Rev 1465 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1465 | - | 1 | |
| 2 | /****************************************************************/ |
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| 3 | /* */ |
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| 4 | /* NG-Video 5,8GHz */ |
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| 5 | /* */ |
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| 6 | /* Copyright (C) 2011 - gebad */ |
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| 7 | /* */ |
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| 8 | /* This code is distributed under the GNU Public License */ |
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| 9 | /* which can be found at http://www.gnu.org/licenses/gpl.txt */ |
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| 10 | /* */ |
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| 11 | /****************************************************************/ |
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| 12 | |||
| 13 | #include <avr/io.h> |
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| 14 | #include <stdlib.h> |
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| 15 | #include <string.h> |
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| 16 | #include <avr/interrupt.h> |
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| 17 | #include <avr/eeprom.h> |
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| 18 | #include <util/delay.h> |
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| 19 | |||
| 20 | #include "config.h" |
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| 21 | #include "dogm.h" |
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| 22 | #include "messages.h" |
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| 23 | #include "ngvideo.h" |
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| 24 | #include "menue.h" |
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| 25 | #include "servo.h" |
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| 26 | #include "tools.h" |
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| 27 | #include "keys.h" |
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| 28 | #include "usart.h" |
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| 29 | #include "tracking.h" |
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| 30 | |||
| 31 | // LCD selbst definierte Sonderzeichen, RSSI-Balken und wi232 Empfang Daten im Flash |
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| 32 | // deshalb in dogm.c lcdPutc(pgm_read_byte(&lcdChr[i])); |
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| 33 | SpecialChr_t lcdSpecialChr[7] PROGMEM = {{32,32,16,16,16,16,32,32}, |
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| 34 | {32,32,24,24,24,24,32,32}, |
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| 35 | {32,32,28,28,28,28,32,32}, |
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| 36 | {32,32,30,30,30,30,32,32}, |
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| 37 | {32,32,31,31,31,31,32,32}, |
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| 38 | {6,8,20,19,20,8,6,32}, |
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| 39 | {4,10,32,14,4,4,14,32}}; // Antenne und Imax |
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| 40 | |||
| 41 | SpecialChr_t lcdSpecialChrLs[8] PROGMEM = {{32,1,1,1,1,1,1,32}, |
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| 42 | {32,31,1,1,1,1,31,32}, |
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| 43 | {32,31,3,3,3,3,31,32}, |
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| 44 | {32,31,7,7,7,7,31,32}, |
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| 45 | {32,31,15,15,15,15,31,32}, |
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| 46 | {32,31,31,31,31,31,31,32}, |
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| 47 | {32,16,16,16,16,16,16,32}, |
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| 48 | {32,31,32,32,32,32,31,32}}; |
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| 49 | |||
| 50 | SpecialChr_t lcdSpecialChrRs[5] PROGMEM = {{32,1,1,1,1,1,1,32}, |
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| 51 | {32,31,16,16,16,16,31,32}, |
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| 52 | {32,31,24,24,24,24,31,32}, |
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| 53 | {32,31,28,28,28,28,31,32}, |
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| 54 | {32,31,30,30,30,30,31,32}}; |
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| 55 | |||
| 56 | /**************************************************************/ |
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| 57 | /* */ |
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| 58 | /* EEPROM */ |
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| 59 | /* */ |
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| 60 | /**************************************************************/ |
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| 61 | uint8_t ep_eep_init EEPROM; |
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| 62 | char ep_version[sizeof(VERSION)] EEPROM; |
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| 63 | uint8_t ep_dogm_vers EEPROM; |
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| 64 | uint8_t ep_contrast EEPROM; |
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| 65 | uint8_t ep_light_time EEPROM; |
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| 66 | uint8_t ep_u_offset EEPROM; |
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| 67 | uint16_t ep_u_min EEPROM; |
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| 68 | uint8_t ep_channel EEPROM; |
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| 69 | uint8_t ep_av_source EEPROM; |
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| 70 | uint8_t ep_language EEPROM; |
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| 71 | udbm_t ep_udbm[CHANNEL_MAX] EEPROM; |
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| 72 | uint8_t ep_sIdxSteps EEPROM; |
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| 73 | servo_t ep_servo[SERVO_NUM_CHANNELS] EEPROM; |
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| 74 | uint8_t ep_servo_frame EEPROM; |
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| 75 | uint8_t ep_servo_nr EEPROM; |
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| 76 | uint8_t ep_single_step EEPROM; |
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| 77 | uint8_t ep_repeat EEPROM; |
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| 78 | uint8_t ep_pause EEPROM; |
