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More CopterLEDS changes. 

Merged CopterLEDS and Piezo functions to eliminate pin conflict on APM2.  Created new Parameter bit to turn piezo function on and off from MP. Moved GPS and Aux pin assignments to allow commonality between APM1 and 2.  Set LED_Mode parameter default to 9 in order to make CopterLEDS completely backwards compatible with old Motor LEDS and Piezo code.  Legacy users should see no difference.
master
Robert Lefebvre 13 years ago
parent
a285e2779f
commit
c8fb9a6635
7 changed files with 139 additions and 135 deletions
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  1. 2
      ArduCopter/Parameters.h
  2. 33
      ArduCopter/config.h
  3. 21
      ArduCopter/events.pde
  4. 171
      ArduCopter/leds.pde
  5. 15
      ArduCopter/motors.pde
  6. 21
      ArduCopter/sensors.pde
  7. 11
      ArduCopter/system.pde

2
ArduCopter/Parameters.h
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@ -338,7 +338,7 @@ public: @@ -338,7 +338,7 @@ public:
rtl_approach_alt (0.0),
retro_loiter (RETRO_LOITER_MODE),
axis_enabled (AXIS_LOCK_ENABLED),
copter_leds_mode (0),
copter_leds_mode (9),
waypoint_mode (0),
command_total (0),

33
ArduCopter/config.h
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@ -152,7 +152,6 @@ @@ -152,7 +152,6 @@
////////////////////////////////////////////////////////////////////////////////
// CopterLEDs
// The CopterLEDs output conflicts with APM2 Piezo Beeper output on AN5
//
#ifndef COPTER_LEDS
@ -163,19 +162,19 @@ @@ -163,19 +162,19 @@
#define COPTER_LED_OFF LOW
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
#define COPTER_LED_1 AN4 // Motor LED
#define COPTER_LED_2 AN5 // Motor or Aux LED
#define COPTER_LED_3 AN6 // Motor LED
#define COPTER_LED_4 AN7 // Motor or GPS LED
#define COPTER_LED_1 AN4 // Motor or Aux LED
#define COPTER_LED_2 AN5 // Motor LED or Beeper
#define COPTER_LED_3 AN6 // Motor or GPS LED
#define COPTER_LED_4 AN7 // Motor LED
#define COPTER_LED_5 AN8 // Motor LED
#define COPTER_LED_6 AN9 // Motor LED
#define COPTER_LED_7 AN10 // Motor LED
#define COPTER_LED_8 AN11 // Motor LED
#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
#define COPTER_LED_1 AN8 // Motor LED
#define COPTER_LED_2 AN9 // Motor or Aux LED
#define COPTER_LED_3 AN10 // Motor LED
#define COPTER_LED_4 AN11 // Motor or GPS LED
#define COPTER_LED_1 AN8 // Motor or Aux LED
#define COPTER_LED_2 AN9 // Motor LED
#define COPTER_LED_3 AN10 // Motor or GPS LED
#define COPTER_LED_4 AN11 // Motor LED
#define COPTER_LED_5 AN12 // Motor LED
#define COPTER_LED_6 AN13 // Motor LED
#define COPTER_LED_7 AN14 // Motor LED
@ -183,22 +182,6 @@ @@ -183,22 +182,6 @@
#endif
//////////////////////////////////////////////////////////////////////////////
// Piezo Beeper
// The Piezo Beeper output conflicts with APM2 CopterLED output on AN5
//
#ifndef PIEZO
# define PIEZO ENABLED //Enables Piezo Code and beeps once on Startup to verify operation
#endif
#ifndef PIEZO_LOW_VOLTAGE
# define PIEZO_LOW_VOLTAGE ENABLED //Enables Tone on reaching low battery or current alert
#endif
#ifndef PIEZO_ARMING
# define PIEZO_ARMING ENABLED //Two tones on ARM, 1 Tone on disarm
#endif
//////////////////////////////////////////////////////////////////////////////
// Pushbutton & Relay
//

