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CopterLEDS changes for APM2

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This commit is contained in:
Robert Lefebvre 2012-05-15 10:07:03 -04:00
parent 52a712f10f
commit 9e73dc4bd8
3 changed files with 112 additions and 76 deletions
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56
ArduCopter/config.h
View File

@ -119,6 +119,7 @@
# endif
#endif
////////////////////////////////////////////////////////
// LED and IO Pins
//
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
@ -149,10 +150,55 @@
# define CURRENT_PIN_1 2
#endif
////////////////////////////////////////////////////////////////////////////////
// CopterLEDs
// The CopterLEDs output conflicts with APM2 Piezo Beeper output on AN5
//
#ifndef COPTER_LEDS
#define COPTER_LEDS ENABLED
#endif
#define COPTER_LED_ON HIGH
#define COPTER_LED_OFF LOW
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
#define COPTER_LED_1 AN4 // Motor LED
#define COPTER_LED_2 AN5 // Motor or Aux LED
#define COPTER_LED_3 AN6 // Motor LED
#define COPTER_LED_4 AN7 // Motor or GPS LED
#define COPTER_LED_5 AN8 // Motor LED
#define COPTER_LED_6 AN9 // Motor LED
#define COPTER_LED_7 AN10 // Motor LED
#define COPTER_LED_8 AN11 // Motor LED
#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
#define COPTER_LED_1 AN8 // Motor LED
#define COPTER_LED_2 AN9 // Motor or Aux LED
#define COPTER_LED_3 AN10 // Motor LED
#define COPTER_LED_4 AN11 // Motor or GPS LED
#define COPTER_LED_5 AN12 // Motor LED
#define COPTER_LED_6 AN13 // Motor LED
#define COPTER_LED_7 AN14 // Motor LED
#define COPTER_LED_8 AN15 // Motor LED
#endif
//////////////////////////////////////////////////////////////////////////////
// Piezo Beeper
// The Piezo Beeper output conflicts with APM2 CopterLED output on AN5
//
#ifndef PIEZO
# define PIEZO ENABLED //Enables Piezo Code and beeps once on Startup to verify operation
#endif
#ifndef PIEZO_LOW_VOLTAGE
# define PIEZO_LOW_VOLTAGE ENABLED //Enables Tone on reaching low battery or current alert
#endif
#ifndef PIEZO_ARMING
# define PIEZO_ARMING ENABLED //Two tones on ARM, 1 Tone on disarm
#endif
//////////////////////////////////////////////////////////////////////////////
// Pushbutton & Relay
//
@ -288,15 +334,7 @@
#endif
#ifndef PIEZO
# define PIEZO ENABLED //Enables Piezo Code and beeps once on Startup to verify operation
#endif
#ifndef PIEZO_LOW_VOLTAGE
# define PIEZO_LOW_VOLTAGE ENABLED //Enables Tone on reaching low battery or current alert
#endif
#ifndef PIEZO_ARMING
# define PIEZO_ARMING ENABLED //Two tones on ARM, 1 Tone on disarm
#endif
//////////////////////////////////////////////////////////////////////////////

9
ArduCopter/defines.h
View File

@ -63,15 +63,6 @@
#define NORMAL_LEDS 0
#define AUTO_TRIM_LEDS 1
// COPTER LEDs
#define COPTER_LED_1 AN8 // Motor LED
#define COPTER_LED_2 AN9 // Motor LED
#define COPTER_LED_3 AN10 // Motor LED
#define COPTER_LED_4 AN11 // Motor LED
#define COPTER_LED_5 AN12 // Motor or Aux LED
#define COPTER_LED_6 AN13 // Motor or Aux LED
#define COPTER_LED_7 AN14 // Motor or GPS LED
#define COPTER_LED_8 AN15 // Motor or GPS LED
// Internal defines, don't edit and expect things to work
// -------------------------------------------------------

