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Copter: remove DigitalWriteFast 

With APHal all writes are fast
This commit is contained in:
Randy Mackay 2013-05-20 11:27:35 +09:00
parent 55f1b3b2ae
commit 21f3534a93
2 changed files with 67 additions and 72 deletions
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5
ArduCopter/compat.pde
View File

@ -25,11 +25,6 @@ void pinMode(uint8_t pin, uint8_t output)
hal.gpio->pinMode(pin, output);
}
void digitalWriteFast(uint8_t pin, uint8_t out)
{
hal.gpio->write(pin,out);
}
void digitalWrite(uint8_t pin, uint8_t out)
{
hal.gpio->write(pin,out);

134
ArduCopter/leds.pde
View File

@ -26,23 +26,23 @@ static void update_GPS_light(void)
g_gps->valid_read = false;
ap_system.GPS_light = !ap_system.GPS_light; // Toggle light on and off to indicate gps messages being received, but no GPS fix lock
if (ap_system.GPS_light) {
digitalWriteFast(C_LED_PIN, LED_OFF);
digitalWrite(C_LED_PIN, LED_OFF);
}else{
digitalWriteFast(C_LED_PIN, LED_ON);
digitalWrite(C_LED_PIN, LED_ON);
}
}
break;
case GPS::GPS_OK_FIX_3D:
if(ap.home_is_set) {
digitalWriteFast(C_LED_PIN, LED_ON); //Turn LED C on when gps has valid fix AND home is set.
digitalWrite(C_LED_PIN, LED_ON); //Turn LED C on when gps has valid fix AND home is set.
} else {
digitalWriteFast(C_LED_PIN, LED_OFF);
digitalWrite(C_LED_PIN, LED_OFF);
}
break;
default:
digitalWriteFast(C_LED_PIN, LED_OFF);
digitalWrite(C_LED_PIN, LED_OFF);
break;
}
}
@ -54,14 +54,14 @@ static void update_motor_light(void)
// blink
if(ap_system.motor_light) {
digitalWriteFast(A_LED_PIN, LED_ON);
digitalWrite(A_LED_PIN, LED_ON);
}else{
digitalWriteFast(A_LED_PIN, LED_OFF);
digitalWrite(A_LED_PIN, LED_OFF);
}
}else{
if(!ap_system.motor_light) {
ap_system.motor_light = true;
digitalWriteFast(A_LED_PIN, LED_ON);
digitalWrite(A_LED_PIN, LED_ON);
}
}
}
@ -76,26 +76,26 @@ static void dancing_light()
switch(step)
{
case 0:
digitalWriteFast(C_LED_PIN, LED_OFF);
digitalWriteFast(A_LED_PIN, LED_ON);
digitalWrite(C_LED_PIN, LED_OFF);
digitalWrite(A_LED_PIN, LED_ON);
break;
case 1:
digitalWriteFast(A_LED_PIN, LED_OFF);
digitalWriteFast(B_LED_PIN, LED_ON);
digitalWrite(A_LED_PIN, LED_OFF);
digitalWrite(B_LED_PIN, LED_ON);
break;
case 2:
digitalWriteFast(B_LED_PIN, LED_OFF);
digitalWriteFast(C_LED_PIN, LED_ON);
digitalWrite(B_LED_PIN, LED_OFF);
digitalWrite(C_LED_PIN, LED_ON);
break;
}
}
static void clear_leds()
{
digitalWriteFast(A_LED_PIN, LED_OFF);
digitalWriteFast(B_LED_PIN, LED_OFF);
digitalWriteFast(C_LED_PIN, LED_OFF);
digitalWrite(A_LED_PIN, LED_OFF);
digitalWrite(B_LED_PIN, LED_OFF);
digitalWrite(C_LED_PIN, LED_OFF);
ap_system.motor_light = false;
led_mode = NORMAL_LEDS;
}
@ -220,56 +220,56 @@ static void update_copter_leds(void)
}
static void copter_leds_reset(void) {
digitalWriteFast(COPTER_LED_1, COPTER_LED_OFF);
digitalWriteFast(COPTER_LED_2, COPTER_LED_OFF);
digitalWriteFast(COPTER_LED_3, COPTER_LED_OFF);
digitalWriteFast(COPTER_LED_4, COPTER_LED_OFF);
digitalWriteFast(COPTER_LED_5, COPTER_LED_OFF);
digitalWriteFast(COPTER_LED_6, COPTER_LED_OFF);
digitalWriteFast(COPTER_LED_7, COPTER_LED_OFF);
digitalWriteFast(COPTER_LED_8, COPTER_LED_OFF);
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 (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX)) {
digitalWriteFast(COPTER_LED_1, COPTER_LED_ON);
digitalWrite(COPTER_LED_1, COPTER_LED_ON);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
digitalWriteFast(COPTER_LED_2, COPTER_LED_ON);
digitalWrite(COPTER_LED_2, COPTER_LED_ON);
}
#else
digitalWriteFast(COPTER_LED_2, COPTER_LED_ON);
digitalWrite(COPTER_LED_2, COPTER_LED_ON);
#endif
if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS) ) {
digitalWriteFast(COPTER_LED_3, COPTER_LED_ON);
digitalWrite(COPTER_LED_3, COPTER_LED_ON);
