mirror of https://github.com/ArduPilot/ardupilot
323 lines
14 KiB
Plaintext
323 lines
14 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// updates the status of notify
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// should be called at 50hz
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static void update_notify()
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{
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notify.update();
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}
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/////////////////////////////////////////////////////////////////////////////////////////////
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// Copter LEDS by Robert Lefebvre
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// Based on the work of U4eake, Bill Sanford, Max Levine, and Oliver
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// g.copter_leds_mode controls the copter leds function via bitmath
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// Zeroeth bit turns motor leds on and off: 00000001
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// First bit turns GPS function on and off: 00000010
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// Second bit turns Aux function on and off: 00000100
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// Third bit turns on Beeper (legacy Piezo) function: 00001000
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// Fourth bit toggles between Fast Flash or Oscillate on Low Battery: 00010000 (0) does Fast Flash, (1) does Oscillate
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// Fifth bit causes motor LEDs to Nav Blink: 00100000
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// Sixth bit causes GPS LEDs to Nav Blink: 01000000
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// This code is written in order to be backwards compatible with the old Motor_LEDS code
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// I hope to include at least some of the Show_LEDS code in the future
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// copter_leds_GPS_blink controls the blinking of the GPS LEDS
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// copter_leds_motor_blink controls the blinking of the motor LEDS
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// Piezo Code and beeps once on Startup to verify operation
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// Piezo Enables Tone on reaching low battery or current alert
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/////////////////////////////////////////////////////////////////////////////////////////////
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#define COPTER_LEDS_BITMASK_ENABLED 0x01 // bit #0
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#define COPTER_LEDS_BITMASK_GPS 0x02 // bit #1
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#define COPTER_LEDS_BITMASK_AUX 0x04 // bit #2
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#define COPTER_LEDS_BITMASK_BEEPER 0x08 // bit #3
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#define COPTER_LEDS_BITMASK_BATT_OSCILLATE 0x10 // bit #4
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#define COPTER_LEDS_BITMASK_MOTOR_NAV_BLINK 0x20 // bit #5
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#define COPTER_LEDS_BITMASK_GPS_NAV_BLINK 0x40 // bit #6
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#if COPTER_LEDS == ENABLED
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static void copter_leds_init(void)
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{
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pinMode(COPTER_LED_1, OUTPUT); //Motor LED
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pinMode(COPTER_LED_2, OUTPUT); //Motor LED
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pinMode(COPTER_LED_3, OUTPUT); //Motor LED
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pinMode(COPTER_LED_4, OUTPUT); //Motor LED
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pinMode(COPTER_LED_5, OUTPUT); //Motor or Aux LED
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pinMode(COPTER_LED_6, OUTPUT); //Motor or Aux LED
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pinMode(COPTER_LED_7, OUTPUT); //Motor or GPS LED
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pinMode(COPTER_LED_8, OUTPUT); //Motor or GPS LED
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if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
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piezo_beep();
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}
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}
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static void update_copter_leds(void)
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{
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if (g.copter_leds_mode == 0) {
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copter_leds_reset(); //method of reintializing LED state
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}
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// motor leds control
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if (g.copter_leds_mode & COPTER_LEDS_BITMASK_ENABLED) {
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if (motors.armed()) {
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if (failsafe.low_battery) {
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if (g.copter_leds_mode & COPTER_LEDS_BITMASK_BATT_OSCILLATE) {
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copter_leds_oscillate(); //if motors are armed, but battery level is low, motor leds fast blink
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} else {
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copter_leds_fast_blink(); //if motors are armed, but battery level is low, motor leds oscillate
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}
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} else {
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if (g.copter_leds_mode & COPTER_LEDS_BITMASK_MOTOR_NAV_BLINK) {
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if (copter_leds_nav_blink > 0) {
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copter_leds_slow_blink(); //if nav command was seen, blink LEDs.