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| 79 | uint8_t ep_pause_step EEPROM; |
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| 80 | uint8_t ep_tracking EEPROM; |
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| 81 | uint8_t ep_track_hyst EEPROM; |
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| 82 | uint8_t ep_track_tx EEPROM; |
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| 83 | uint8_t ep_baudrate EEPROM; |
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| 84 | mk_current_t ep_mk_current EEPROM; |
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| 85 | uint8_t ep_mk_akku_nr EEPROM; |
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| 86 | mk_lipo_t ep_mk_lipo[AKKU_NR_MAX+1] EEPROM; |
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| 87 | uint8_t ep_mk_i_offset EEPROM; |
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| 88 | uint8_t ep_mk_i_faktor EEPROM; |
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| 89 | uint8_t ep_mk_w_faktor EEPROM; |
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| 90 | |||
| 91 | /**************************************************************/ |
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| 92 | // Working variables of EEPROM contents |
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| 93 | uint8_t dogm_vers; |
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| 94 | uint8_t contrast; |
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| 95 | uint8_t light_time = BACKGR_LIGHT_MAX; |
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| 96 | uint8_t backgr_light = OFF; |
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| 97 | uint8_t u_offset = U_OFFSET; |
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| 98 | uint16_t u_min = U_MIN; |
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| 99 | uint8_t channel = CHANNEL; |
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| 100 | uint8_t av_source = AV_SOURCE; |
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| 101 | uint8_t language = NO_LANGUAGE; |
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| 102 | udbm_t udbm = {UDBM_MIN, UDBM_MAX, UDBM_KORR_FA, UDBM_KORR_FA}; |
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| 103 | uint16_t hyst_u_min; |
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| 104 | servo_t servo[SERVO_NUM_CHANNELS] = {{SERVO_REV, SERVO_I0_RIGHT, SERVO_I0_LEFT, SERVO_I0_MIDDLE},\ |
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| 105 | {SERVO_REV, SERVO_I0_RIGHT, SERVO_I0_LEFT, SERVO_I0_MIDDLE}}; |
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| 106 | uint8_t servo_frame = SERVO_PERIODE; |
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| 107 | uint8_t single_step = SINGLE_STEP; |
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| 108 | uint8_t repeat = REPEAT; |
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| 109 | uint8_t pause = PAUSE; |
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| 110 | uint8_t pause_step = PAUSE_STEP; |
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| 111 | uint8_t baudrate = BAUDRATE; |
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| 112 | |||
| 113 | /**************************************************************/ |
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| 114 | uint8_t coldstart; // Flag erstmaliger MK-Start(Motore) nur nach GPS-Fix |
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| 115 | uint8_t ch_stored; // Flag zur Speicherung, wenn Wert im Hauptdisplay geändert |
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| 116 | |||
| 117 | uint8_t gps_display = 0; |
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| 118 | uint8_t gps_disp_clear; |
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| 119 | |||
| 120 | uint16_t bar_udbm[12]; // RSSI-Bargraph |
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| 121 | uint8_t wudbm; // Differenz/Abstand benachbarter udbm[i] für differenzierteren Bargraphen |
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| 122 | uint8_t bat_low = 0; |
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| 123 | uint8_t sw_avx; // steuert über Set_AV_Source() oder rssi_diversity(av_source) Marker-Position und RX-Umschaltung |
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| 124 | uint8_t mux_X; // berücksichtigt Schaltung auf Grund Synchronisation und RSSI (sw_avx meist RSSI) RX-Zählung |
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| 125 | uint8_t MK_Motor_run = 0; // Flag für RX Time-Counter Start/Stop |
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| 126 | uint8_t mk_timer = 0; // Zeitzähler lipo.time_on auf aus |
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| 127 | |||
| 128 | const uint16_t PROGMEM baud[8] = {4800, 7200, 9600, 14400, 19200, 38400, 57600}; |
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| 129 | |||
| 130 | volatile uint8_t vsync0; |
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| 131 | volatile uint8_t vsync1; |
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| 132 | volatile uint8_t vscount0; |
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| 133 | volatile uint8_t vscount1; |
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| 134 | volatile uint32_t rxcount0 = 0; |
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| 135 | volatile uint32_t rxcount1 = 0; |
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| 136 | |||
| 137 | |||
| 138 | /************************************************************************************/ |
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| 139 | /* initialisiert den EEPROM mit default Werten, bzw. liest EEPROM gespeicherte */ |
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| 140 | /* Werte in gloabale Variablen. */ |
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| 141 | /* Parameter: */ |
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| 142 | /* uint8_t ep_reset :0 = zwangsweises Rückstetzen auf default-Werte */ |
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| 143 | /* */ |
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| 144 | /************************************************************************************/ |
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| 145 | void Init_EEPROM(uint8_t ep_reset) |
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| 146 | { char ver[sizeof(VERSION)]; |
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| 147 | uint8_t eep_init; |
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| 148 | |||
