light.c

Go to the documentation of this file.

/*
 * Copyright (C) 2009  Gautier Hattenberger
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 *
 */
 
#include "modules/light/light.h"
#include "led.h"
#include "generated/airframe.h"
 
uint8_t strobe_light_mode;
uint8_t nav_light_mode;
 
#ifndef LIGHT_LED_STROBE
#define LIGHT_LED_STROBE 2
#endif
 
#ifndef STROBE_LIGHT_MODE_DEFAULT
#define STROBE_LIGHT_MODE_DEFAULT 6
#endif
 
#ifndef NAV_LIGHT_MODE_DEFAULT
#define NAV_LIGHT_MODE_DEFAULT 4
#endif
 
 
void init_light(void)
{
  // this part is already done by led_init in fact
  LED_INIT(LIGHT_LED_STROBE);
  LED_OFF(LIGHT_LED_STROBE);
  strobe_light_mode = STROBE_LIGHT_MODE_DEFAULT;
#ifdef LIGHT_LED_NAV
  LED_INIT(LIGHT_LED_NAV);
  LED_OFF(LIGHT_LED_NAV);
  nav_light_mode = NAV_LIGHT_MODE_DEFAULT;
#endif
}
 
void periodic_light(void)
{
  static uint8_t counter = 0;
#ifdef LIGHT_LED_NAV
  static uint8_t counter_nav = 0;
#endif
 
  switch (strobe_light_mode) {
    default:  // Always off
      LED_OFF(LIGHT_LED_STROBE);
      break;
    case 1: // Always on
      LED_ON(LIGHT_LED_STROBE);
      break;
    case 2: // Blink
    case 3:
    case 4:
      if (counter == (strobe_light_mode * 5 - 4)) {
        LED_OFF(LIGHT_LED_STROBE);
      } else if (counter >= 20) {
        LED_ON(LIGHT_LED_STROBE);
        counter = 0;
      }
      break;
    case 5: // Complex Blinking
      if (counter == 3) {
        LED_OFF(LIGHT_LED_STROBE);
      } else if (counter == 4) {
        LED_ON(LIGHT_LED_STROBE);
      } else if (counter == 6) {
        LED_OFF(LIGHT_LED_STROBE);
      } else if (counter == 7) {
        LED_ON(LIGHT_LED_STROBE);
      } else if (counter == 8) {
        LED_OFF(LIGHT_LED_STROBE);
      } else if (counter >= 25) {
        LED_ON(LIGHT_LED_STROBE);
        counter = 0;
      }
      break;
    case 6:
      if (counter <= 18) {
        if ((counter % 2) == 0) {
          LED_ON(LIGHT_LED_STROBE);
        } else {
          LED_OFF(LIGHT_LED_STROBE);
        }
      } else if (counter == 35) {
        counter = 0;
      }
      break;
  }
 
#ifdef LIGHT_LED_NAV
  switch (nav_light_mode) {
    default:  // Always off
      LED_OFF(LIGHT_LED_NAV);
      break;
    case 1: // Always on
      LED_ON(LIGHT_LED_NAV);
      break;
    case 2: // Blink
    case 3:
    case 4:
      if (counter_nav == (nav_light_mode * 5 - 4)) {
        LED_OFF(LIGHT_LED_NAV);
      } else if (counter_nav >= 20) {
        LED_ON(LIGHT_LED_NAV);
        counter_nav = 0;
      }
      break;
  }
  counter_nav++;
#endif
 
  counter++;
}