From 669bde1e452070a69b3932671e87eaaea55cb8fc Mon Sep 17 00:00:00 2001
From: jphelirc <jphelirc@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Mon, 18 Oct 2010 08:26:08 +0000
Subject: [PATCH] preparing for DIP switch functions

git-svn-id: https://arducopter.googlecode.com/svn/trunk@686 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArducopterNG/Arducopter.h  |  6 ++++++
 ArducopterNG/Functions.pde | 22 +++++++++++++++++++++-
 ArducopterNG/System.pde    | 23 +++++++++++++++++++++++
 3 files changed, 50 insertions(+), 1 deletion(-)

diff --git a/ArducopterNG/Arducopter.h b/ArducopterNG/Arducopter.h
index a419cde504..f62d97f436 100644
--- a/ArducopterNG/Arducopter.h
+++ b/ArducopterNG/Arducopter.h
@@ -205,6 +205,12 @@ int control_pitch;
 int control_yaw;
 //float K_aux;
 
+
+boolean SW_DIP1;  // closest to SW2 slider switch
+boolean SW_DIP2;
+boolean SW_DIP3;
+boolean SW_DIP4;  // closest to header pins
+
 // Attitude PID controls
 float roll_I=0;
 float roll_D;
diff --git a/ArducopterNG/Functions.pde b/ArducopterNG/Functions.pde
index d5ae514ee8..65395b1bc3 100644
--- a/ArducopterNG/Functions.pde
+++ b/ArducopterNG/Functions.pde
@@ -111,4 +111,24 @@ int channel_filter(int ch, int ch_old)
   }
   return((ch + ch_old) >> 1);   // Small filtering
   //return(ch);
-}
+}
+
+
+// Special APM PinMode settings and others
+void APMPinMode(volatile unsigned char &Port, byte Pin, boolean Set)
+{
+  if (Set)  {
+    Port |=   (1 << Pin);
+  } else  {
+    Port &=  ~(1 << Pin);
+  }
+}
+
+boolean APMPinRead(volatile unsigned char &Port, byte Pin)
+{
+  if(Port   &   (1 << Pin))
+    return 1;
+  else
+    return 0;
+}
+
diff --git a/ArducopterNG/System.pde b/ArducopterNG/System.pde
index 72332c4098..5ab767e1e1 100644
--- a/ArducopterNG/System.pde
+++ b/ArducopterNG/System.pde
@@ -41,6 +41,13 @@ void APM_Init() {
   pinMode(LED_Green,OUTPUT);  //Green LED C   (PC0)
   pinMode(SW1_pin,INPUT);     //Switch SW1 (pin PG0)
   pinMode(RELE_pin,OUTPUT);   // Rele output
+  
+  APMPinMode(DDRE,7,INPUT); //DIP1
+  APMPinMode(DDRE,6,INPUT); //DIP2
+  APMPinMode(DDRL,6,INPUT); //DIP3
+  APMPinMode(DDRL,7,INPUT); //DIP4
+
+  
   digitalWrite(RELE_pin,LOW);
  
   APM_RC.Init();             // APM Radio initialization
@@ -122,6 +129,22 @@ void APM_Init() {
 
   delay(1000);
 
+  // Read DIP Switches and other important values. DIP switches needs special functions to 
+  // read due they are not defined as normal pins like other GPIO's are. 
+  SW_DIP1 = APMPinRead(PINE, 7);
+  SW_DIP2 = APMPinRead(PINE, 6);
+  SW_DIP3 = APMPinRead(PINL, 6);
+  SW_DIP4 = APMPinRead(PINL, 7);
+
+  /* Works, tested 18-10-10 JP
+  if(SW_DIP1) {
+    SerPrln("+ mode");
+  } else {
+    SerPrln("x mode");
+  } 
+  */
+
+
   DataFlash.StartWrite(1);   // Start a write session on page 1
   //timer = millis();
   //tlmTimer = millis();