| 149 | eep_init = eeprom_read_byte(&ep_eep_init); |
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| 150 | eeprom_read_block(&ver, &ep_version, sizeof(VERSION)); |
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| 151 | _delay_ms(1); |
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| 152 | |||
| 153 | if ((eep_init != EEP_INITB) || (ep_reset == 0) || strcmp(VERSION, ver)) |
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| 154 | { |
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| 155 | // nur bei Erstinitialisierung DOGM auf default 3,3V setzen |
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| 156 | if ((eep_init != EEP_INITB) || strcmp(VERSION, ver)){ |
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| 157 | eeprom_write_byte(&ep_eep_init, EEP_INITB); |
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| 158 | eeprom_write_byte(&ep_dogm_vers, DOGM3V); |
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| 159 | eeprom_write_byte(&ep_contrast, CONTRAST3V); |
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| 160 | eeprom_write_block(&VERSION, &ep_version, sizeof(VERSION)); |
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| 161 | } |
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| 162 | eeprom_write_byte(&ep_light_time, BACKGR_LIGHT_MAX); |
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| 163 | eeprom_write_byte(&ep_u_offset, U_OFFSET); |
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| 164 | eeprom_write_word(&ep_u_min, U_MIN); |
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| 165 | eeprom_write_byte(&ep_channel, CHANNEL); |
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| 166 | eeprom_write_byte(&ep_av_source, AV_SOURCE); |
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| 167 | eeprom_write_byte(&ep_language, NO_LANGUAGE); |
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| 168 | for (uint8_t i = 0; i < CHANNEL_MAX; i++) |
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| 169 | eeprom_write_block(&udbm,&ep_udbm[i],sizeof(udbm_t)); |
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| 170 | eeprom_write_byte(&ep_sIdxSteps, STEPS_255); |
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| 171 | eeprom_write_block(&servo[0],&ep_servo[0],sizeof(servo_t)); |
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| 172 | eeprom_write_block(&servo[1],&ep_servo[1],sizeof(servo_t)); |
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| 173 | eeprom_write_byte(&ep_servo_frame, SERVO_PERIODE); |
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| 174 | eeprom_write_byte(&ep_servo_nr, 0); // nur bei Test-Servo |
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| 175 | eeprom_write_byte(&ep_single_step, SINGLE_STEP); // nur bei Test-Servo |
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| 176 | eeprom_write_byte(&ep_repeat, REPEAT); // nur bei Test-Servo |
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| 177 | eeprom_write_byte(&ep_pause, PAUSE); // nur bei Test-Servo |
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| 178 | eeprom_write_byte(&ep_pause_step, PAUSE_STEP); // nur bei Test-Servo |
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| 179 | eeprom_write_byte(&ep_tracking, TRACKING_MIN); |
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| 180 | eeprom_write_byte(&ep_track_hyst, TRACKING_HYSTERESE); |
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| 181 | eeprom_write_byte(&ep_track_tx, 0); |
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| 182 | eeprom_write_byte(&ep_baudrate, BAUDRATE); |
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| 183 | eeprom_write_block(&mk_current,&ep_mk_current,sizeof(mk_current_t)); |
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| 184 | eeprom_write_byte(&ep_mk_akku_nr, AKKU_NR_MIN); |
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| 185 | for (uint8_t i = 0; i <= AKKU_NR_MAX; i++) |
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| 186 | eeprom_write_block(&mk_lipo,&ep_mk_lipo[i],sizeof(mk_lipo_t)); |
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| 187 | eeprom_write_byte(&ep_mk_i_offset, MK_I_OFFSET); |
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| 188 | eeprom_write_byte(&ep_mk_i_faktor, MK_I_FAKTOR); |
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| 189 | eeprom_write_byte(&ep_mk_w_faktor, MK_W_FAKTOR); |
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| 190 | sIdxSteps = STEPS_255; |
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| 191 | } |
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| 192 | else |
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| 193 | { |
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| 194 | light_time = eeprom_read_byte(&ep_light_time); |
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| 195 | u_offset = eeprom_read_byte(&ep_u_offset); |
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| 196 | u_min = eeprom_read_word(&ep_u_min); |
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| 197 | channel = eeprom_read_byte(&ep_channel); |
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| 198 | av_source = eeprom_read_byte(&ep_av_source); |
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| 199 | language = eeprom_read_byte(&ep_language); |
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| 200 | sIdxSteps = eeprom_read_byte(&ep_sIdxSteps); |
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| 201 | eeprom_read_block(&servo[0],&ep_servo[0],sizeof(servo_t)); |
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| 202 | eeprom_read_block(&servo[1],&ep_servo[1],sizeof(servo_t)); |
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| 203 | servo_frame = eeprom_read_byte(&ep_servo_frame); // nur bei Test-Servo |
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| 204 | single_step = eeprom_read_byte(&ep_single_step); // nur bei Test-Servo |
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| 205 | repeat = eeprom_read_byte(&ep_repeat); // nur bei Test-Servo |
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| 206 | pause = eeprom_read_byte(&ep_pause); // nur bei Test-Servo |
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| 207 | pause_step = eeprom_read_byte(&ep_pause_step); // nur bei Test-Servo |
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| 208 | tracking = eeprom_read_byte(&ep_tracking); |
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| 209 | track_hyst = eeprom_read_byte(&ep_track_hyst); |
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| 210 | track_tx = eeprom_read_byte(&ep_track_tx); |