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} else {
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copter_leds_on();
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}
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} else {
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copter_leds_on(); //if motors are armed, battery level OK, all motor leds ON
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}
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}
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} else {
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copter_leds_slow_blink(); //if motors are not armed, blink motor leds
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}
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}
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// GPS led control
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if (g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS) {
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// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
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// ---------------------------------------------------------------------
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switch (g_gps->status()) {
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case GPS::NO_GPS:
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copter_leds_GPS_off(); //if no valid GPS signal, turn GPS LED off
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break;
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case GPS::NO_FIX:
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copter_leds_GPS_slow_blink(); //if GPS has valid reads, but no fix, blink GPS LED slow
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break;
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case GPS::GPS_OK_FIX_2D:
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case GPS::GPS_OK_FIX_3D:
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if(ap.home_is_set) {
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if (g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS_NAV_BLINK) {
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if (copter_leds_nav_blink >0) {
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copter_leds_GPS_slow_blink(); //if nav command was seen, blink LEDs.
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} else {
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copter_leds_GPS_on();
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}
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} else {
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copter_leds_GPS_on(); //Turn GPS LEDs on when gps has valid fix AND home is set
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}
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} else {
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copter_leds_GPS_fast_blink(); //if GPS has fix, but home is not set, blink GPS LED fast
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}
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break;
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}
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}
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// AUX led control
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if (g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX) {
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if (ap_system.CH7_flag) {
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copter_leds_aux_on(); //if sub-control of Ch7 is high, turn Aux LED on
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} else {
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copter_leds_aux_off(); //if sub-control of Ch7 is low, turn Aux LED off
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}
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}
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}
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static void copter_leds_reset(void) {
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digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
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digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
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digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
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digitalWrite(COPTER_LED_4, COPTER_LED_OFF);
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digitalWrite(COPTER_LED_5, COPTER_LED_OFF);
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digitalWrite(COPTER_LED_6, COPTER_LED_OFF);
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digitalWrite(COPTER_LED_7, COPTER_LED_OFF);
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digitalWrite(COPTER_LED_8, COPTER_LED_OFF);
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}
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static void copter_leds_on(void) {
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if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX)) {
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digitalWrite(COPTER_LED_1, COPTER_LED_ON);
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
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digitalWrite(COPTER_LED_2, COPTER_LED_ON);
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}
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#else
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digitalWrite(COPTER_LED_2, COPTER_LED_ON);
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#endif
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if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS) ) {
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digitalWrite(COPTER_LED_3, COPTER_LED_ON);
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}
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digitalWrite(COPTER_LED_4, COPTER_LED_ON);
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digitalWrite(COPTER_LED_5, COPTER_LED_ON);
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digitalWrite(COPTER_LED_6, COPTER_LED_ON);
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digitalWrite(COPTER_LED_7, COPTER_LED_ON);
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digitalWrite(COPTER_LED_8, COPTER_LED_ON);
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}
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static void copter_leds_off(void) {
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if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX)) {
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digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
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digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
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}
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#else
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digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
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#endif
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if (!(g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS)) {
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digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
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}
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digitalWrite(COPTER_LED_4, COPTER_LED_OFF);
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digitalWrite(COPTER_LED_5, COPTER_LED_OFF);
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digitalWrite(COPTER_LED_6, COPTER_LED_OFF);
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digitalWrite(COPTER_LED_7, COPTER_LED_OFF);
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digitalWrite(COPTER_LED_8, COPTER_LED_OFF);
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}
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static void copter_leds_slow_blink(void) {
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copter_leds_motor_blink++; // this increments once every 1/10 second because it is in the 10hz loop
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if ( 0 < copter_leds_motor_blink && copter_leds_motor_blink < 6 ) { // when the counter reaches 5 (1/2 sec), then toggle the leds
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copter_leds_off();
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// if blinking is called by the Nav Blinker decrement the Nav Blink counter
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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 ) {
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copter_leds_nav_blink--;
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}
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}else if (5 < copter_leds_motor_blink && copter_leds_motor_blink < 11) {
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copter_leds_on();
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}else{
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copter_leds_motor_blink = 0; // start blink cycle again
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}
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}
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static void copter_leds_fast_blink(void) {
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copter_leds_motor_blink++; // this increments once every 1/10 second because it is in the 10hz loop