123
ArduCopter/leds.pde
View File

@ -167,43 +167,49 @@ static void update_copter_leds(void)
}
static void copter_leds_reset(void) {
digitalWrite(COPTER_LED_1, LED_OFF);
digitalWrite(COPTER_LED_2, LED_OFF);
digitalWrite(COPTER_LED_3, LED_OFF);
digitalWrite(COPTER_LED_4, LED_OFF);
digitalWrite(COPTER_LED_5, LED_OFF);
digitalWrite(COPTER_LED_6, LED_OFF);
digitalWrite(COPTER_LED_7, LED_OFF);
digitalWrite(COPTER_LED_8, LED_OFF);
digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
if (CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 || PIEZO == DISABLED){
digitalWrite(COPTER_LED_2, COPTER_LED_OFF); // The Piezo Beeper output conflicts with APM2 CopterLED output on AN5
}
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) {
digitalWrite(COPTER_LED_1, LED_ON);
digitalWrite(COPTER_LED_2, LED_ON);
digitalWrite(COPTER_LED_3, LED_ON);
digitalWrite(COPTER_LED_4, LED_ON);
if ( !bitRead(g.copter_leds_mode, 2) ){
digitalWrite(COPTER_LED_5, LED_ON);
digitalWrite(COPTER_LED_6, LED_ON);
digitalWrite(COPTER_LED_1, COPTER_LED_ON);
digitalWrite(COPTER_LED_3, 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 (CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 || PIEZO == DISABLED){ // The Piezo Beeper output conflicts with APM2 CopterLED output on AN5
if ( !bitRead(g.copter_leds_mode, 2) ){
digitalWrite(COPTER_LED_2, COPTER_LED_ON);
}
}
if ( !bitRead(g.copter_leds_mode, 1) ){
digitalWrite(COPTER_LED_7, LED_ON);
digitalWrite(COPTER_LED_8, LED_ON);
digitalWrite(COPTER_LED_4, COPTER_LED_ON);
}
}
static void copter_leds_off(void) {
digitalWrite(COPTER_LED_1, LED_OFF);
digitalWrite(COPTER_LED_2, LED_OFF);
digitalWrite(COPTER_LED_3, LED_OFF);
digitalWrite(COPTER_LED_4, LED_OFF);
if ( !bitRead(g.copter_leds_mode, 2) ){
digitalWrite(COPTER_LED_5, LED_OFF);
digitalWrite(COPTER_LED_6, LED_OFF);
digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
digitalWrite(COPTER_LED_3, 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 (CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 || PIEZO == DISABLED){ // The Piezo Beeper output conflicts with APM2 CopterLED output on AN5
if ( !bitRead(g.copter_leds_mode, 2) ){
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
}
}
if ( !bitRead(g.copter_leds_mode, 1) ){
digitalWrite(COPTER_LED_7, LED_OFF);
digitalWrite(COPTER_LED_8, LED_OFF);
digitalWrite(COPTER_LED_4, COPTER_LED_OFF);
}
}
@ -220,30 +226,34 @@ static void copter_leds_blink(void) {
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
digitalWrite(COPTER_LED_1, LED_ON);
digitalWrite(COPTER_LED_2, LED_ON);
digitalWrite(COPTER_LED_3, LED_OFF);
digitalWrite(COPTER_LED_4, LED_OFF);
if ( !bitRead(g.copter_leds_mode, 2) ) {
digitalWrite(COPTER_LED_5, LED_ON);
digitalWrite(COPTER_LED_6, LED_ON);
digitalWrite(COPTER_LED_1, COPTER_LED_ON);
digitalWrite(COPTER_LED_3, 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);
if (CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 || PIEZO == DISABLED){ // The Piezo Beeper output conflicts with APM2 CopterLED output on AN5
if ( !bitRead(g.copter_leds_mode, 2) ) {
digitalWrite(COPTER_LED_2, COPTER_LED_ON);
}
}
if ( !bitRead(g.copter_leds_mode, 1) ) {
digitalWrite(COPTER_LED_7, LED_OFF);
digitalWrite(COPTER_LED_8, LED_OFF);
digitalWrite(COPTER_LED_4, COPTER_LED_OFF);
}
}else if (2 < copter_leds_motor_blink && copter_leds_motor_blink < 5) {
digitalWrite(COPTER_LED_1, LED_OFF);
digitalWrite(COPTER_LED_2, LED_OFF);
digitalWrite(COPTER_LED_3, LED_ON);
digitalWrite(COPTER_LED_4, LED_ON);
if ( !bitRead(g.copter_leds_mode, 2) ) {
digitalWrite(COPTER_LED_5, LED_OFF);
digitalWrite(COPTER_LED_6, LED_OFF);
}
digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
digitalWrite(COPTER_LED_3, 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);
if (CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 || PIEZO == DISABLED){ // The Piezo Beeper output conflicts with APM2 CopterLED output on AN5
if ( !bitRead(g.copter_leds_mode, 2) ) {
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
}
}
if ( !bitRead(g.copter_leds_mode, 1) ) {
digitalWrite(COPTER_LED_7, LED_ON);
digitalWrite(COPTER_LED_8, LED_ON);
digitalWrite(COPTER_LED_4, COPTER_LED_ON);
}
}
else copter_leds_motor_blink = 0; // start blink cycle again
@ -252,13 +262,11 @@ static void copter_leds_oscillate(void) {
static void copter_leds_GPS_on(void) {
digitalWrite(COPTER_LED_7, LED_ON);
digitalWrite(COPTER_LED_8, LED_ON);
digitalWrite(COPTER_LED_4, COPTER_LED_ON);
}
static void copter_leds_GPS_off(void) {
digitalWrite(COPTER_LED_7, LED_OFF);
digitalWrite(COPTER_LED_8, LED_OFF);
digitalWrite(COPTER_LED_4, COPTER_LED_OFF);
}
static void copter_leds_GPS_slow_blink(void) {
@ -281,17 +289,16 @@ static void copter_leds_GPS_fast_blink(void) {
else copter_leds_GPS_blink = 0; // start blink cycle again
}
static void copter_leds_aux_off(void)
{
digitalWrite(COPTER_LED_5, LED_OFF);
digitalWrite(COPTER_LED_6, LED_OFF);
static void copter_leds_aux_off(void){
if (CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 || PIEZO == DISABLED){ // The Piezo Beeper output conflicts with APM2 CopterLED output on AN5
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
}
}
static void copter_leds_aux_on(void)
{
digitalWrite(COPTER_LED_5, LED_ON);
digitalWrite(COPTER_LED_6, LED_ON);
static void copter_leds_aux_on(void){
if (CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 || PIEZO == DISABLED){ // The Piezo Beeper output conflicts with APM2 CopterLED output on AN5
digitalWrite(COPTER_LED_2, COPTER_LED_ON);
}
}
#endif //COPTER_LEDS