updated Param gen - won't compile yet.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1670 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/events.pde

@@ -0,0 +1,197 @@
+/*
+	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);
+	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 = 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 = 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 = 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 = 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;
+	}
+}