21
ArduCopter/events.pde
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@ -94,24 +94,3 @@ static void update_events() // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_R @@ -94,24 +94,3 @@ static void update_events() // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_R
}
}
#if PIEZO == ENABLED
void piezo_on()
{
digitalWrite(PIEZO_PIN,HIGH);
//PORTF |= B00100000;
}
void piezo_off()
{
digitalWrite(PIEZO_PIN,LOW);
//PORTF &= ~B00100000;
}
void piezo_beep()
{
// Note: This command should not be used in time sensitive loops
piezo_on();
delay(100);
piezo_off();
}
#endif

171
ArduCopter/leds.pde
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@ -99,34 +99,42 @@ static void clear_leds() @@ -99,34 +99,42 @@ static void clear_leds()
/////////////////////////////////////////////////////////////////////////////////////////////
// Copter LEDS by Robert Lefebvre
// Based on the work of U4eake, Bill Sanford, and Max Levine
// Based on the work of U4eake, Bill Sanford, Max Levine, and Oliver
// g.copter_leds_mode controls the copter leds function via bitmath
// Zeroeth bit turns copter leds on and off: 00000001
// Zeroeth bit turns motor leds on and off: 00000001
// First bit turns GPS function on and off: 00000010
// Second bit turns Aux function on and off: 00000100
// Third bit turns on Beeper (legacy Piezo) function: 00001000
// Fourth bit toggles between Fast Flash or Oscillate on Low Battery: 000100000 (0) does Fast Flash, (1) does Oscillate
// This code is written in order to be backwards compatible with the old Motor_LEDS code
// I hope to include at least some of the Show_LEDS code in the future
// copter_leds_GPS_blink controls the blinking of the GPS LEDS
// copter_leds_motor_blink controls the blinking of the motor LEDS
// Piezo Code and beeps once on Startup to verify operation
// Piezo Enables Tone on reaching low battery or current alert
/////////////////////////////////////////////////////////////////////////////////////////////
#if COPTER_LEDS == ENABLED
static void update_copter_leds(void)
{
if (g.copter_leds_mode == 0) { //method of reintializing LED state
copter_leds_reset();
if (g.copter_leds_mode == 0) {
copter_leds_reset(); //method of reintializing LED state
}
if ( bitRead(g.copter_leds_mode, 0) ) {
if (motors.armed() == true) {
if (low_batt == true) {
copter_leds_oscillate(); //if motors are armed, but battery level is low, motor leds oscillate
if ( bitRead(g.copter_leds_mode, 4 )) {
copter_leds_oscillate(); //if motors are armed, but battery level is low, motor leds fast blink
}else{
copter_leds_fast_blink(); //if motors are armed, but battery level is low, motor leds oscillate
}
} else {
copter_leds_on(); //if motors are armed, battery level OK, all motor leds ON
copter_leds_on(); //if motors are armed, battery level OK, all motor leds ON
}
} else {
copter_leds_blink(); //if motors are not armed, blink motor leds
copter_leds_slow_blink(); //if motors are not armed, blink motor leds
}
}
@ -138,29 +146,29 @@ static void update_copter_leds(void) @@ -138,29 +146,29 @@ static void update_copter_leds(void)
case(2):
if(home_is_set) {
copter_leds_GPS_on(); //Turn GPS LEDs on when gps has valid fix AND home is set
copter_leds_GPS_on(); //Turn GPS LEDs on when gps has valid fix AND home is set
} else {
copter_leds_GPS_fast_blink(); //if GPS has fix, but home is not set, blink GPS LED fast
copter_leds_GPS_fast_blink(); //if GPS has fix, but home is not set, blink GPS LED fast
}
break;
case(1):
copter_leds_GPS_slow_blink(); //if GPS has valid reads, but no fix, blink GPS LED slow
copter_leds_GPS_slow_blink(); //if GPS has valid reads, but no fix, blink GPS LED slow
break;
default:
copter_leds_GPS_off(); //if no valid GPS signal, turn GPS LED off
copter_leds_GPS_off(); //if no valid GPS signal, turn GPS LED off
break;
}
}
if ( bitRead(g.copter_leds_mode, 2) ) {
if (200 <= g.rc_7.control_in && g.rc_7.control_in < 400) {
copter_leds_aux_on(); //if sub-control of Ch7 is high, turn Aux LED on
