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ardupilot
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purple: use the new LED_ON/LED_OFF macros for LED level 

this gets this right on both APM1 and purple for ArduCopter
This commit is contained in:
Pat Hickey 2011-11-13 14:44:36 +11:00
parent 3f2692d1da
commit 4869ac3385
3 changed files with 38 additions and 30 deletions
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32
ArduCopter/leds.pde
View File

@ -19,23 +19,23 @@ static void update_GPS_light(void)
switch (g_gps->status()){
case(2):
digitalWrite(C_LED_PIN, HIGH); //Turn LED C on when gps has valid fix.
digitalWrite(C_LED_PIN, LED_ON); //Turn LED C on when gps has valid fix.
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, LOW);
digitalWrite(C_LED_PIN, LED_OFF);
}else{
digitalWrite(C_LED_PIN, HIGH);
digitalWrite(C_LED_PIN, LED_ON);
}
g_gps->valid_read = false;
}
break;
default:
digitalWrite(C_LED_PIN, LOW);
digitalWrite(C_LED_PIN, LED_OFF);
break;
}
}
@ -47,14 +47,14 @@ static void update_motor_light(void)
// blink
if(motor_light){
digitalWrite(A_LED_PIN, HIGH);
digitalWrite(A_LED_PIN, LED_ON);
}else{
digitalWrite(A_LED_PIN, LOW);
digitalWrite(A_LED_PIN, LED_OFF);
}
}else{
if(!motor_light){
motor_light = true;
digitalWrite(A_LED_PIN, HIGH);
digitalWrite(A_LED_PIN, LED_ON);
}
}
}
@ -69,26 +69,26 @@ static void dancing_light()
switch(step)
{
case 0:
digitalWrite(C_LED_PIN, LOW);
digitalWrite(A_LED_PIN, HIGH);
digitalWrite(C_LED_PIN, LED_OFF);
digitalWrite(A_LED_PIN, LED_ON);
break;
case 1:
digitalWrite(A_LED_PIN, LOW);
digitalWrite(B_LED_PIN, HIGH);
digitalWrite(A_LED_PIN, LED_OFF);
digitalWrite(B_LED_PIN, LED_ON);
break;
case 2:
digitalWrite(B_LED_PIN, LOW);
digitalWrite(C_LED_PIN, HIGH);
digitalWrite(B_LED_PIN, LED_OFF);
digitalWrite(C_LED_PIN, LED_ON);
break;
}
}
static void clear_leds()
{
digitalWrite(A_LED_PIN, LOW);
digitalWrite(B_LED_PIN, LOW);
digitalWrite(C_LED_PIN, LOW);
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;
}

28
ArduCopter/system.pde
View File

@ -92,10 +92,18 @@ static void init_ardupilot()
report_version();
// setup IO pins
pinMode(C_LED_PIN, OUTPUT); // GPS status LED
pinMode(A_LED_PIN, OUTPUT); // GPS status LED
pinMode(B_LED_PIN, OUTPUT); // GPS status LED
pinMode(SLIDE_SWITCH_PIN, INPUT); // To enter interactive mode
digitalWrite(A_LED_PIN, LED_OFF);
pinMode(B_LED_PIN, OUTPUT); // GPS status LED
digitalWrite(B_LED_PIN, LED_OFF);
pinMode(C_LED_PIN, OUTPUT); // GPS status LED
digitalWrite(C_LED_PIN, LED_OFF);
#if SLIDE_SWITCH_PIN > 0
pinMode(SLIDE_SWITCH_PIN, INPUT); // To enter interactive mode
#endif
pinMode(PUSHBUTTON_PIN, INPUT); // unused
DDRL |= B00000100; // Set Port L, pin 2 to output for the relay
@ -141,13 +149,13 @@ static void init_ardupilot()
while (true) {
delay(1000);
if(motor_light){
digitalWrite(A_LED_PIN, HIGH);
digitalWrite(B_LED_PIN, HIGH);
digitalWrite(C_LED_PIN, HIGH);
digitalWrite(A_LED_PIN, LED_ON);
digitalWrite(B_LED_PIN, LED_ON);
digitalWrite(C_LED_PIN, LED_ON);
}else{
digitalWrite(A_LED_PIN, LOW);
digitalWrite(B_LED_PIN, LOW);
digitalWrite(C_LED_PIN, LOW);
digitalWrite(A_LED_PIN, LED_OFF);
digitalWrite(B_LED_PIN, LED_OFF);
digitalWrite(C_LED_PIN, LED_OFF);
}
motor_light = !motor_light;
}
@ -236,7 +244,7 @@ static void init_ardupilot()
// menu; they must reset in order to fly.
//
if (check_startup_for_CLI()) {
digitalWrite(A_LED_PIN,HIGH); // turn on setup-mode LED
digitalWrite(A_LED_PIN, LED_ON); // turn on setup-mode LED
Serial.printf_P(PSTR("\nCLI:\n\n"));
run_cli();
}

8
ArduCopter/test.pde
View File

@ -763,14 +763,14 @@ test_wp(uint8_t argc, const Menu::arg *argv)
delay(1000);
while(1){
if (Serial3.available()){
digitalWrite(B_LED_PIN, HIGH); // Blink Yellow LED if we are sending data to GPS
digitalWrite(B_LED_PIN, LED_ON); // Blink Yellow LED if we are sending data to GPS
Serial1.write(Serial3.read());
digitalWrite(B_LED_PIN, LOW);
digitalWrite(B_LED_PIN, LED_OFF);
}
if (Serial1.available()){
digitalWrite(C_LED_PIN, HIGH); // Blink Red LED if we are receiving data from GPS
digitalWrite(C_LED_PIN, LED_ON); // Blink Red LED if we are receiving data from GPS
Serial3.write(Serial1.read());
digitalWrite(C_LED_PIN, LOW);
digitalWrite(C_LED_PIN, LED_OFF);
}
if(Serial.available() > 0){
return (0);