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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1932 | - | 1 | /***************************************************************************** |
| 2 | * Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de * |
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| 3 | * Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net * |
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| 4 | * Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net * |
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| 5 | * Copyright (C) 2011 Harald Bongartz * |
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| 6 | * * |
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| 7 | * This program is free software; you can redistribute it and/or modify * |
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| 8 | * it under the terms of the GNU General Public License as published by * |
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| 9 | * the Free Software Foundation; either version 2 of the License. * |
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| 10 | * * |
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| 11 | * This program is distributed in the hope that it will be useful, * |
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| 12 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 13 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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| 14 | * GNU General Public License for more details. * |
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| 15 | * * |
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| 16 | * You should have received a copy of the GNU General Public License * |
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| 17 | * along with this program; if not, write to the * |
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| 18 | * Free Software Foundation, Inc., * |
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| 19 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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| 20 | * * |
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| 21 | * * |
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| 22 | * Credits to: * |
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| 23 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
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| 24 | * http://www.mikrokopter.de * |
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| 25 | * Gregor "killagreg" Stobrawa for his version of the MK code * |
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| 26 | * Thomas Kaiser "thkais" for the original project. See * |
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| 27 | * http://www.ft-fanpage.de/mikrokopter/ * |
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| 28 | * http://forum.mikrokopter.de/topic-4061-1.html * |
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| 29 | * Claas Anders "CaScAdE" Rathje for providing the font and his C-OSD code * |
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| 30 | * http://www.mylifesucks.de/oss/c-osd/ * |
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| 31 | * Harald Bongartz "HaraldB" for providing his Ideas and Code for usibility* |
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| 32 | *****************************************************************************/ |
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| 33 | |||
| 34 | |||
| 35 | #ifndef HAL_HW3_9_C_ |
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| 36 | #define HAL_HW3_9_C_ |
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| 37 | |||
| 38 | #include "cpu.h" |
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| 39 | #include <inttypes.h> |
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| 40 | #include <avr/io.h> |
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| 41 | #include <avr/interrupt.h> |
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| 42 | #include <avr/pgmspace.h> |
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| 43 | #include <avr/eeprom.h> |
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| 44 | #include <util/delay.h> |
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| 45 | #include <stdbool.h> |
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| 46 | #include <stdlib.h> |
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| 47 | |||
| 48 | #include "main.h" |
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| 49 | |||
| 50 | #if defined HWVERSION3_9 |
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| 51 | #include "eeprom/eeprom.h" |
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| 52 | #include "messages.h" |
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| 53 | #include "lcd/lcd.h" |
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| 54 | #include "uart/usart.h" |
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| 55 | #include "uart/uart1.h" |
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| 56 | #include "display.h" |
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| 57 | #include "timer/timer.h" |
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| 58 | |||
| 59 | #include "wi232/Wi232.h" |
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| 60 | #include "motortest/twimaster.h" |
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| 61 | #include "bluetooth/bluetooth.h" |
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| 62 | #include "bluetooth/error.h" |
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| 63 | #include "connect.h" |
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| 64 | #include "lipo/lipo.h" |
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| 65 | #include "setup/setup.h" |
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| 66 | #include "osd/osd.h" |
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| 67 | #include "sound/pwmsine8bit.h" |
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| 68 | #include "tracking/ng_servo.h" |
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| 69 | |||
| 70 | |||
| 71 | |||
| 72 | volatile uint8_t USBBT; |
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| 73 | volatile uint8_t U02SV2; |
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| 74 | volatile uint8_t PCB_Version; |
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| 75 | |||
| 76 | uint8_t PortA; |
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| 77 | uint8_t PortB; |
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| 78 | uint8_t PortC; |
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| 79 | uint8_t PortD; |
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| 80 | |||