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| 211 | baudrate = eeprom_read_byte(&ep_baudrate); |
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| 212 | eeprom_read_block(&mk_current,&ep_mk_current,sizeof(mk_current_t)); |
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| 213 | mk_akku_nr = eeprom_read_byte(&ep_mk_akku_nr); |
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| 214 | eeprom_read_block(&mk_lipo,&ep_mk_lipo[mk_akku_nr],sizeof(mk_lipo_t)); |
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| 215 | mk_i_offset = eeprom_read_byte(&ep_mk_i_offset); |
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| 216 | mk_i_faktor = eeprom_read_byte(&ep_mk_i_faktor); |
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| 217 | mk_w_faktor = eeprom_read_byte(&ep_mk_w_faktor); |
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| 218 | } |
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| 219 | dogm_vers = eeprom_read_byte(&ep_dogm_vers); |
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| 220 | contrast = eeprom_read_byte(&ep_contrast); |
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| 221 | hyst_u_min = u_min; |
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| 222 | sw_avx = av_source; |
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| 223 | for (uint8_t i = 0; i < SERVO_NUM_CHANNELS; i++) { |
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| 224 | servoSet_rev(i, servo[i].rev); |
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| 225 | servoSet_min(i, servo[i].min); |
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| 226 | servoSet_max(i, servo[i].max); |
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| 227 | servoSet_mid(i, servo[i].mid); |
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| 228 | } |
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| 229 | // Vorberechnung von ServoChannels[channel].duty |
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| 230 | servoSetDefaultPos(); // Ausgangsstellung beider Servos |
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| 231 | coldstart = 1; |
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| 232 | USART_Init_Baudrate(); |
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| 233 | USART_RX_Mode(tracking); |
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| 234 | mk_dUsedCapacity = mk_lipo.UsedCapacity; |
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| 235 | } |
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| 236 | |||
| 237 | void servoSetDefaultPos(void) |
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| 238 | { |
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| 239 | servoSetPosition(SERVO_PAN, ServoSteps()/2); // Ausgangsstellung SERVO_PAN |
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| 240 | servoSetPosition(SERVO_TILT, 0); // Ausgangsstellung SERVO_TILT |
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| 241 | } |
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| 242 | |||
| 243 | void USART_Init_Baudrate(void) |
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| 244 | { |
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| 245 | if (tracking == TRACKING_MKCOCKPIT || tracking == TRACKING_NMEA) |
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| 246 | USART_Init(getBaud(baudrate)); |
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| 247 | else |
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| 248 | USART_Init(57600); |
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| 249 | } |
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| 250 | |||
| 251 | /************************************************************************************/ |
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| 252 | /* setzt Flag für 3,3V oder 5V DOGM */ |
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| 253 | /* Parameter: */ |
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| 254 | /* uint8_t dogm :Version */ |
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| 255 | /* */ |
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| 256 | /************************************************************************************/ |
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| 257 | void Set_DOGM_Version(void) |
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| 258 | { |
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| 259 | if(dogm_vers == DOGM5V) { |
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| 260 | dogm_vers = DOGM3V; |
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| 261 | contrast = CONTRAST3V; |
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| 262 | } |
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| 263 | else { |
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| 264 | dogm_vers = DOGM5V; |
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| 265 | contrast = CONTRAST5V; |
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| 266 | } |
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| 267 | eeprom_write_byte(&ep_dogm_vers, dogm_vers); |
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| 268 | eeprom_write_byte(&ep_contrast, contrast); |
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| 269 | } |
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| 270 | |||
| 271 | /************************************************************************************/ |
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| 272 | /* setzt den RX-Kanal von 1 bis 7 */ |
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| 273 | /* Parameter: */ |
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| 274 | /* uint8_t channel :Kanal */ |
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| 275 | /* */ |
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| 276 | /************************************************************************************/ |
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| 277 | void Set_Channel(uint8_t channel) |
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| 278 | { uint8_t tmp; |
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| 279 | |||
| 280 | channel--; |
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| 281 | tmp = channel & 0b00000111; // Kanal 1 bis 7 Werte 0 bis 6 setzen |
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| 282 | PORTA |= tmp; |
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| 283 | PORTB |= tmp; |
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| 284 | tmp = channel | 0b11111000; |
