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Copter LEDs: replace bitRead with bitmask 

Consolidate all checks of led_mode to leds.pde
Add #defines for bitmasks comparisons
Some formatting changes
This commit is contained in:
Randy Mackay 2013-04-01 13:10:12 +09:00
parent 6816c45c39
commit 7cf2255822
5 changed files with 111 additions and 91 deletions
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3
ArduCopter/compat.h
View File

@ -11,8 +11,5 @@
/* Forward declarations to avoid broken auto-prototyper (coughs on '::'?) */
static void run_cli(AP_HAL::UARTDriver *port);
// XXX AP_HAL tofix - what is bitRead? temporarily disable.
#define bitRead(a,b) false
#endif // __COMPAT_H__

5
ArduCopter/events.pde
View File

@ -98,9 +98,8 @@ static void low_battery_event(void)
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_BATT, ERROR_CODE_FAILSAFE_OCCURRED);
#if COPTER_LEDS == ENABLED
if ( bitRead(g.copter_leds_mode, 3) ) { // Only Activate if a battery is connected to avoid alarm on USB only
piezo_on();
}
// Only Activate if a battery is connected to avoid alarm on USB only
piezo_on();
#endif // COPTER_LEDS
}

169
ArduCopter/leds.pde
View File

@ -119,29 +119,55 @@ static void clear_leds()
// Piezo Enables Tone on reaching low battery or current alert
/////////////////////////////////////////////////////////////////////////////////////////////
#define COPTER_LEDS_BITMASK_ENABLED 0x01 // bit #0
#define COPTER_LEDS_BITMASK_GPS 0x02 // bit #1
#define COPTER_LEDS_BITMASK_AUX 0x04 // bit #2
#define COPTER_LEDS_BITMASK_BEEPER 0x08 // bit #3
#define COPTER_LEDS_BITMASK_BATT_OSCILLATE 0x10 // bit #4
#define COPTER_LEDS_BITMASK_MOTOR_NAV_BLINK 0x20 // bit #5
#define COPTER_LEDS_BITMASK_GPS_NAV_BLINK 0x40 // bit #6
#if COPTER_LEDS == ENABLED
static void copter_leds_init(void)
{
pinMode(COPTER_LED_1, OUTPUT); //Motor LED
pinMode(COPTER_LED_2, OUTPUT); //Motor LED
pinMode(COPTER_LED_3, OUTPUT); //Motor LED
pinMode(COPTER_LED_4, OUTPUT); //Motor LED
pinMode(COPTER_LED_5, OUTPUT); //Motor or Aux LED
pinMode(COPTER_LED_6, OUTPUT); //Motor or Aux LED
pinMode(COPTER_LED_7, OUTPUT); //Motor or GPS LED
pinMode(COPTER_LED_8, OUTPUT); //Motor or GPS LED
if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
piezo_beep();
}
}
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 (ap.low_battery == true) {
if ( bitRead(g.copter_leds_mode, 4 )) {
// motor leds control
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_ENABLED) {
if (motors.armed()) {
if (ap.low_battery) {
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_BATT_OSCILLATE) {
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 {
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_MOTOR_NAV_BLINK) {
if (copter_leds_nav_blink > 0) {
copter_leds_slow_blink(); //if nav command was seen, blink LEDs.
} else {
copter_leds_on();
}
} else {
copter_leds_on();
copter_leds_on(); //if motors are armed, battery level OK, all motor leds ON
}
}
} else {
@ -149,48 +175,48 @@ static void update_copter_leds(void)
}
}
if ( bitRead(g.copter_leds_mode, 1) ) {
// GPS led control
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS) {
// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
// ---------------------------------------------------------------------
switch (g_gps->status()) {
case (2):
case GPS::NO_GPS:
copter_leds_GPS_off(); //if no valid GPS signal, turn GPS LED off
break;
case GPS::NO_FIX:
copter_leds_GPS_slow_blink(); //if GPS has valid reads, but no fix, blink GPS LED slow
break;
case GPS::GPS_OK_FIX_2D:
case GPS::GPS_OK_FIX_3D:
if(ap.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 ) {
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS_NAV_BLINK) {
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_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) {
// AUX led control
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX) {
if (ap_system.CH7_flag) {
copter_leds_aux_on(); //if sub-control of Ch7 is high, turn Aux LED on
} else if (g.rc_7.control_in < 200) {
} else {
copter_leds_aux_off(); //if sub-control of Ch7 is low, turn Aux LED off
}
}
}
static void copter_leds_reset(void) {
@ -205,17 +231,17 @@ static void copter_leds_reset(void) {
}
static void copter_leds_on(void) {
if ( !bitRead(g.copter_leds_mode, 2) ) {
if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX)) {
digitalWriteFast(COPTER_LED_1, COPTER_LED_ON);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
if ( !bitRead(g.copter_leds_mode, 3) ) {
if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
digitalWriteFast(COPTER_LED_2, COPTER_LED_ON);
}
#else
digitalWriteFast(COPTER_LED_2, COPTER_LED_ON);
#endif
if ( !bitRead(g.copter_leds_mode, 1) ) {
if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS) ) {
digitalWriteFast(COPTER_LED_3, COPTER_LED_ON);
}
digitalWriteFast(COPTER_LED_4, COPTER_LED_ON);
@ -226,17 +252,17 @@ static void copter_leds_on(void) {
}
static void copter_leds_off(void) {
if ( !bitRead(g.copter_leds_mode, 2) ) {
if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX)) {
digitalWriteFast(COPTER_LED_1, COPTER_LED_OFF);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
if ( !bitRead(g.copter_leds_mode, 3) ) {
if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
digitalWriteFast(COPTER_LED_2, COPTER_LED_OFF);
}
#else
digitalWriteFast(COPTER_LED_2, COPTER_LED_OFF);
#endif
if ( !bitRead(g.copter_leds_mode, 1) ) {
if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS)) {
digitalWriteFast(COPTER_LED_3, COPTER_LED_OFF);
}
digitalWriteFast(COPTER_LED_4, COPTER_LED_OFF);
@ -247,43 +273,47 @@ static void copter_leds_off(void) {
}
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_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
// if blinking is called by the Nav Blinker decrement the Nav Blink counter
if ((g.copter_leds_mode & COPTER_LEDS_BITMASK_MOTOR_NAV_BLINK) && !(g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS_NAV_BLINK) && copter_leds_nav_blink >0 ) {
copter_leds_nav_blink--;
}
}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
}
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
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
}
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) ) {
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);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
if ( !bitRead(g.copter_leds_mode, 3) ) {
if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
digitalWriteFast(COPTER_LED_2, COPTER_LED_ON);
}
#else
digitalWriteFast(COPTER_LED_2, COPTER_LED_ON);
#endif
if ( !bitRead(g.copter_leds_mode, 1) ) {
if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS)) {
digitalWriteFast(COPTER_LED_3, COPTER_LED_OFF);
}
digitalWriteFast(COPTER_LED_4, COPTER_LED_OFF);
@ -292,17 +322,17 @@ static void copter_leds_oscillate(void) {
digitalWriteFast(COPTER_LED_7, COPTER_LED_OFF);
digitalWriteFast(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) ) {
if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX)) {
digitalWriteFast(COPTER_LED_1, COPTER_LED_OFF);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
if ( !bitRead(g.copter_leds_mode, 3) ) {
if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
digitalWriteFast(COPTER_LED_2, COPTER_LED_OFF);
}
#else
digitalWriteFast(COPTER_LED_2, COPTER_LED_OFF);
#endif
if ( !bitRead(g.copter_leds_mode, 1) ) {
if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS) ) {
digitalWriteFast(COPTER_LED_3, COPTER_LED_ON);
}
digitalWriteFast(COPTER_LED_4, COPTER_LED_ON);
@ -310,12 +340,11 @@ static void copter_leds_oscillate(void) {
digitalWriteFast(COPTER_LED_6, COPTER_LED_OFF);
digitalWriteFast(COPTER_LED_7, COPTER_LED_ON);
digitalWriteFast(COPTER_LED_8, COPTER_LED_ON);
}else{
copter_leds_motor_blink = 0; // start blink cycle again
}
else copter_leds_motor_blink = 0; // start blink cycle again
}
static void copter_leds_GPS_on(void) {
digitalWriteFast(COPTER_LED_3, COPTER_LED_ON);
}
@ -328,7 +357,7 @@ 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...
if ((g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS_NAV_BLINK) && 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) {
@ -356,17 +385,31 @@ static void copter_leds_aux_on(void){
}
void piezo_on(){
digitalWriteFast(PIEZO_PIN,HIGH);
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER) {
digitalWriteFast(PIEZO_PIN,HIGH);
}
}
void piezo_off(){
digitalWriteFast(PIEZO_PIN,LOW);
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER) {
digitalWriteFast(PIEZO_PIN,LOW);
}
}
void piezo_beep(){ // Note! This command should not be used in time sensitive loops
piezo_on();
delay(100);
piezo_off();
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER) {
piezo_on();
delay(100);
piezo_off();
}
}
void piezo_beep_twice(){ // Note! This command should not be used in time sensitive loops
if (g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER) {
piezo_beep();
delay(50);
piezo_beep();
}
}
#endif //COPTER_LEDS