| 81 | void CheckPCB(void) |
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| 82 | { |
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| 83 | |||
| 84 | |||
| 85 | DDRA = 0xFF; |
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| 86 | DDRB = 0x00; |
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| 87 | DDRC = 0x00; |
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| 88 | DDRD = 0x00; |
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| 89 | PortA = PINA; |
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| 90 | PortB = PINB; |
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| 91 | PortC = PINC; |
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| 92 | PortD = PIND; |
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| 93 | |||
| 94 | if (PINC & (1<<PINC7) ) PCB_Version = PKT39m; else PCB_Version = PKT39x; |
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| 95 | |||
| 96 | } |
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| 97 | |||
| 98 | |||
| 99 | //-------------------------------------------------------------- |
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| 100 | void InitHWPorts(void) // Initialisierung der Hardware fÃŒr die jeweilige Leiterplattenversion |
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| 101 | |||
| 102 | { |
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| 103 | CheckPCB(); // Version der Leiterplatte prüfen |
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| 104 | PORTA |= (1<<PORTA4)|(1<<PORTA5)|(1<<PORTA6)|(1<<PORTA7); // Enable Pull Up for the 4 keys |
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| 105 | DDRA &= ~(1<<DDA4); // Eingang: A4 auf Low setzen (Power On) |
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| 106 | //DDRA &= ~(1<<DDA1); // Eingang: PKT Lipo Messung // MartinR so war es |
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| 107 | if (Config.Lipomessung == true) |
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| 108 | { |
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| 109 | DDRA &= ~(1<<DDA1); // Eingang: PKT Lipo Messung |
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| 110 | PORTA &= ~(1<<PORTA1); |
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| 111 | } |
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| 112 | |||
| 113 | DDRB = 0xFF; // Alles AusgÀnge |
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| 114 | |||
| 115 | PORTC |= (1<<PORTC4)|(1<<PORTC7); // Enable Pull Up for LBO + Summer |
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| 116 | DDRC |= (1<<DDC2)|(1<<DDC3)|(1<<DDC5)|(1<<DDC6|(1<<DDC7)); // Ausgang: Led2,Rs232Switch,Summer |
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| 117 | DDRC &= ~(1<<DDC4); // Eingang: LowBat LTC1308 |
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| 118 | _BTOn(); // Erstmal USB dektivieren, damit beim versehentlichen Einschalten USB im PC ruhig bleibt |
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| 119 | |||
| 120 | PORTD |= (1<<PORTD6); // Wi232-CMD auf High schalten |
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| 121 | DDRD |= (1<<DDD4)|(1<<DDD5)|(1<<DDD6)|(1<<DDD7); // Ausgang: PiepserTest, Servo, Wi232-CMD und Beleuchtung |
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| 122 | set_V_On(); // Spannung mit T3 halten |
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| 123 | Timer0_Init (); // system |
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| 124 | |||
| 125 | Display_on = 1; |
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| 126 | USART_Init (UART_BAUD_SELECT(USART_BAUD,F_CPU)); |
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| 127 | uart1_init (UART_BAUD_SELECT(USART_BAUD,F_CPU)); // USB |
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| 128 | I2C_Init(1); |
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| 129 | |||
| 130 | LCD_Init (0); // muss vor "ReadParameter" stehen |
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| 131 | ReadParameter (); // Aktuelle Werte aus EEProm auslesen |
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| 132 | servoInit(SERVO_PERIODE); |
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| 133 | // servoSetDefaultPos(); |
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| 134 | sei (); |
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| 135 | |||
| 136 | |||
| 137 | |||
| 138 | |||
| 139 | |||
| 140 | Old_Baudrate = Config.PKT_Baudrate; |
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| 141 | SetBaudUart1(Config.PKT_Baudrate); |
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| 142 | SetBaudUart0(Config.PKT_Baudrate); |
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| 143 | if (Config.DisplayLanguage > NUM_LANG) // Beim ersten Start Sprache abfragen |
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| 144 | { Config.DisplayLanguage = 1; |
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| 145 | Config.DisplayLanguage = Edit_generic(Config.DisplayLanguage,0,3,DISPLAY3,Language); |
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| 146 | // WriteParameter(); |
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| 147 | } |
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| 148 | |||
| 149 | if ((Config.HWSound==0)&&(PCB_Version == PKT39m)) |
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| 150 | { |
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| 151 | Timer2_Init(); // Displaybeleuchtung |
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| 152 | OCR2A = Config.LCD_Helligkeit * 2.55; |
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| 153 | } |
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| 154 | if (Config.HWSound==1) InitSound(); |
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| 155 | LCD_Init (1); |
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| 156 | set_beep ( 400, 0x0080, BeepNormal); |
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| 157 | |||
| 158 | OSD_active = false; //keine OSD Ausgabe |
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| 159 | ADC_Init(); // ADC für Lipomessung// MartinR: verschoben |
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| 160 | |||
| 161 | if (PCB_Version==PKT39m) |
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| 162 | { |
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| 163 | lcd_printp_at (2, 0, PSTR("Hardware PKT 3.9m"),0); |
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| 164 | lcd_printp_at (7, 1, PSTR("09.2011"),0); |
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| 165 | } |
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| 166 | if (PCB_Version==PKT39x) |
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| 167 | { |
