Quadrotor from scratch
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/* led.c */
#include "led.h"
#include "timer.h"
#define FP0XVAL (*((volatile unsigned int *) 0x3FFFC014))
led_pattern *led_current_pattern;
led_pattern *led_current_pointer;
unsigned int led_next_time;
bool led_next_state;
led_pattern led_pattern_active[] = {250, 250, 0};
led_pattern led_pattern_unknown[] = {100, 100, 0};
void led_set(bool on)
{
if (on)
FP0XVAL &= ~0x04000000;
else
FP0XVAL |= 0x04000000;
}
void led_update(void)
{
unsigned int time = timer_read();
/* This should never be possible, but let's just be sure. */
if (!led_current_pattern)
return;
if (!led_current_pointer)
return;
if (((signed int) (((signed int)led_next_time)-time)) > 0)
return;
led_set(led_next_state);
led_next_state = !led_next_state;
led_next_time += *led_current_pointer * TIMER_MS;
led_current_pointer++;
if (*led_current_pointer == 0)
led_current_pointer = led_current_pattern;
}
void led_set_pattern(led_pattern *pattern)
{
if (led_current_pattern == pattern)
return;
led_current_pattern = pattern;
}
void led_init(void)
{
led_current_pattern = led_pattern_unknown;
led_current_pointer = led_pattern_unknown;
led_next_state = TRUE;
led_next_time = timer_read();
led_update();
}