
	if ( 0 < copter_leds_motor_blink && copter_leds_motor_blink < 3 ){		// when the counter reaches 3 (1/5 sec), then toggle the leds	
		copter_leds_on();
	}else if (2 < copter_leds_motor_blink && copter_leds_motor_blink < 5){
		copter_leds_off();
	}
	else copter_leds_motor_blink = 0;              							// start blink cycle again  
}


static void copter_leds_oscillate(void) {
	copter_leds_motor_blink++;                                				// this increments once every 1/10 second because it is in the 10hz loop
	if ( 0 < copter_leds_motor_blink && copter_leds_motor_blink < 3 ) {		// when the counter reaches 3 (1/5 sec), then toggle the leds
		if ( !bitRead(g.copter_leds_mode, 2) ){
			digitalWrite(COPTER_LED_1, COPTER_LED_ON);	
		}
		#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
			if ( !bitRead(g.copter_leds_mode, 3) ){	
				digitalWrite(COPTER_LED_2, COPTER_LED_ON);
			}
		#else
			digitalWrite(COPTER_LED_2, COPTER_LED_ON);
		#endif
		if ( !bitRead(g.copter_leds_mode, 1) ){
			digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
		}
		digitalWrite(COPTER_LED_4, COPTER_LED_OFF);
		digitalWrite(COPTER_LED_5, COPTER_LED_ON);
		digitalWrite(COPTER_LED_6, COPTER_LED_ON);
		digitalWrite(COPTER_LED_7, COPTER_LED_OFF);
		digitalWrite(COPTER_LED_8, COPTER_LED_OFF);
	}else if (2 < copter_leds_motor_blink && copter_leds_motor_blink < 5) {
		if ( !bitRead(g.copter_leds_mode, 2) ){
			digitalWrite(COPTER_LED_1, COPTER_LED_OFF);	
		}
		#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
			if ( !bitRead(g.copter_leds_mode, 3) ){	
				digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
			}
		#else
		digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
		#endif
		if ( !bitRead(g.copter_leds_mode, 1) ){
			digitalWrite(COPTER_LED_3, COPTER_LED_ON);
		}
		digitalWrite(COPTER_LED_4, COPTER_LED_ON);
		digitalWrite(COPTER_LED_5, COPTER_LED_OFF);
		digitalWrite(COPTER_LED_6, COPTER_LED_OFF);
		digitalWrite(COPTER_LED_7, COPTER_LED_ON);
		digitalWrite(COPTER_LED_8, COPTER_LED_ON);
	}
	else copter_leds_motor_blink = 0;              							// start blink cycle again  
}



static void copter_leds_GPS_on(void) {
	digitalWrite(COPTER_LED_3, COPTER_LED_ON);
}

static void copter_leds_GPS_off(void) {
	digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
}

static void copter_leds_GPS_slow_blink(void) {
	copter_leds_GPS_blink++;                                				// this increments once every 1/10 second because it is in the 10hz loop
	if ( 0 < copter_leds_GPS_blink && copter_leds_GPS_blink < 6 ){			// when the counter reaches 5 (1/2 sec), then toggle the leds
			copter_leds_GPS_off();
		}else if (5 < copter_leds_GPS_blink && copter_leds_GPS_blink < 11){
			copter_leds_GPS_on();
		}
	else copter_leds_GPS_blink = 0;              							// start blink cycle again
}

static void copter_leds_GPS_fast_blink(void) {
	copter_leds_GPS_blink++;                                				// this increments once every 1/10 second because it is in the 10hz loop
	if ( 0 < copter_leds_GPS_blink && copter_leds_GPS_blink < 3 ) {			// when the counter reaches 3 (1/5 sec), then toggle the leds	
			copter_leds_GPS_off();
		}else if (2 < copter_leds_GPS_blink && copter_leds_GPS_blink < 5){
			copter_leds_GPS_on();
		}
	else copter_leds_GPS_blink = 0;              							// start blink cycle again
}

static void copter_leds_aux_off(void){
	digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
}

static void copter_leds_aux_on(void){
	digitalWrite(COPTER_LED_1, COPTER_LED_ON);
}

void piezo_on(){
	digitalWrite(PIEZO_PIN,HIGH);
}

void piezo_off(){
	digitalWrite(PIEZO_PIN,LOW);
}

void piezo_beep(){															// Note! This command should not be used in time sensitive loops
	piezo_on();
	delay(100);
	piezo_off();
}

#endif			//COPTER_LEDS