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| 285 | PORTA &= tmp; |
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| 286 | PORTB &= tmp; |
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| 287 | wudbm = RSSI_Calc_UdBm(bar_udbm); // Vergleichstabelle für dBm-Balken berechnen |
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| 288 | } |
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| 289 | |||
| 290 | /************************************************************************************/ |
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| 291 | /* schaltet den MUX auf AV1 oder AV2 ohne Darstellung und en-/disabled Interrupt */ |
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| 292 | /* wird nur in main.c (Initialisierung) und Menü Sourceumschaltung eingesetzt */ |
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| 293 | /* deswegen cli() und sei() nur in Menu_AV_Source(void) */ |
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| 294 | /* Parameter: */ |
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| 295 | /* uint8_t src :0-AV1, 1-AV2 */ |
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| 296 | /* */ |
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| 297 | /************************************************************************************/ |
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| 298 | void SetMux0(void) { |
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| 299 | SET_MUX_0; |
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| 300 | mux_X = 0; // für Erkennung RX Zeitzähler |
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| 301 | } |
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| 302 | |||
| 303 | void SetMux1(void) { |
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| 304 | SET_MUX_1; |
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| 305 | mux_X = 1; // für Erkennung RX Zeitzähler |
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| 306 | } |
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| 307 | |||
| 308 | uint8_t Set_AV_Source(uint8_t src) |
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| 309 | { |
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| 310 | switch(src) { |
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| 311 | case AV1: CLEAR_INT10; // Interrupt für Sync ausschalten |
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| 312 | SetMux0(); |
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| 313 | break; |
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| 314 | case AV2: CLEAR_INT10; // Interrupt für Sync ausschalten |
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| 315 | SetMux1(); |
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| 316 | break; |
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| 317 | case DIVERSITY: SET_INT10; // External Interrupt Mask Register ein |
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| 318 | SetMux0(); |
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| 319 | break; |
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| 320 | } |
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| 321 | return(src); |
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| 322 | } |
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| 323 | |||
| 324 | |||
| 325 | /**************************************************************/ |
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| 326 | /* */ |
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| 327 | /* LCD-Backlight */ |
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| 328 | /* */ |
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| 329 | /**************************************************************/ |
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| 330 | |||
| 331 | void lcdSet_BackgrLight_Off(void) |
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| 332 | { |
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| 333 | backgr_light = OFF; |
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| 334 | lcdBacklightOff(); |
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| 335 | } |
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| 336 | |||
| 337 | void lcd_BackgrLight_On(void) |
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| 338 | { // ...&& (light_count < light_time)) ==> sonst wird Beleuchtung laufend wieder eingeschaltet |
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| 339 | if ((backgr_light == OFF) && (light_count < light_time)) { |
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| 340 | backgr_light = ON; |
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| 341 | lcdBacklightOn(); |
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| 342 | } |
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| 343 | } |
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| 344 | |||
| 345 | void lcd_BackgrLight(void) |
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| 346 | { |
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| 347 | if (backgr_light == ON) { // nur wenn Beleuchtung an |
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| 348 | if (light_time == BACKGR_LIGHT_MIN) // Hintergrundbeleuchtung immer aus? |
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| 349 | lcdSet_BackgrLight_Off(); |
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| 350 | else |
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| 351 | if (light_time < BACKGR_LIGHT_MAX) { // Hintergrundbeleuchtung immer an? |
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| 352 | cli(); |
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| 353 | light_count++; |
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| 354 | sei(); |
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| 355 | if (light_count >= light_time) lcdSet_BackgrLight_Off(); |
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| 356 | } |
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| 357 | } |
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| 358 | } |
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| 359 | |||
| 360 | /**************************************************************/ |
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| 361 | /* */ |
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| 362 | /* ADC */ |
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| 363 | /* */ |
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| 364 | /* http://www.mikrocontroller.net/articles/AVR-GCC-Tutorial */ |
