From 21f3534a93b779e4e8e4d5d88614b7d66b9170f2 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 20 May 2013 11:27:35 +0900 Subject: [PATCH] Copter: remove DigitalWriteFast With APHal all writes are fast --- ArduCopter/compat.pde | 5 -- ArduCopter/leds.pde | 134 +++++++++++++++++++++--------------------- 2 files changed, 67 insertions(+), 72 deletions(-) diff --git a/ArduCopter/compat.pde b/ArduCopter/compat.pde index 386c660682..2fe7dcafc0 100644 --- a/ArduCopter/compat.pde +++ b/ArduCopter/compat.pde @@ -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); diff --git a/ArduCopter/leds.pde b/ArduCopter/leds.pde index 77ab50c3ff..b1e19fa34f 100644 --- a/ArduCopter/leds.pde +++ b/ArduCopter/leds.pde @@ -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); } }