Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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light.c
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1/*
2 * Copyright (C) 2009 Gautier Hattenberger
3 *
4 * This file is part of paparazzi.
5 *
6 * paparazzi is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2, or (at your option)
9 * any later version.
10 *
11 * paparazzi is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
15 *
16 * You should have received a copy of the GNU General Public License
17 * along with paparazzi; see the file COPYING. If not, write to
18 * the Free Software Foundation, 59 Temple Place - Suite 330,
19 * Boston, MA 02111-1307, USA.
20 *
21 */
22
23#include "modules/light/light.h"
24#include "led.h"
25#include "generated/airframe.h"
26
27uint8_t strobe_light_mode;
28uint8_t nav_light_mode;
29
30#ifndef LIGHT_LED_STROBE
31#define LIGHT_LED_STROBE 2
32#endif
33
34#ifndef STROBE_LIGHT_MODE_DEFAULT
35#define STROBE_LIGHT_MODE_DEFAULT 6
36#endif
37
38#ifndef NAV_LIGHT_MODE_DEFAULT
39#define NAV_LIGHT_MODE_DEFAULT 4
40#endif
41
42
43void init_light(void)
44{
45 // this part is already done by led_init in fact
46 LED_INIT(LIGHT_LED_STROBE);
47 LED_OFF(LIGHT_LED_STROBE);
48 strobe_light_mode = STROBE_LIGHT_MODE_DEFAULT;
49#ifdef LIGHT_LED_NAV
50 LED_INIT(LIGHT_LED_NAV);
51 LED_OFF(LIGHT_LED_NAV);
52 nav_light_mode = NAV_LIGHT_MODE_DEFAULT;
53#endif
54}
55
56void periodic_light(void)
57{
58 static uint8_t counter = 0;
59#ifdef LIGHT_LED_NAV
60 static uint8_t counter_nav = 0;
61#endif
62
63 switch (strobe_light_mode) {
64 default: // Always off
65 LED_OFF(LIGHT_LED_STROBE);
66 break;
67 case 1: // Always on
68 LED_ON(LIGHT_LED_STROBE);
69 break;
70 case 2: // Blink
71 case 3:
72 case 4:
73 if (counter == (strobe_light_mode * 5 - 4)) {
74 LED_OFF(LIGHT_LED_STROBE);
75 } else if (counter >= 20) {
76 LED_ON(LIGHT_LED_STROBE);
77 counter = 0;
78 }
79 break;
80 case 5: // Complex Blinking
81 if (counter == 3) {
82 LED_OFF(LIGHT_LED_STROBE);
83 } else if (counter == 4) {
84 LED_ON(LIGHT_LED_STROBE);
85 } else if (counter == 6) {
86 LED_OFF(LIGHT_LED_STROBE);
87 } else if (counter == 7) {
88 LED_ON(LIGHT_LED_STROBE);
89 } else if (counter == 8) {
90 LED_OFF(LIGHT_LED_STROBE);
91 } else if (counter >= 25) {
92 LED_ON(LIGHT_LED_STROBE);
93 counter = 0;
94 }
95 break;
96 case 6:
97 if (counter <= 18) {
98 if ((counter % 2) == 0) {
99 LED_ON(LIGHT_LED_STROBE);
100 } else {
101 LED_OFF(LIGHT_LED_STROBE);
102 }
103 } else if (counter == 35) {
104 counter = 0;
105 }
106 break;
107 }
108
109#ifdef LIGHT_LED_NAV
110 switch (nav_light_mode) {
111 default: // Always off
112 LED_OFF(LIGHT_LED_NAV);
113 break;
114 case 1: // Always on
115 LED_ON(LIGHT_LED_NAV);
116 break;
117 case 2: // Blink
118 case 3:
119 case 4:
120 if (counter_nav == (nav_light_mode * 5 - 4)) {
121 LED_OFF(LIGHT_LED_NAV);
122 } else if (counter_nav >= 20) {
123 LED_ON(LIGHT_LED_NAV);
124 counter_nav = 0;
125 }
126 break;
127 }
128 counter_nav++;
129#endif
130
131 counter++;
132}
133
LED_ON
#define LED_ON(i)
Definition led_hw.h:51
LED_INIT
#define LED_INIT(i)
Definition led_hw.h:50
LED_OFF
#define LED_OFF(i)
Definition led_hw.h:52
counter
uint32_t counter
Definition ins_flow.c:187
led.h
arch independent LED (Light Emitting Diodes) API
strobe_light_mode
uint8_t strobe_light_mode
Definition light.c:27
LIGHT_LED_STROBE
#define LIGHT_LED_STROBE
Definition light.c:31
periodic_light
void periodic_light(void)
Definition light.c:56
NAV_LIGHT_MODE_DEFAULT
#define NAV_LIGHT_MODE_DEFAULT
Definition light.c:39
STROBE_LIGHT_MODE_DEFAULT
#define STROBE_LIGHT_MODE_DEFAULT
Definition light.c:35
init_light
void init_light(void)
Definition light.c:43
nav_light_mode
uint8_t nav_light_mode
Definition light.c:28
foo
uint16_t foo
Definition main_demo5.c:58
uint8_t
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition vl53l1_types.h:98