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| 365 | /* */ |
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| 366 | /**************************************************************/ |
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| 367 | |||
| 368 | void ADC_Init(void) |
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| 369 | { |
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| 370 | uint16_t result; |
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| 371 | |||
| 372 | ADMUX = (0<<REFS1) | (1<<REFS0); // AVcc als Referenz benutzen, da an AREF 4,8 V |
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| 373 | ADCSRA = (1<<ADPS2) | (1<<ADPS1) | (1<<ADPS0); // Frequenzvorteiler Prescaler 128 |
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| 374 | ADCSRA |= (1<<ADEN); // ADC aktivieren |
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| 375 | |||
| 376 | /* nach Aktivieren des ADC wird ein "Dummy-Readout" empfohlen, man liest |
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| 377 | also einen Wert und verwirft diesen, um den ADC "warmlaufen zu lassen" */ |
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| 378 | |||
| 379 | ADCSRA |= (1<<ADSC); // eine ADC-Wandlung |
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| 380 | while (ADCSRA & (1<<ADSC) ) {} // auf Abschluss der Konvertierung warten |
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| 381 | /* ADCW muss einmal gelesen werden, sonst wird Ergebnis der nächsten |
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| 382 | Wandlung nicht übernommen. */ |
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| 383 | result = ADCW; |
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| 384 | } |
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| 385 | |||
| 386 | /* ADC Einzelmessung */ |
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| 387 | uint16_t ADC_Read( uint8_t channel ) |
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| 388 | { |
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| 389 | // Kanal waehlen, ohne andere Bits zu beeinflußen |
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| 390 | ADMUX = (ADMUX & ~(0x1F)) | (channel & 0x1F); |
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| 391 | ADCSRA |= (1<<ADSC); // eine Wandlung "single conversion" |
||
| 392 | while (ADCSRA & (1<<ADSC) ) {} // auf Abschluss der Konvertierung warten |
||
| 393 | return ADCW; // ADC auslesen und zurückgeben |
||
| 394 | } |
||
| 395 | |||
| 396 | /* ADC Mehrfachmessung mit Mittelwertbbildung */ |
||
| 397 | adc_avg_t ADC_Read_Avg(uint8_t channel0, uint8_t channel1, uint16_t average ) |
||
| 398 | { adc_avg_t result; |
||
| 399 | uint32_t u0 = 0; |
||
| 400 | uint32_t u1 = 0; |
||
| 401 | |||
| 402 | for (uint16_t i = 0; i < average; ++i){ |
||
| 403 | u0 += ADC_Read( channel0 ); |
||
| 404 | u1 += ADC_Read( channel1 ); |
||
| 405 | _delay_ms(1); |
||
| 406 | } |
||
| 407 | result.u0 = u0/average; |
||
| 408 | result.u1 = u1/average; |
||
| 409 | return(result); |
||
| 410 | } |
||
| 411 | |||
| 412 | /**************************************************************/ |
||
| 413 | /* */ |
||
| 414 | /* Beeper */ |
||
| 415 | /* */ |
||
| 416 | /* Bei AVR-Studio 5 ist in delay.h */ |
||
| 417 | /* #define __DELAY_BACKWARD_COMPATIBLE__ */ |
||
| 418 | /* zu setzen */ |
||
| 419 | /* */ |
||
| 420 | /**************************************************************/ |
||
| 421 | |||
| 422 | void Beep(uint8_t time) |
||
| 423 | { |
||
| 424 | PORTB |= (1<<BEEPER); |
||
| 425 | _delay_ms(time); |
||
| 426 | PORTB &= ~(1<<BEEPER); |
||
| 427 | } |
||
| 428 | |||
| 429 | void Double_Beep(uint8_t time, uint8_t pause) |
||
| 430 | { |
||
| 431 | Beep(time); |
||
| 432 | _delay_ms(pause); |
||
| 433 | Beep(time); |
||
| 434 | } |
||
| 435 | |||
| 436 | /**************************************************************/ |
||
| 437 | /* */ |
||
| 438 | /* U-Batterie */ |
||
| 439 | /* */ |
||
| 440 | /**************************************************************/ |
||
| 441 | |||
| 442 | // uint16_t u, da bei Displ_Fnct[fu_index](val) der größte Wert UBat gleich 16 Bit |
||
| 443 | void Displ_1Nk(uint16_t u) |
||
| 444 | { |
||
| 445 | // 4 => 2 Ziffern vor Komma + 1 Komma + eine Ziffer Nachkomma darstellen, 2 Festkomma |
||
| 446 | lcdPuts(my_itoa(u,4,2,1)); |
||
| 447 | } |
||
| 448 | |||
| 449 | void Displ_U_2Nk(uint16_t u) |
||
| 450 | { |
||
| 451 | lcdPuts(my_itoa(u,5,2,2)); |
||
| 452 | lcdPutc('V'); |
||
| 453 | } |
||
| 454 | |||
| 455 | // uint8_t beep_timer :Akku-leer-Beeper nur mit Task_0_1()-Intervalle bei Menü-Rücksprung |
||
| 456 | uint16_t U_Messen_cmp(uint8_t beep_timer) |
||
| 457 | { uint16_t ubat; |
||
| 458 | static struct |
||
| 459 | { uint8_t time; |
||
| 460 | uint8_t count; |
||
| 461 | } beep_low; |
||
| 462 | |||
| 463 | /* ubat = ((ADC_Read(VBAT) * Vref * (R104 + R103)) /(1024 * R103)) + UD10 (UD10 ist Offset) |
||
| 464 | Verhältniswert * 100 *8192 ( Verhältniswert = realer Korrekturwert; |
||
| 465 | mal 100 da alle Werte 2 Nachkommastellen berücksichtigt, aber ohne gerechnet wird |
||
| 466 | mal 8192 => ohne Bruch gerechnet aber dabei mehr Kommastellen berücksichtigt) */ |
||
| 467 | ubat = (ADC_Read(VBAT) * (uint64_t)43504 + (uint64_t)u_offset * 8192)/ 8192; |
||
| 468 | if ( ubat <= hyst_u_min ) |
||
| 469 | { |
||
| 470 | if (!bat_low) { // nicht laufend Display neu schreiben |
||
| 471 | hyst_u_min = u_min + 20; // 200mV Hysterese - beruhigt Anzeige |
||
| 472 | if (tracking == TRACKING_GPS) |
||
| 473 | store_LipoData(); // wenigstens von GPS-Statisik UsedCapacity, time_on usw. speichern |
||
| 474 | lcdClear(); |
||
| 475 | lcdPuts(Msg(MSG_ACCU_LOW)); |
||
| 476 | bat_low = 1; |
||
| 477 | Beep(BEEPBAT); |
||
| 478 | // da derzeit Fkt. aller 500ms aufgerufen, mit 2 Min Abstand beginnen |
||
| 479 | beep_low.time = BEEP_LOW_TIME; |
||
| 480 | beep_low.count = 0; |
||
| 481 | } |
||
| 482 | // Akku leer, in immer kürzeren Intervallen Beep |
||
| 483 | if ((beep_timer == 1) && (beep_low.count++ >= beep_low.time)){ |
||
| 484 | Beep(BEEPBAT); |
||
| 485 | if (beep_low.time > 2) |
||
| 486 | beep_low.time /= 2; |
||
| 487 | beep_low.count = 0; |
||
| 488 | } |
||
| 489 | } |
||
| 490 | else { |
||
| 491 | if (hyst_u_min > u_min) { // falls Anzeige von Batterie leer |
||
| 492 | bat_low = 0; // und zurück geschaltet wird, |
||
| 493 | hyst_u_min = u_min; // dann Main_Disp wieder darstellen |
||
| 494 | Displ_Main_Disp(); |
||
| 495 | } |
||
| 496 | } |
||
| 497 | return(ubat); |
||
| 498 | } |
||
| 499 | |||
| 500 | void Displ_VBat(void) // da u_offset globale Variable |