copter_leds_aux_on(); //if sub-control of Ch7 is high, turn Aux LED on
} else if (g.rc_7.control_in < 200) {
copter_leds_aux_off(); //if sub-control of Ch7 is low, turn Aux LED off
copter_leds_aux_off(); //if sub-control of Ch7 is low, turn Aux LED off
}
}
@ -168,9 +176,7 @@ static void update_copter_leds(void) @@ -168,9 +176,7 @@ static void update_copter_leds(void)
static void copter_leds_reset(void) {
digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
if (CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 || PIEZO == DISABLED){
digitalWrite(COPTER_LED_2, COPTER_LED_OFF); // The Piezo Beeper output conflicts with APM2 CopterLED output on AN5
}
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
digitalWrite(COPTER_LED_4, COPTER_LED_OFF);
digitalWrite(COPTER_LED_5, COPTER_LED_OFF);
@ -180,40 +186,48 @@ static void copter_leds_reset(void) { @@ -180,40 +186,48 @@ static void copter_leds_reset(void) {
}
static void copter_leds_on(void) {
digitalWrite(COPTER_LED_1, COPTER_LED_ON);
digitalWrite(COPTER_LED_3, COPTER_LED_ON);
if ( !bitRead(g.copter_leds_mode, 2) ){
digitalWrite(COPTER_LED_1, COPTER_LED_ON);
}
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
if ( !bitRead(g.copter_leds_mode, 3) ){
digitalWrite(COPTER_LED_2, COPTER_LED_ON);
}
#else
digitalWrite(COPTER_LED_2, COPTER_LED_ON);
#endif
if ( !bitRead(g.copter_leds_mode, 1) ){
digitalWrite(COPTER_LED_3, COPTER_LED_ON);
}
digitalWrite(COPTER_LED_4, COPTER_LED_ON);
digitalWrite(COPTER_LED_5, COPTER_LED_ON);
digitalWrite(COPTER_LED_6, COPTER_LED_ON);
digitalWrite(COPTER_LED_7, COPTER_LED_ON);
digitalWrite(COPTER_LED_8, COPTER_LED_ON);
if (CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 || PIEZO == DISABLED){ // The Piezo Beeper output conflicts with APM2 CopterLED output on AN5
if ( !bitRead(g.copter_leds_mode, 2) ){
digitalWrite(COPTER_LED_2, COPTER_LED_ON);
}
}
if ( !bitRead(g.copter_leds_mode, 1) ){
digitalWrite(COPTER_LED_4, COPTER_LED_ON);
}
}
static void copter_leds_off(void) {
digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
digitalWrite(COPTER_LED_5, COPTER_LED_OFF);
digitalWrite(COPTER_LED_6, COPTER_LED_OFF);
digitalWrite(COPTER_LED_7, COPTER_LED_OFF);
digitalWrite(COPTER_LED_8, COPTER_LED_OFF);
if (CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 || PIEZO == DISABLED){ // The Piezo Beeper output conflicts with APM2 CopterLED output on AN5
if ( !bitRead(g.copter_leds_mode, 2) ){
if ( !bitRead(g.copter_leds_mode, 2) ){
digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
}
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
if ( !bitRead(g.copter_leds_mode, 3) ){
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
}
}
#else
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
#endif
if ( !bitRead(g.copter_leds_mode, 1) ){
digitalWrite(COPTER_LED_4, COPTER_LED_OFF);
digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
}
digitalWrite(COPTER_LED_4, COPTER_LED_OFF);
digitalWrite(COPTER_LED_5, COPTER_LED_OFF);
digitalWrite(COPTER_LED_6, COPTER_LED_OFF);
digitalWrite(COPTER_LED_7, COPTER_LED_OFF);
digitalWrite(COPTER_LED_8, COPTER_LED_OFF);
}
static void copter_leds_blink(void) {
static void copter_leds_slow_blink(void) {
copter_leds_motor_blink++; // this increments once every 1/10 second because it is in the 10hz loop
if ( 0 < copter_leds_motor_blink && copter_leds_motor_blink < 6 ){ // when the counter reaches 5 (1/2 sec), then toggle the leds
copter_leds_on();
@ -223,38 +237,57 @@ static void copter_leds_blink(void) { @@ -223,38 +237,57 @@ static void copter_leds_blink(void) {
else copter_leds_motor_blink = 0; // start blink cycle again
}
static void copter_leds_fast_blink(void) {
copter_leds_motor_blink++; // this increments once every 1/10 second because it is in the 10hz loop
if ( 0 < copter_leds_motor_blink && copter_leds_motor_blink < 3 ){ // when the counter reaches 3 (1/5 sec), then toggle the leds
copter_leds_on();
}else if (2 < copter_leds_motor_blink && copter_leds_motor_blink < 5){
copter_leds_off();
}