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| 168 | lcd_printp_at (2, 0, PSTR("Hardware PKT 3.9x"),0); |
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| 169 | lcd_printp_at (7, 1, PSTR("11.2012"),0); |
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| 170 | } |
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| 171 | lcd_printp_at (0, 3, PSTR("Software:"),0); |
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| 172 | // lcd_printpj_at (8, 3, PSTR(PKTSWVersion),0); |
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| 173 | lcd_printp_at (8, 3, PSTR(PKTSWVersion), MBIG); |
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| 174 | |||
| 175 | |||
| 176 | lcd_puts_at(0, 5, strGet(BOOT1), 0); |
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| 177 | lcd_puts_at(0, 6, strGet(BOOT2), 0); |
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| 178 | |||
| 179 | _delay_ms(800); |
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| 180 | |||
| 181 | if (PINA & (1<<PINA7)) // Spannung eingeschaltet lassen |
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| 182 | clr_V_On(); |
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| 183 | |||
| 184 | _delay_ms(100); |
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| 185 | |||
| 186 | set_beep ( 400, 0x0080, BeepNormal); |
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| 187 | get_key_press(KEY_ALL); |
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| 188 | if (Config.HWSound==1); |
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| 189 | { |
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| 190 | playTone(505,100,Config.Volume); |
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| 191 | playTone(515,100,Config.Volume); |
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| 192 | playTone(525,100,Config.Volume); |
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| 193 | playTone(535,100,Config.Volume); |
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| 194 | playTone(525,100,Config.Volume); |
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| 195 | playTone(515,100,Config.Volume); |
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| 196 | playTone(505,100,Config.Volume); |
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| 197 | } |
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| 198 | lcd_cls(); |
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| 199 | |||
| 200 | |||
| 201 | // servoSetPosition(1,0); |
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| 202 | // _delay_ms(250); |
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| 203 | // servoSetPosition(0,0); |
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| 204 | // _delay_ms(250); |
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| 205 | // servoSetPosition(1,400); |
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| 206 | // _delay_ms(250); |
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| 207 | // servoSetPosition(0,400); |
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| 208 | // _delay_ms(250); |
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| 209 | // servoSetPosition(1,0); |
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| 210 | // _delay_ms(250); |
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| 211 | // servoSetPosition(0,0); |
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| 212 | // _delay_ms(250); |
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| 213 | // servoSetPosition(1,400); |
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| 214 | // _delay_ms(250); |
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| 215 | // servoSetPosition(0,400); |
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| 216 | |||
| 217 | set_BTOff(); |
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| 218 | if ((Config.UseWi == true) && (Config.WiIsSet == false)) |
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| 219 | { |
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| 220 | InitWi232(Config.PKT_Baudrate); // wenn Wi232 nicht initialisiert ist, dann jetzt tun |
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| 221 | } |
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| 222 | |||
| 223 | lcd_cls(); |
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| 224 | // BT ausschalten |
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| 225 | if ((Config.UseBT == true) && (Config.BTIsSet == false)) |
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| 226 | { |
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| 227 | bt_init(); |
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| 228 | // set_USBOn(); |
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| 229 | } |
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| 230 | bt_start(); |
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| 231 | lcd_cls(); |
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| 232 | |||
| 233 | if ((Config.UseWi == true) && (U02SV2 == 0)) |
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| 234 | { |
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| 235 | Change_Output(Uart02Wi); // Verbindung zu Wi232 herstellen |
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| 236 | if (Config.PKT_StartInfo == true) |
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| 237 | { |
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| 238 | lcd_puts_at(0, 0, strGet(BOOT_WI1), 0); |
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| 239 | lcd_puts_at(0, 1, strGet(BOOT_WI2), 0); |
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| 240 | _delay_ms(2000); |
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| 241 | } |
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| 242 | } |
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| 243 | else |
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| 244 | { |
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| 245 | Change_Output(Uart02FC); // Verbindung zu SV" (Kabel) herstellen |
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| 246 | if (Config.PKT_StartInfo == true) |
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| 247 | { |
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| 248 | lcd_puts_at(0, 0, strGet(BOOT_WI1), 0); |
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| 249 | lcd_puts_at(0, 1, strGet(BOOT_SV), 0); |
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| 250 | _delay_ms(2000); |
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| 251 | } |
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| 252 | } |
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| 253 | |||
| 254 | lcd_cls(); |
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| 255 | |||