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if ( 0 < copter_leds_motor_blink && copter_leds_motor_blink < 3 ) { // when the counter reaches 3 (1/5 sec), then toggle the leds
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copter_leds_on();
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}else if (2 < copter_leds_motor_blink && copter_leds_motor_blink < 5) {
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copter_leds_off();
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}else{
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copter_leds_motor_blink = 0; // start blink cycle again
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}
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}
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static void copter_leds_oscillate(void) {
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copter_leds_motor_blink++; // this increments once every 1/10 second because it is in the 10hz loop
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if ( 0 < copter_leds_motor_blink && copter_leds_motor_blink < 3 ) { // when the counter reaches 3 (1/5 sec), then toggle the leds
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if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX)) {
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digitalWrite(COPTER_LED_1, COPTER_LED_ON);
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
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digitalWrite(COPTER_LED_2, COPTER_LED_ON);
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}
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#else
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digitalWrite(COPTER_LED_2, COPTER_LED_ON);
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#endif
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if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS)) {
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digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
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}
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digitalWrite(COPTER_LED_4, COPTER_LED_OFF);
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digitalWrite(COPTER_LED_5, COPTER_LED_ON);
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digitalWrite(COPTER_LED_6, COPTER_LED_ON);
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digitalWrite(COPTER_LED_7, COPTER_LED_OFF);
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digitalWrite(COPTER_LED_8, COPTER_LED_OFF);
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}else if (2 < copter_leds_motor_blink && copter_leds_motor_blink < 5) {
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if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_AUX)) {
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digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER)) {
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digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
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}
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#else
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digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
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#endif
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if ( !(g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS) ) {
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digitalWrite(COPTER_LED_3, COPTER_LED_ON);
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}
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digitalWrite(COPTER_LED_4, COPTER_LED_ON);
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digitalWrite(COPTER_LED_5, COPTER_LED_OFF);
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digitalWrite(COPTER_LED_6, COPTER_LED_OFF);
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digitalWrite(COPTER_LED_7, COPTER_LED_ON);
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digitalWrite(COPTER_LED_8, COPTER_LED_ON);
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}else{
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copter_leds_motor_blink = 0; // start blink cycle again
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}
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}
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static void copter_leds_GPS_on(void) {
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digitalWrite(COPTER_LED_3, COPTER_LED_ON);
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}
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static void copter_leds_GPS_off(void) {
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digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
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}
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static void copter_leds_GPS_slow_blink(void) {
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copter_leds_GPS_blink++; // this increments once every 1/10 second because it is in the 10hz loop
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if ( 0 < copter_leds_GPS_blink && copter_leds_GPS_blink < 6 ) { // when the counter reaches 5 (1/2 sec), then toggle the leds
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copter_leds_GPS_off();
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if ((g.copter_leds_mode & COPTER_LEDS_BITMASK_GPS_NAV_BLINK) && copter_leds_nav_blink >0 ) { // if blinking is called by the Nav Blinker...
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copter_leds_nav_blink--; // decrement the Nav Blink counter
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}
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}else if (5 < copter_leds_GPS_blink && copter_leds_GPS_blink < 11) {
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copter_leds_GPS_on();
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}
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else copter_leds_GPS_blink = 0; // start blink cycle again
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}
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static void copter_leds_GPS_fast_blink(void) {
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copter_leds_GPS_blink++; // this increments once every 1/10 second because it is in the 10hz loop
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if ( 0 < copter_leds_GPS_blink && copter_leds_GPS_blink < 3 ) { // when the counter reaches 3 (1/5 sec), then toggle the leds
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copter_leds_GPS_off();
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}else if (2 < copter_leds_GPS_blink && copter_leds_GPS_blink < 5) {
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copter_leds_GPS_on();
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}
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else copter_leds_GPS_blink = 0; // start blink cycle again
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}
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static void copter_leds_aux_off(void){
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digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
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}
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static void copter_leds_aux_on(void){
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digitalWrite(COPTER_LED_1, COPTER_LED_ON);
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}
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void piezo_on(){
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if (g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER) {
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digitalWrite(PIEZO_PIN,HIGH);
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}
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}
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void piezo_off(){
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if (g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER) {
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digitalWrite(PIEZO_PIN,LOW);
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}
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}
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void piezo_beep(){ // Note! This command should not be used in time sensitive loops
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if (g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER) {
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piezo_on();
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delay(100);
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piezo_off();
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}
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}
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void piezo_beep_twice(){ // Note! This command should not be used in time sensitive loops
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if (g.copter_leds_mode & COPTER_LEDS_BITMASK_BEEPER) {
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piezo_beep();
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delay(50);
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piezo_beep();
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}
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}
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#endif //COPTER_LEDS
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