else copter_leds_motor_blink = 0; // start blink cycle again
}
static void copter_leds_oscillate(void) {
copter_leds_motor_blink++; // this increments once every 1/10 second because it is in the 10hz loop
if ( 0 < copter_leds_motor_blink && copter_leds_motor_blink < 3 ) { // when the counter reaches 3 (1/5 sec), then toggle the leds
digitalWrite(COPTER_LED_1, COPTER_LED_ON);
digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
if ( !bitRead(g.copter_leds_mode, 2) ){
digitalWrite(COPTER_LED_1, COPTER_LED_ON);
}
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
if ( !bitRead(g.copter_leds_mode, 3) ){
digitalWrite(COPTER_LED_2, COPTER_LED_ON);
}
#else
digitalWrite(COPTER_LED_2, COPTER_LED_ON);
#endif
if ( !bitRead(g.copter_leds_mode, 1) ){
digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
}
digitalWrite(COPTER_LED_4, COPTER_LED_OFF);
digitalWrite(COPTER_LED_5, COPTER_LED_ON);
digitalWrite(COPTER_LED_6, COPTER_LED_ON);
digitalWrite(COPTER_LED_7, COPTER_LED_OFF);
digitalWrite(COPTER_LED_8, COPTER_LED_OFF);
if (CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 || PIEZO == DISABLED){ // The Piezo Beeper output conflicts with APM2 CopterLED output on AN5
if ( !bitRead(g.copter_leds_mode, 2) ) {
digitalWrite(COPTER_LED_2, COPTER_LED_ON);
}
}else if (2 < copter_leds_motor_blink && copter_leds_motor_blink < 5) {
if ( !bitRead(g.copter_leds_mode, 2) ){
digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
}
if ( !bitRead(g.copter_leds_mode, 1) ) {
digitalWrite(COPTER_LED_4, COPTER_LED_OFF);
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
if ( !bitRead(g.copter_leds_mode, 3) ){
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
}
#else
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
#endif
if ( !bitRead(g.copter_leds_mode, 1) ){
digitalWrite(COPTER_LED_3, COPTER_LED_ON);
}
}else if (2 < copter_leds_motor_blink && copter_leds_motor_blink < 5) {
digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
digitalWrite(COPTER_LED_3, COPTER_LED_ON);
digitalWrite(COPTER_LED_4, COPTER_LED_ON);
digitalWrite(COPTER_LED_5, COPTER_LED_OFF);
digitalWrite(COPTER_LED_6, COPTER_LED_OFF);
digitalWrite(COPTER_LED_7, COPTER_LED_ON);
digitalWrite(COPTER_LED_8, COPTER_LED_ON);
if (CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 || PIEZO == DISABLED){ // The Piezo Beeper output conflicts with APM2 CopterLED output on AN5
if ( !bitRead(g.copter_leds_mode, 2) ) {
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
}
}
if ( !bitRead(g.copter_leds_mode, 1) ) {
digitalWrite(COPTER_LED_4, COPTER_LED_ON);
}
}
else copter_leds_motor_blink = 0; // start blink cycle again
}
@ -262,11 +295,11 @@ static void copter_leds_oscillate(void) { @@ -262,11 +295,11 @@ static void copter_leds_oscillate(void) {
static void copter_leds_GPS_on(void) {
digitalWrite(COPTER_LED_4, COPTER_LED_ON);
digitalWrite(COPTER_LED_3, COPTER_LED_ON);
}
static void copter_leds_GPS_off(void) {
digitalWrite(COPTER_LED_4, COPTER_LED_OFF);
digitalWrite(COPTER_LED_3, COPTER_LED_OFF);
}
static void copter_leds_GPS_slow_blink(void) {
@ -290,15 +323,25 @@ static void copter_leds_GPS_fast_blink(void) { @@ -290,15 +323,25 @@ static void copter_leds_GPS_fast_blink(void) {
}
static void copter_leds_aux_off(void){
if (CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 || PIEZO == DISABLED){ // The Piezo Beeper output conflicts with APM2 CopterLED output on AN5
digitalWrite(COPTER_LED_2, COPTER_LED_OFF);
}
digitalWrite(COPTER_LED_1, COPTER_LED_OFF);
}
static void copter_leds_aux_on(void){
if (CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 || PIEZO == DISABLED){ // The Piezo Beeper output conflicts with APM2 CopterLED output on AN5
digitalWrite(COPTER_LED_2, COPTER_LED_ON);
}
digitalWrite(COPTER_LED_1, COPTER_LED_ON);
}
void piezo_on(){
digitalWrite(PIEZO_PIN,HIGH);
}
void piezo_off(){
digitalWrite(PIEZO_PIN,LOW);
}
void piezo_beep(){ // Note! This command should not be used in time sensitive loops
piezo_on();
delay(100);
piezo_off();
}
#endif //COPTER_LEDS

