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updated Param gen - won't compile yet.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1667 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-02-17 07:22:30 +00:00
parent 1716a41a97
commit e14e77c151
1 changed files with 0 additions and 197 deletions
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197
ArduCopterMega/events.pde
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@ -1,197 +0,0 @@
/*
This event will be called when the failsafe changes
boolean failsafe reflects the current state
*/
void failsafe_event()
{
if (failsafe == true){
// This is how to handle a failsafe.
switch(control_mode)
{
}
}else{
reset_I();
}
}
void low_battery_event(void)
{
send_message(SEVERITY_HIGH,"Low Battery!");
set_mode(RTL);
g.throttle_cruise = THROTTLE_CRUISE;
}
/*
4 simultaneous events
int event_original - original time in seconds
int event_countdown - count down to zero
byte event_countdown - ID for what to do
byte event_countdown - how many times to loop, 0 = indefinite
byte event_value - specific information for an event like PWM value
byte counterEvent - undo the event if nescessary
count down each one
new event
undo_event
*/
void new_event(struct Location *cmd)
{
Serial.print("New Event Loaded ");
Serial.println(cmd->p1,DEC);
if(cmd->p1 == STOP_REPEAT){
Serial.println("STOP repeat ");
event_id = NO_REPEAT;
event_timer = -1;
undo_event = 0;
event_value = 0;
event_delay = 0;
event_repeat = 0; // convert seconds to millis
event_undo_value = 0;
repeat_forever = 0;
}else{
// reset the event timer
event_timer = millis();
event_id = cmd->p1;
event_value = cmd->alt;
event_delay = cmd->lat;
event_repeat = cmd->lng; // convert seconds to millis
event_undo_value = 0;
repeat_forever = (event_repeat == 0) ? 1:0;
}
/*
Serial.print("event_id: ");
Serial.println(event_id,DEC);
Serial.print("event_value: ");
Serial.println(event_value,DEC);
Serial.print("event_delay: ");
Serial.println(event_delay,DEC);
Serial.print("event_repeat: ");
Serial.println(event_repeat,DEC);
Serial.print("event_undo_value: ");
Serial.println(event_undo_value,DEC);
Serial.print("repeat_forever: ");
Serial.println(repeat_forever,DEC);
Serial.print("Event_timer: ");
Serial.println(event_timer,DEC);
*/
perform_event();
}
void perform_event()
{
if (event_repeat > 0){
event_repeat --;
}
switch(event_id) {
case CH_4_TOGGLE:
event_undo_value = g.rc_5.radio_out;
APM_RC.OutputCh(CH_5, event_value); // send to Servos
undo_event = 2;
break;
case CH_5_TOGGLE:
event_undo_value = g.rc_6.radio_out;
APM_RC.OutputCh(CH_6, event_value); // send to Servos
undo_event = 2;
break;
case CH_6_TOGGLE:
event_undo_value = g.rc_7.radio_out;
APM_RC.OutputCh(CH_7, event_value); // send to Servos
undo_event = 2;
break;
case CH_7_TOGGLE:
event_undo_value = g.rc_8.radio_out;
APM_RC.OutputCh(CH_8, event_value); // send to Servos
undo_event = 2;
event_undo_value = 1;
break;
case RELAY_TOGGLE:
event_undo_value = PORTL & B00000100 ? 1:0;
if(event_undo_value == 1){
relay_A();
}else{
relay_B();
}
Serial.print("toggle relay ");
Serial.println(PORTL,BIN);
undo_event = 2;
break;
}
}
void relay_A()
{
PORTL |= B00000100;
}
void relay_B()
{
PORTL ^= B00000100;
}
void update_events()
{
// repeating events
if(undo_event == 1){
perform_event_undo();
undo_event = 0;
}else if(undo_event > 1){
undo_event --;
}
if(event_timer == -1)
return;
if((millis() - event_timer) > event_delay){
perform_event();
if(event_repeat > 0 || repeat_forever == 1){
event_repeat--;
event_timer = millis();
}else{
event_timer = -1;
}
}
}
void perform_event_undo()
{
switch(event_id) {
case CH_4_TOGGLE:
APM_RC.OutputCh(CH_5, event_undo_value); // send to Servos
break;
case CH_5_TOGGLE:
APM_RC.OutputCh(CH_6, event_undo_value); // send to Servos
break;
case CH_6_TOGGLE:
APM_RC.OutputCh(CH_7, event_undo_value); // send to Servos
break;
case CH_7_TOGGLE:
APM_RC.OutputCh(CH_8, event_undo_value); // send to Servos
break;
case RELAY_TOGGLE:
if(event_undo_value == 1){
relay_A();
}else{
relay_B();
}
Serial.print("untoggle relay ");
Serial.println(PORTL,BIN);
break;
}
}