From 5ba8d42ad4ec3f98622116b57c9bceb012fdd092 Mon Sep 17 00:00:00 2001 From: uncrustify Date: Thu, 16 Aug 2012 17:50:03 -0700 Subject: [PATCH] uncrustify ArduCopter/leds.pde --- ArduCopter/leds.pde | 532 ++++++++++++++++++++++---------------------- 1 file changed, 266 insertions(+), 266 deletions(-) diff --git a/ArduCopter/leds.pde b/ArduCopter/leds.pde index 617ade2cea..b3b3b7cd62 100644 --- a/ArduCopter/leds.pde +++ b/ArduCopter/leds.pde @@ -1,113 +1,113 @@ static void update_lights() { - switch(led_mode){ - case NORMAL_LEDS: - update_motor_light(); - update_GPS_light(); - break; + switch(led_mode) { + case NORMAL_LEDS: + update_motor_light(); + update_GPS_light(); + break; - case AUTO_TRIM_LEDS: - dancing_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()){ + // 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); + 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); } - break; + g_gps->valid_read = false; + } + 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; - } + default: + digitalWrite(C_LED_PIN, LED_OFF); + break; + } } static void update_motor_light(void) { - if(motors.armed() == false){ - motor_light = !motor_light; + 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); - } - } + // 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; + static byte step; - if (step++ == 3) - step = 0; + if (step++ == 3) + step = 0; - switch(step) - { - case 0: - digitalWrite(C_LED_PIN, LED_OFF); - digitalWrite(A_LED_PIN, LED_ON); - break; + 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 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; - } + 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; + 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: 00010000 (0) does Fast Flash, (1) does Oscillate -// Fifth bit causes motor LEDs to Nav Blink: 00100000 -// Sixth bit causes GPS LEDs to Nav Blink: 01000000 +// 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: 00010000 (0) does Fast Flash, (1) does Oscillate +// Fifth bit causes motor LEDs to Nav Blink: 00100000 +// Sixth bit causes GPS LEDs to Nav Blink: 01000000 // 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 @@ -120,250 +120,250 @@ static void clear_leds() #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 (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 if ( !bitRead(g.copter_leds_mode, 5 ) ) { - copter_leds_on(); //if motors are armed, battery level OK, all motor leds ON - } else if ( bitRead(g.copter_leds_mode, 5 ) ) { - if ( copter_leds_nav_blink >0 ) { - copter_leds_slow_blink(); //if nav command was seen, blink LEDs. - } else { - copter_leds_on(); - } - } - } else { - copter_leds_slow_blink(); //if motors are not armed, blink motor leds - } - } + 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 if ( !bitRead(g.copter_leds_mode, 5 ) ) { + copter_leds_on(); //if motors are armed, battery level OK, all motor leds ON + } else if ( bitRead(g.copter_leds_mode, 5 ) ) { + if ( copter_leds_nav_blink >0 ) { + copter_leds_slow_blink(); //if nav command was seen, blink LEDs. + } else { + copter_leds_on(); + } + } + } else { + copter_leds_slow_blink(); //if motors are not armed, blink motor leds + } + } - if ( bitRead(g.copter_leds_mode, 1) ){ + 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()){ + // 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) { - if ( !bitRead(g.copter_leds_mode, 6 ) ) { - copter_leds_GPS_on(); //Turn GPS LEDs on when gps has valid fix AND home is set - } else if (bitRead(g.copter_leds_mode, 6 ) ) { - if ( copter_leds_nav_blink >0 ) { - copter_leds_GPS_slow_blink(); //if nav command was seen, blink LEDs. - } else { - copter_leds_GPS_on(); - } - } - } else { - copter_leds_GPS_fast_blink(); //if GPS has fix, but home is not set, blink GPS LED fast - } - break; + case (2): + if(home_is_set) { + if ( !bitRead(g.copter_leds_mode, 6 ) ) { + copter_leds_GPS_on(); //Turn GPS LEDs on when gps has valid fix AND home is set + } else if (bitRead(g.copter_leds_mode, 6 ) ) { + if ( copter_leds_nav_blink >0 ) { + copter_leds_GPS_slow_blink(); //if nav command was seen, blink LEDs. + } else { + copter_leds_GPS_on(); + } + } + } else { + copter_leds_GPS_fast_blink(); //if GPS has fix, but home is not set, blink GPS LED fast + } + break; - case(1): + case (1): - copter_leds_GPS_slow_blink(); //if GPS has valid reads, but no fix, blink GPS LED slow + copter_leds_GPS_slow_blink(); //if GPS has valid reads, but no fix, blink GPS LED slow - break; + break; - default: - copter_leds_GPS_off(); //if no valid GPS signal, turn GPS LED off - 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 - } - } + 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); + 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); + 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); + 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_off(); - if ( bitRead(g.copter_leds_mode, 5 ) && !bitRead(g.copter_leds_mode, 6 ) && copter_leds_nav_blink >0 ) { // if blinking is called by the Nav Blinker... - copter_leds_nav_blink--; // decrement the Nav Blink counter - } - }else if (5 < copter_leds_motor_blink && copter_leds_motor_blink < 11){ - copter_leds_on(); - } - else copter_leds_motor_blink = 0; // start blink cycle again + 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_off(); + if ( bitRead(g.copter_leds_mode, 5 ) && !bitRead(g.copter_leds_mode, 6 ) && copter_leds_nav_blink >0 ) { // if blinking is called by the Nav Blinker... + copter_leds_nav_blink--; // decrement the Nav Blink counter + } + }else if (5 < copter_leds_motor_blink && copter_leds_motor_blink < 11) { + copter_leds_on(); + } + 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 + 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 + 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); + digitalWrite(COPTER_LED_3, COPTER_LED_ON); } static void copter_leds_GPS_off(void) { - digitalWrite(COPTER_LED_3, COPTER_LED_OFF); + 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(); - if ( bitRead(g.copter_leds_mode, 6 ) && copter_leds_nav_blink >0 ) { // if blinking is called by the Nav Blinker... - copter_leds_nav_blink--; // decrement the Nav Blink counter - } - }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 + 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(); + if ( bitRead(g.copter_leds_mode, 6 ) && copter_leds_nav_blink >0 ) { // if blinking is called by the Nav Blinker... + copter_leds_nav_blink--; // decrement the Nav Blink counter + } + }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 + 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); + digitalWrite(COPTER_LED_1, COPTER_LED_OFF); } static void copter_leds_aux_on(void){ - digitalWrite(COPTER_LED_1, COPTER_LED_ON); + digitalWrite(COPTER_LED_1, COPTER_LED_ON); } void piezo_on(){ - digitalWrite(PIEZO_PIN,HIGH); + digitalWrite(PIEZO_PIN,HIGH); } void piezo_off(){ - digitalWrite(PIEZO_PIN,LOW); + digitalWrite(PIEZO_PIN,LOW); } -void piezo_beep(){ // Note! This command should not be used in time sensitive loops - piezo_on(); - delay(100); - piezo_off(); +void piezo_beep(){ // Note! This command should not be used in time sensitive loops + piezo_on(); + delay(100); + piezo_off(); } -#endif //COPTER_LEDS \ No newline at end of file +#endif //COPTER_LEDS \ No newline at end of file