mirror of https://github.com/ArduPilot/ardupilot
132 lines
2.4 KiB
Plaintext
132 lines
2.4 KiB
Plaintext
static void update_lights()
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{
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switch(led_mode){
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case NORMAL_LEDS:
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update_motor_light();
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update_GPS_light();
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break;
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case AUTO_TRIM_LEDS:
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dancing_light();
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break;
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}
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}
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static void update_GPS_light(void)
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{
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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(2):
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digitalWrite(C_LED_PIN, LED_ON); //Turn LED C on when gps has valid fix.
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break;
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case(1):
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if (g_gps->valid_read == true){
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GPS_light = !GPS_light; // Toggle light on and off to indicate gps messages being received, but no GPS fix lock
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if (GPS_light){
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digitalWrite(C_LED_PIN, LED_OFF);
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}else{
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digitalWrite(C_LED_PIN, LED_ON);
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}
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g_gps->valid_read = false;
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}
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break;
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default:
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digitalWrite(C_LED_PIN, LED_OFF);
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break;
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}
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}
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static void update_motor_light(void)
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{
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if(motor_armed == false){
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motor_light = !motor_light;
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// blink
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if(motor_light){
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digitalWrite(A_LED_PIN, LED_ON);
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}else{
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digitalWrite(A_LED_PIN, LED_OFF);
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}
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}else{
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if(!motor_light){
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motor_light = true;
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digitalWrite(A_LED_PIN, LED_ON);
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}
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}
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}
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static void dancing_light()
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{
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static byte step;
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if (step++ == 3)
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step = 0;
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switch(step)
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{
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case 0:
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digitalWrite(C_LED_PIN, LED_OFF);
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digitalWrite(A_LED_PIN, LED_ON);
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break;
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case 1:
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digitalWrite(A_LED_PIN, LED_OFF);
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digitalWrite(B_LED_PIN, LED_ON);
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break;
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case 2:
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digitalWrite(B_LED_PIN, LED_OFF);
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digitalWrite(C_LED_PIN, LED_ON);
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break;
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}
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}
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static void clear_leds()
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{
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digitalWrite(A_LED_PIN, LED_OFF);
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digitalWrite(B_LED_PIN, LED_OFF);
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digitalWrite(C_LED_PIN, LED_OFF);
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motor_light = false;
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led_mode = NORMAL_LEDS;
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}
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#if MOTOR_LEDS == 1
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static void update_motor_leds(void)
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{
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if (motor_armed == true){
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if (low_batt == true){
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// blink rear
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static bool blink = false;
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if (blink){
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digitalWrite(RE_LED, HIGH);
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digitalWrite(FR_LED, HIGH);
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digitalWrite(RI_LED, LOW);
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digitalWrite(LE_LED, LOW);
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}else{
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digitalWrite(RE_LED, LOW);
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digitalWrite(FR_LED, LOW);
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digitalWrite(RI_LED, HIGH);
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digitalWrite(LE_LED, HIGH);
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}
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blink = !blink;
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}else{
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digitalWrite(RE_LED, HIGH);
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digitalWrite(FR_LED, HIGH);
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digitalWrite(RI_LED, HIGH);
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digitalWrite(LE_LED, HIGH);
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}
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}else {
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digitalWrite(RE_LED, LOW);
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digitalWrite(FR_LED, LOW);
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digitalWrite(RI_LED, LOW);
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digitalWrite(LE_LED, LOW);
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}
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}
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#endif
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