10
ArduCopter/motors.pde
View File

@ -120,11 +120,7 @@ static void init_arm_motors()
}
#if COPTER_LEDS == ENABLED
if ( bitRead(g.copter_leds_mode, 3) ) {
piezo_beep();
delay(50);
piezo_beep();
}
piezo_beep_twice();
#endif
// Remember Orientation
@ -191,9 +187,7 @@ static void init_disarm_motors()
set_takeoff_complete(false);
#if COPTER_LEDS == ENABLED
if ( bitRead(g.copter_leds_mode, 3) ) {
piezo_beep();
}
piezo_beep();
#endif
// setup fast AHRS gains to get right attitude

15
ArduCopter/system.pde
View File

@ -136,22 +136,9 @@ static void init_ardupilot()
relay.init();
#if COPTER_LEDS == ENABLED
pinMode(COPTER_LED_1, OUTPUT); //Motor LED
pinMode(COPTER_LED_2, OUTPUT); //Motor LED
pinMode(COPTER_LED_3, OUTPUT); //Motor LED
pinMode(COPTER_LED_4, OUTPUT); //Motor LED
pinMode(COPTER_LED_5, OUTPUT); //Motor or Aux LED
pinMode(COPTER_LED_6, OUTPUT); //Motor or Aux LED
pinMode(COPTER_LED_7, OUTPUT); //Motor or GPS LED
pinMode(COPTER_LED_8, OUTPUT); //Motor or GPS LED
if ( !bitRead(g.copter_leds_mode, 3) ) {
piezo_beep();
}
copter_leds_init();
#endif
// load parameters from EEPROM
load_parameters();