||
| 501 | { uint16_t ubat; |
||
| 502 | |||
| 503 | ubat = U_Messen_cmp(ENABLE_BTIMER); |
||
| 504 | if (!bat_low) { // würde sonst Anzeige Akku leer überschreiben |
||
| 505 | lcdGotoXY(11, 0); |
||
| 506 | Displ_1Nk(ubat); |
||
| 507 | } |
||
| 508 | } |
||
| 509 | |||
| 510 | |||
| 511 | /**************************************************************/ |
||
| 512 | /* */ |
||
| 513 | /* RSSI */ |
||
| 514 | /* */ |
||
| 515 | /**************************************************************/ |
||
| 516 | |||
| 517 | /* RSSI Werte Korrekturfaktor berechnen */ |
||
| 518 | uint16_t RSSI_Calc_Korr(uint8_t nchannel, uint16_t u0, uint16_t u1) |
||
| 519 | { uint16_t u_max; |
||
| 520 | |||
| 521 | // immer nur den kleineren Wert vergrößern |
||
| 522 | if (u0 < u1) { |
||
| 523 | udbm.korr_1 = (((uint32_t)u1 * UDBM_KORR_FA) / u0); // nur mit Integer und 2 Nachkommastellen rechnen |
||
| 524 | udbm.korr_2 = UDBM_KORR_FA; |
||
| 525 | u_max = u1; |
||
| 526 | } |
||
| 527 | else { |
||
| 528 | udbm.korr_2 = (((uint32_t)u0 * UDBM_KORR_FA) / u1); // nur mit Integer und 2 Nachkommastellen rechnen |
||
| 529 | udbm.korr_1 = UDBM_KORR_FA; |
||
| 530 | u_max = u0; |
||
| 531 | } |
||
| 532 | eeprom_write_word(&ep_udbm[nchannel - 1].korr_1, udbm.korr_1); |
||
| 533 | eeprom_write_word(&ep_udbm[nchannel - 1].korr_2, udbm.korr_2); |
||
| 534 | return(u_max); |
||
| 535 | } |
||
| 536 | |||
| 537 | void Displ_Calibr_Aktiv(uint8_t nchannel) |
||
| 538 | { char str[LCD_COLS + 1]; |
||
| 539 | uint8_t l; |
||
| 540 | uint8_t zle = 1; |
||
| 541 | |||
| 542 | // Anzeige für nur einen Kanal oder wenn in Schleife, Kanalnr. des z.Z. kalbrierenden Kanals |
||
| 543 | lcdClear(); |
||
| 544 | lcdPutStrMid(Msg(MSG_CALIBRATION),0); |
||
| 545 | if (nchannel > 0) { // Anzeige aller RX-Kanäle min. kalibrieren? |
||
| 546 | strcpy(str, Msg(MSG_RX_CHANNEL)); |
||
| 547 | strcat(str, ": "); |
||
| 548 | l = strlen(str); |
||
| 549 | str[l] = nchannel + 0x30; // gerade zu kalibrierender Kanal, String zusammen stellen |
||
| 550 | str[++l] = '\0'; |
||
| 551 | lcdPutStrMid(str,1); |
||
| 552 | zle = 2; |
||
| 553 | } |
||
| 554 | lcdPutStrMid(Msg(MSG_RUNNING),zle); |
||
| 555 | } |
||
| 556 | |||
| 557 | void Displ_Error_TX(uint8_t message) |
||
| 558 | { |
||
| 559 | lcdClear(); |
||
| 560 | lcdPutStrMid(Msg(MSG_ERROR), 0); |
||
| 561 | lcdPutStrMid(Msg(MSG_TX_NOT), 1); |
||
| 562 | lcdPutStrMid(Msg(message), 2); |
||
| 563 | delay_ms100x(30); |
||
| 564 | } |
||
| 565 | |||
| 566 | uint8_t RSSI_Min_Calibrate(uint8_t nchannel, uint16_t *pbar_udbm) |
||
| 567 | { adc_avg_t rssi_avg; |
||
| 568 | uint16_t udbm_min; |
||
| 569 | uint8_t one_channel = !nchannel; |
||
| 570 | |||
| 571 | Displ_Calibr_Aktiv(nchannel); |
||
| 572 | if (one_channel) nchannel = channel; |
||
| 573 | rssi_avg = ADC_Read_Avg(RSSI0, RSSI1, 1000 ); //1000 Wiederholungen mit Mittelwertbildung |
||
| 574 | // Plausibilitätsprüfung ob Sender ausgeschaltet |
||
| 575 | if (rssi_avg.u0 + rssi_avg.u1 > 500) { |
||
| 576 | udbm_min = RSSI_Calc_Korr(nchannel, rssi_avg.u0, rssi_avg.u1); // ist real die größere Spannung, aber der kleinere dbm Wert |
||
| 577 | eeprom_write_word(&ep_udbm[nchannel - 1].min, udbm_min); |
||
| 578 | if (one_channel) { |
||
| 579 | Double_Beep(DBEEPWR, DBEEPWRP); |
||
| 580 | wudbm = RSSI_Calc_UdBm(pbar_udbm); |
||
| 581 | } |
||
| 582 | } |
||
| 583 | else |
||
| 584 | if (one_channel) |
||
| 585 | Displ_Error_TX(MSG_TX_OFF); |
||
| 586 | else |
||
| 587 | return(0); // Fehleranzeige wird in menue.c gesammelt ausgewertet |
||
| 588 | return(1); // kein Fehler, da bei einen Kanal bereits Fehler angezeigt wurde |
||
| 589 | } |
||
| 590 | |||
| 591 | void RSSI_Max_Calibrate(uint16_t *pbar_udbm) |
||
| 592 | { adc_avg_t rssi_avg; |
||
| 593 | uint16_t udbm_max; |
||
| 594 | |||
| 595 | Displ_Calibr_Aktiv(0); |
||
| 596 | rssi_avg = ADC_Read_Avg(RSSI0, RSSI1, 1000 ); //1000 Wiederholungen mit Mittelwertbildung |
||
| 597 | // Plausibilitätsprüfung ob Sender in der Nähe eingeschaltet |
||
| 598 | if (rssi_avg.u0 + rssi_avg.u1 < 400) { |
||
| 599 | udbm_max = RSSI_Calc_Korr(channel, rssi_avg.u0, rssi_avg.u1); // ist real die kleinere Spannung, aber der größere dbm Wert |
||
| 600 | eeprom_write_word(&ep_udbm[channel - 1].max, udbm_max); |
||
| 601 | Double_Beep(DBEEPWR, DBEEPWRP); |
||
| 602 | wudbm = RSSI_Calc_UdBm(pbar_udbm); |
||
| 603 | } |
||
| 604 | else Displ_Error_TX(MSG_TX_ON); |
||
| 605 | } |
||
| 606 | |||
| 607 | // Vergleichstabelle für RSSI-Bargraph berechnen, vermeidet laufend gleiche Berechnung |
||
| 608 | uint8_t RSSI_Calc_UdBm(uint16_t *pbar_udbm) |
||
| 609 | { uint8_t n; |
||
| 610 | |||
| 611 | eeprom_read_block(&udbm,&ep_udbm[channel - 1],sizeof(udbm_t)); |
||
| 612 | // -15 um Ende dBm Skala sicher zu erreichen; ohne verfeinerten Bahrgraph war Wert -3 |
||
| 613 | n = (udbm.min - udbm.max -15)/11; |
||
| 614 | for (uint8_t i = 0; i < 12; i++) |
||
| 615 | pbar_udbm[i] = (udbm.min - i * n); |
||
| 616 | return(n / 5); // da 5 Pixel Breite pro Display-Zeichen; Anzeigebalken pro Pixel differenzieren |
||
| 617 | } |
||
| 618 | |||
| 619 | void Displ_RSSI_Bargraph(uint16_t *pbar_udbm, uint8_t wudbm, uint16_t uadc) |
||
| 620 | { char charBar[12]; |
||
| 621 | uint8_t i; |
||
| 622 | int8_t lz = 11; |
||
| 623 | char b = 4; |
||
| 624 | |||
| 625 | // Balken zeichnen - udbm |
||
| 626 | for (i = 0; i < 12; i++) { |
||
| 627 | if ((b != ' ') && (uadc > pbar_udbm[i])) { |
||
| 628 | b = ' '; |
||
| 629 | lz = i - 1; |
||
| 630 | } |
||
| 631 | charBar[i] = b; |
||
| 632 | } |
||
| 633 | if (lz >= 0) { |
||
| 634 | charBar[lz] = (pbar_udbm[lz] - uadc) / wudbm ;// Anzeigebalken pro Pixel-"Breite" differenzieren |
||
| 635 | // bei Teilung 4 wäre richtig und keine Korr. erforderlich, so aber gleichmäßigerer Balkenverlauf |
||
| 636 | if (charBar[lz] > 4) charBar[lz] = 4; |
||
| 637 | } |
||
| 638 | for (i = 0; i < 12; i++)// lcdPuts (ist auch for) funktioniert hier nicht, da Char'\0' für Zeichen auch Stringende |
||
| 639 | lcdPutc(charBar[i]); |
||
| 640 | } |
||
| 641 | |||
| 642 | uint8_t RSSI_Diversity(uint8_t src, uint16_t *pbar_udbm, uint8_t visible) |
||
| 643 | { uint16_t u0, u1; |
||
| 644 | static uint8_t div_flag, ret_div_flag; |
||
| 645 | char marker; |
||
| 646 | |||
| 647 | u0 = (ADC_Read(RSSI0) * (uint32_t)udbm.korr_1)/UDBM_KORR_FA; |
||
| 648 | u1 = (ADC_Read(RSSI1) * (uint32_t)udbm.korr_2)/UDBM_KORR_FA; |
||
| 649 | |||
| 650 | // falls beide RX gleich gut/schlecht synchronisieren |
||
| 651 | // Achtung! Niedrigere Spannung - größere Feldstärke |
||
| 652 | if (src == DIVERSITY) { |
||
| 653 | if (u0 < u1) { |