15
ArduCopter/motors.pde
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@ -84,10 +84,11 @@ static void init_arm_motors() @@ -84,10 +84,11 @@ static void init_arm_motors()
}
motors.armed(true);
#if PIEZO_ARMING == 1
piezo_beep();
piezo_beep();
#endif
if ( bitRead(g.copter_leds_mode, 3) ){
piezo_beep();
delay(50);
piezo_beep();
}
// Remember Orientation
// --------------------
@ -137,9 +138,9 @@ static void init_disarm_motors() @@ -137,9 +138,9 @@ static void init_disarm_motors()
// we are not in the air
takeoff_complete = false;
#if PIEZO_ARMING == 1
piezo_beep();
#endif
if ( bitRead(g.copter_leds_mode, 3) ){
piezo_beep();
}
}
/*****************************************

21
ArduCopter/sensors.pde
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@ -135,21 +135,18 @@ static void read_battery(void) @@ -135,21 +135,18 @@ static void read_battery(void)
if((battery_voltage1 < g.low_voltage) || (g.battery_monitoring == 4 && current_total1 > g.pack_capacity)){
low_battery_event();
#if PIEZO_LOW_VOLTAGE == 1
// Only Activate if a battery is connected to avoid alarm on USB only
if (battery_voltage1 > 1){
piezo_on();
}else{
piezo_off();
if ( bitRead(g.copter_leds_mode, 3) ){ // Only Activate if a battery is connected to avoid alarm on USB only
if (battery_voltage1 > 1){
piezo_on();
}else{
piezo_off();
}
}
#endif
}else{
#if PIEZO_LOW_VOLTAGE == 1
piezo_off();
#endif
}elseif ( bitRead(g.copter_leds_mode, 3) ){
piezo_off();
}
#endif
#endif //BATTERY_EVENT
}
//v: 10.9453, a: 17.4023, mah: 8.2

11
ArduCopter/system.pde
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@ -140,12 +140,13 @@ static void init_ardupilot() @@ -140,12 +140,13 @@ static void init_ardupilot()
pinMode(COPTER_LED_6, OUTPUT); //Motor or Aux LED
pinMode(COPTER_LED_7, OUTPUT); //Motor or GPS LED
pinMode(COPTER_LED_8, OUTPUT); //Motor or GPS LED
#endif
#if PIEZO == 1
pinMode(PIEZO_PIN,OUTPUT);
if ( !bitRead(g.copter_leds_mode, 3) ){
piezo_beep();
#endif
}
#endif
// load parameters from EEPROM
load_parameters();

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