| 256 | } |
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| 257 | |||
| 258 | //#define set_BEEP() (PORTC &= ~(1 << Summer)) // Summer |
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| 259 | //#define clr_BEEP() (PORTC |= (1 << Summer)) |
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| 260 | |||
| 261 | void set_BEEP(void) |
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| 262 | { |
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| 263 | if (PCB_Version == PKT39m) |
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| 264 | PORTC &= ~(1 << Summer); // Summer |
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| 265 | if (PCB_Version == PKT39x) |
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| 266 | PORTD &= ~(1 << SummerV2); // Summer |
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| 267 | } |
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| 268 | |||
| 269 | void clr_BEEP(void) |
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| 270 | { |
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| 271 | if (PCB_Version == PKT39m) |
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| 272 | PORTC |= (1 << Summer); // Summer |
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| 273 | if (PCB_Version == PKT39x) |
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| 274 | PORTD |= (1 << SummerV2); // Summer |
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| 275 | } |
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| 276 | |||
| 277 | void set_D_LIGHT(void) /* Displaybeleuchtung ein*/ |
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| 278 | { |
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| 279 | if (PCB_Version == PKT39m) |
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| 280 | { |
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| 281 | if (Config.HWSound==0) |
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| 282 | { |
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| 283 | // PWM einschalten |
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| 284 | TCCR2A |= (1 << WGM21) | (1 << WGM20) | (1 << COM2A1); |
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| 285 | TCCR2B |= (1 << CS20); |
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| 286 | } |
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| 287 | else |
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| 288 | clr_DISPLAYLIGHT(); |
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| 289 | } |
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| 290 | |||
| 291 | if (PCB_Version == PKT39x) |
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| 292 | { |
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| 293 | // if (HWSound==0) |
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| 294 | // { |
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| 295 | // // PWM einschalten |
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| 296 | // TCCR2A |= (1 << WGM21) | (1 << WGM20) | (1 << COM2A1); |
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| 297 | // TCCR2B |= (1 << CS20); |
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| 298 | // } |
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| 299 | // else |
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| 300 | clr_DISPLAYLIGHTV2(); |
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| 301 | } |
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| 302 | } |
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| 303 | |||
| 304 | void clr_D_LIGHT(void) /* Displaybeleuchtung aus*/ |
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| 305 | { |
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| 306 | if (PCB_Version == PKT39m) |
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| 307 | { |
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| 308 | if (Config.HWSound==0) |
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| 309 | { |
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| 310 | // PWM ausschalten |
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| 311 | TCCR2A = 0; |
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| 312 | TCCR2B = 0; |
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| 313 | } |
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| 314 | else |
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| 315 | set_DISPLAYLIGHT(); |
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| 316 | } |
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| 317 | if (PCB_Version == PKT39x) |
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| 318 | { |
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| 319 | // if (HWSound==0) |
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| 320 | // { |
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| 321 | // // PWM ausschalten |
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| 322 | // TCCR2A = 0; |
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| 323 | // TCCR2B = 0; |
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| 324 | // } |
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| 325 | // else |
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| 326 | set_DISPLAYLIGHTV2(); |
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| 327 | } |
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| 328 | } |
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| 329 | |||
| 330 | |||
| 331 | |||
| 332 | |||
| 333 | uint8_t BTIsOn=0; |
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| 334 | |||
| 335 | void set_BTOn(void) |
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| 336 | { |
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| 337 | if (BTIsOn == 0) |
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| 338 | { |
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| 339 | _BTOn(); |
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| 340 | BTIsOn = 1; |
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| 341 | _delay_ms(2000); |
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| 342 | } |
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| 343 | } |
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| 344 | void set_BTOff(void) |
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| 345 | { |
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| 346 | set_USBOn(); |
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| 347 | BTIsOn = 0; |
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| 348 | } |
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| 349 | |||
| 350 | |||
| 351 | |||
| 352 | #endif |
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| 353 | #endif // HAL_HW3_9_C_ |