}
digitalWriteFast(COPTER_LED_4, COPTER_LED_ON);
digitalWriteFast(COPTER_LED_5, COPTER_LED_ON);
digitalWriteFast(COPTER_LED_6, COPTER_LED_ON);
digitalWriteFast(COPTER_LED_7, COPTER_LED_ON);
digitalWriteFast(COPTER_LED_8, 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 (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX)) {
digitalWriteFast(COPTER_LED_1, COPTER_LED_OFF);
digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
digitalWriteFast(COPTER_LED_2, COPTER_LED_OFF);
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
}
#else
digitalWriteFast(COPTER_LED_2, COPTER_LED_OFF);
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
#endif
if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS)) {
digitalWriteFast(COPTER_LED_3, COPTER_LED_OFF);
digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
}
digitalWriteFast(COPTER_LED_4, COPTER_LED_OFF);
digitalWriteFast(COPTER_LED_5, COPTER_LED_OFF);
digitalWriteFast(COPTER_LED_6, COPTER_LED_OFF);
digitalWriteFast(COPTER_LED_7, COPTER_LED_OFF);
digitalWriteFast(COPTER_LED_8, 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) {
@ -304,53 +304,53 @@ 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 ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX)) {
digitalWriteFast(COPTER_LED_1, COPTER_LED_ON);
digitalWrite(COPTER_LED_1, COPTER_LED_ON);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
digitalWriteFast(COPTER_LED_2, COPTER_LED_ON);
digitalWrite(COPTER_LED_2, COPTER_LED_ON);
}
#else
digitalWriteFast(COPTER_LED_2, COPTER_LED_ON);
digitalWrite(COPTER_LED_2, COPTER_LED_ON);
#endif
if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS)) {
digitalWriteFast(COPTER_LED_3, COPTER_LED_OFF);
digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
}
digitalWriteFast(COPTER_LED_4, COPTER_LED_OFF);
digitalWriteFast(COPTER_LED_5, COPTER_LED_ON);
digitalWriteFast(COPTER_LED_6, COPTER_LED_ON);
digitalWriteFast(COPTER_LED_7, COPTER_LED_OFF);
digitalWriteFast(COPTER_LED_8, 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 ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX)) {
digitalWriteFast(COPTER_LED_1, COPTER_LED_OFF);
digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
digitalWriteFast(COPTER_LED_2, COPTER_LED_OFF);
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
}
#else
digitalWriteFast(COPTER_LED_2, COPTER_LED_OFF);
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
#endif
if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS) ) {
digitalWriteFast(COPTER_LED_3, COPTER_LED_ON);
digitalWrite(COPTER_LED_3, COPTER_LED_ON);
}
digitalWriteFast(COPTER_LED_4, COPTER_LED_ON);
digitalWriteFast(COPTER_LED_5, COPTER_LED_OFF);
digitalWriteFast(COPTER_LED_6, COPTER_LED_OFF);
digitalWriteFast(COPTER_LED_7, COPTER_LED_ON);
digitalWriteFast(COPTER_LED_8, 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) {
digitalWriteFast(COPTER_LED_3, COPTER_LED_ON);
digitalWrite(COPTER_LED_3, COPTER_LED_ON);
}
static void copter_leds_GPS_off(void) {
digitalWriteFast(COPTER_LED_3, COPTER_LED_OFF);
digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
}
static void copter_leds_GPS_slow_blink(void) {
@ -377,22 +377,22 @@ static void copter_leds_GPS_fast_blink(void) {
}
static void copter_leds_aux_off(void){
digitalWriteFast(COPTER_LED_1, COPTER_LED_OFF);
digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
}
static void copter_leds_aux_on(void){
digitalWriteFast(COPTER_LED_1, COPTER_LED_ON);
digitalWrite(COPTER_LED_1, COPTER_LED_ON);
}
void piezo_on(){
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER) {
digitalWriteFast(PIEZO_PIN,HIGH);
digitalWrite(PIEZO_PIN,HIGH);
}
}
void piezo_off(){
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER) {
digitalWriteFast(PIEZO_PIN,LOW);
digitalWrite(PIEZO_PIN,LOW);
}
}