||
| 654 | ret_div_flag = AV1; |
||
| 655 | if ((vscount0 == 255) && (vscount1 == 255)) SetMux0(); // egal wann RSSI schaltet ==> es ist kein sync vorhanden |
||
| 656 | } |
||
| 657 | else { |
||
| 658 | ret_div_flag = AV2; |
||
| 659 | if ((vscount0 == 255) && (vscount1 == 255)) SetMux1(); // egal wann RSSI schaltet ==> es ist kein sync vorhanden |
||
| 660 | } |
||
| 661 | } |
||
| 662 | else ret_div_flag = src; // sonst leerer Returnwert |
||
| 663 | |||
| 664 | if (visible) { |
||
| 665 | if (src == DIVERSITY) { |
||
| 666 | // Synchronisation vorrangig zur Feldstärke |
||
| 667 | if ((vsync0 != vsync1) && ((vscount0 & vscount1) < 255)) { |
||
| 668 | // ist nur zur Anzeige - Sync-MUX wird über Interrupt gesteuert |
||
| 669 | div_flag = vsync0 == 0? AV1: AV2; |
||
| 670 | marker = MARKER_SYNC; |
||
| 671 | } |
||
| 672 | else { |
||
| 673 | div_flag = ret_div_flag; |
||
| 674 | marker = MARKER_RSSI; |
||
| 675 | } |
||
| 676 | } |
||
| 677 | else marker = MARKER_AV; |
||
| 678 | // wäre unschön - keine RSSI-Anzeige, aber Marker springt |
||
| 679 | if ((u0 > pbar_udbm[0]) && (u1 > pbar_udbm[0])) marker = ' '; |
||
| 680 | lcdGotoXY(2, 1); |
||
| 681 | Displ_RSSI_Bargraph(pbar_udbm, wudbm, u0); |
||
| 682 | lcdGotoXY(2, 2); |
||
| 683 | Displ_RSSI_Bargraph(pbar_udbm, wudbm, u1); |
||
| 684 | if (src == DIVERSITY) Displ_AV_Mark(div_flag, marker); |
||
| 685 | } |
||
| 686 | return(ret_div_flag); |
||
| 687 | } |
||
| 688 | |||
| 689 | /**************************************************************/ |
||
| 690 | /* */ |
||
| 691 | /* Diversity v-Synchronisation Interruptroutinen */ |
||
| 692 | /* */ |
||
| 693 | /**************************************************************/ |
||
| 694 | |||
| 695 | /* Impulszähler für V-Synchronisation 0 und 1 |
||
| 696 | wird durch Interrupt des jewiligen vSync einzeln zurückgesetzt. 8-bit Timer*/ |
||
| 697 | ISR(TIMER2_OVF_vect) |
||
| 698 | { |
||
| 699 | TCNT2 = (int8_t)(int16_t)-(F_CPU / 64 * 500e-6); // preload |
||
| 700 | if (vscount0 < 255) ++vscount0; // Überlauf von vscount vermeiden |
||
| 701 | if (vscount1 < 255) ++vscount1; // Überlauf von vscount vermeiden |
||
| 702 | if (rx_timeout < RX_TIME_END) ++rx_timeout; // veranlasst bei GPS-Tracking MK Datensatz senden |
||
| 703 | if ((mk_timer) && (mk_lipo.time_on < T2PROD_M59S59)) ++mk_lipo.time_on; // T2PRODM59S59 = 3599 * 4000 |
||
| 704 | if (((tracking == TRACKING_GPS) && (MK_Motor_run)) || ((tracking == TRACKING_NMEA) && !coldstart)) { // MK-Motoren müssen laufen |
||
| 705 | if (mux_X) |
||
| 706 | rxcount1++; // kein Test auf Überlauf ==> Counter groß genug - bis Stunden |
||
| 707 | else |
||
| 708 | rxcount0++; |
||
| 709 | } |
||
| 710 | } |
||
| 711 | |||
| 712 | /* Messung von Impulsabstand v-Synchronisation 0 |
||
| 713 | Zur Vermeidung von Bildstörunen erfolgt MUX-Umschaltung in Bildaustastung */ |
||
| 714 | ISR(INT0_vect) |
||
| 715 | { |
||
| 716 | if ((vscount0 >= 79) && (vscount0 <= 81)) { |
||
| 717 | vsync0 = 0; |
||
| 718 | if ((mux_X) && (vscount1 == 255)) { |
||
| 719 | SetMux0(); |
||
| 720 | vsync1 = 1; |
||
| 721 | } |
||
| 722 | } |
||
| 723 | else { |
||
| 724 | vsync0 = 1; |
||
| 725 | if (vsync1 == 0) |
||
| 726 | SetMux1(); |
||
| 727 | } |
||
| 728 | if (vsync0 == vsync1) { //nur wenn vSynchronisation gleich gut/schlecht ist greift RSSI |
||
| 729 | if (sw_avx == AV1) { |
||
| 730 | SetMux0(); |
||
| 731 | } |
||
| 732 | else |
||
| 733 | SetMux1(); |
||
| 734 | } |
||
| 735 | vscount0 = 0; |
||
| 736 | } |
||
| 737 | |||
| 738 | /* Messung von Impulsabstand v-Synchronisation 1 |
||
| 739 | Zur Vermeidung von Bildstörunen erfolgt MUX-Umschaltung in Bildaustastung */ |
||
| 740 | ISR(INT1_vect) |
||
| 741 | { |
||
| 742 | if ((vscount1 >= 79) && (vscount1 <= 81)) { |
||
| 743 | vsync1 = 0; |
||
| 744 | if (!(mux_X) && (vscount0 == 255)) { |
||
| 745 | SetMux1(); |
||
| 746 | vsync0 = 1; |
||
| 747 | } |
||
| 748 | } |
||
| 749 | else { |
||
| 750 | vsync1 = 1; |
||
| 751 | if (vsync0 == 0) |
||
| 752 | SetMux0(); |
||
| 753 | } |
||
| 754 | if (vsync0 == vsync1) { //nur wenn vSynchronisation gleich gut/schlecht ist greift RSSI |
||
| 755 | if (sw_avx == AV1) { |
||
| 756 | SetMux0(); |
||
| 757 | } |
||
| 758 | else |
||
| 759 | SetMux1(); |
||
| 760 | } |
||
| 761 | vscount1 = 0; |
||
| 762 | } |
||
| 763 | |||
| 764 | /**************************************************************/ |
||
| 765 | /* */ |
||
| 766 | /* Tasks */ |
||
| 767 | /* ermöglicht unterschiedliche Zeiten f. UBat, Sync... */ |
||
| 768 | /* */ |
||
| 769 | /**************************************************************/ |
||
| 770 | |||
| 771 | void Task_0_1(void) |
||
| 772 | { |
||
| 773 | if (task_timer0_1) { |
||
| 774 | cli(); |
||
| 775 | task_timer0_1 = 0; |
||
| 776 | sei(); |
||
| 777 | Displ_VBat(); |
||
| 778 | } |
||
| 779 | } |
||
| 780 | |||
| 781 | void Task_0_2(void) |
||
| 782 | { |
||
| 783 | if (task_timer0_2) { |
||
| 784 | cli(); |
||
| 785 | task_timer0_2 = 0; |
||
| 786 | sei(); |
||
| 787 | sw_avx = RSSI_Diversity(av_source, bar_udbm, !bat_low); |
||
| 788 | } |
||
| 789 | } |
||
| 790 | |||
| 791 | void Task_0_3(void) |
||
| 792 | { |
||
| 793 | if (task_timer0_3) { |
||
| 794 | cli(); |
||
| 795 | task_timer0_3 = 0; |
||
| 796 | sei(); |
||
| 797 | sw_avx = RSSI_Diversity(av_source, bar_udbm, 0); |
||
| 798 | if (tracking == TRACKING_MKCOCKPIT) Tracking_MKCockpit(); |
||
| 799 | } |
||
| 800 | } |
||
| 801 | |||
| 802 | void Task_0_4(void) |
||
| 803 | { |
||
| 804 | if (task_timer0_4) { |
||
| 805 | cli(); |
||
| 806 | task_timer0_4 = 0; |
||
| 807 | sei(); |
||
| 808 | if (tracking == TRACKING_GPS) |
||
| 809 | Tracking_GPS(); |
||
| 810 | else if (tracking == TRACKING_NMEA) |
||
| 811 | Tracking_NMEA(); |
||
| 812 | if (gps_display == GPS_RX_COUNT) Displ_RX_Time(); // aktualisieren der Empfängerzeiten |
||
| 813 | } |
||
| 814 | } |
||
| 815 | |||
| 816 | void Task_0_5(void) // Nur für Tasten-Beschleunigung/-Wiederholrate! Hintergrund: Rücksetzung. |
||
| 817 | { // Hintergrund: Rücksetzung. Beginnt nach jeden Tastendruck neu zu zählen. |
||
| 818 | lcd_BackgrLight_On(); // muss bei beliebiger Taste sofort eingeschaltet werden |
||
| 819 | if (task_timer0_5) { |
||
| 820 | cli(); |
||
| 821 | task_timer0_5 = 0; |
||
| 822 | sei(); |
||
| 823 | lcd_BackgrLight(); |
||
| 824 | } |
||
| 825 | } |
||
| 826 | |||
| 827 | void Tasks_invisible(void) // wird in main.c und menue.c aufgerufen |
||
| 828 | { |
||
| 829 | Task_0_3(); |
||
| 830 | Task_0_4(); |
||
| 831 | Task_0_5(); |
||
| 832 | if (tracking == TRACKING_RSSI) Tracking_RSSI(); |
||
| 833 | } |