WebSVN - Projects - Blame - Rev 1470 - /Transportables_Koptertool/branch/GPL_PKT_V3_5_8a

Rev	Author	Line No.	Line
1470	-	1	/*****************************************************************************
		2	* Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de *
		3	* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
		4	* Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net *
		5	* Copyright (C) 2011 Harald Bongartz *
		6	* *
		7	* This program is free software; you can redistribute it and/or modify *
		8	* it under the terms of the GNU General Public License as published by *
		9	* the Free Software Foundation; either version 2 of the License. *
		10	* *
		11	* This program 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 this program; if not, write to the *
		18	* Free Software Foundation, Inc., *
		19	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
		20	* *
		21	* *
		22	* Credits to: *
		23	* Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN *
		24	* http://www.mikrokopter.de *
		25	* Gregor "killagreg" Stobrawa for his version of the MK code *
		26	* Thomas Kaiser "thkais" for the original project. See *
		27	* http://www.ft-fanpage.de/mikrokopter/ *
		28	* http://forum.mikrokopter.de/topic-4061-1.html *
		29	* Claas Anders "CaScAdE" Rathje for providing the font and his C-OSD code *
		30	* http://www.mylifesucks.de/oss/c-osd/ *
		31	* Harald Bongartz "HaraldB" for providing his Ideas and Code for usibility*
		32	*****************************************************************************/
		33
		34
		35	#include "cpu.h"
		36	#include <avr/io.h>
		37	#include <avr/pgmspace.h>
		38	#include <util/delay.h>
		39	#include <stdlib.h>
		40	#include <string.h>
		41	#include "lcd.h"
		42	#include "usart.h"
		43	#include "uart1.h"
		44	#include "main.h"
		45	#include "Wi232.h"
		46	#include "timer.h"
		47	#include "eeprom.h"
		48	#if defined HWVERSION1_3W \|\| defined HWVERSION3_9
		49
		50	uint8_t Wi232_hardware = 0;
		51	uint8_t InitErr=0;
		52
		53	/*************************************************************************
		54	Function: discoverWI232()
		55	Purpose: check if Wi232 available
		56	Returns: Version or 0 = timeout
		57
		58	**************************************************************************/
		59	void discoverWi232(void)
		60
		61	{
		62	int16_t RegisterWi232;
		63
		64	SwitchToWi232(); /* Serielle Kanäle Wi232 mit USB verbinden*/
		65	set_WI232CMD();
		66	_delay_ms(200);
		67
		68	USART_Init( UART_BAUD_SELECT(57600,F_CPU) ); /* erstmal mit 57600 versuchen*/
		69	lcd_printpns_at (0, 0, PSTR("search Wi.232 Modul"),0);
		70	lcd_printpns_at (0, 1, PSTR("with 57600 Baud "),0);
		71	RegisterWi232 = ReadWi232(regDiscover);
		72	Wi232_hardware = 1;
		73
		74	if (RegisterWi232 == 0)
		75	{
		76	USART_Init( UART_BAUD_SELECT(2400,F_CPU) ); /* neues Modul mit 2400 suchen*/
		77	lcd_printpns_at (0, 1, PSTR("with 2400 Baud "),0);
		78	RegisterWi232 = ReadWi232(regDiscover);
		79	Wi232_hardware = 2;
		80	}
		81
		82	if (RegisterWi232 == 0)
		83	{
		84	lcd_cls();
		85	lcd_printpns_at (0, 0, PSTR("no Wi.232 found "),0);
		86	Wi232_hardware = 0;
		87	}
		88
		89	if (RegisterWi232 == 0xFF)
		90	{
		91	lcd_cls();
		92	lcd_printpns_at (0, 0, PSTR("Wi.232 Sytaxerror "),0);
		93	BeepTime = 1000;
		94	BeepMuster = 0x0040;
		95	_delay_ms(2000);
		96	}
		97
		98	if (RegisterWi232 != 0)
		99	{
		100	lcd_cls();
		101	if (Wi232_hardware ==1)
		102	lcd_printpns_at (0, 0, PSTR("Wi.232 found 57600"),0);
		103
		104	if (Wi232_hardware ==2) // bei 2400 Baud
		105	{
		106	WiIsSet= false; //wenn hier 2400 gefunden wurde ist Wi232 nicht initialisiert
		107	lcd_printpns_at (0, 0, PSTR("Wi.232 found 2400"),0);
		108	if (WriteWi232(regNVDATARATE,Wi232_57600)!=0) /* NV-Ram auf 57600 setzen*/
		109	{
		110	lcd_printpns_at (0, 1, PSTR("Error set NV-RAM"),0);
		111	BeepTime = 1000;
		112	BeepMuster = 0x0040;
		113	_delay_ms(2000);
		114	}
		115	else
		116	{
		117	_delay_ms(1000);
		118	lcd_printpns_at (0, 1, PSTR("NV-RAM set to 57600"),0);
		119	lcd_printpns_at (0, 2, PSTR("ok "),0);
		120	_delay_ms(2000);
		121	}
		122
		123	if (WriteWi232(regDATARATE,Wi232_57600)!=0) /* Ram auf 57600 setzen*/
		124	{
		125	lcd_printpns_at (0, 3, PSTR("Error set RAM "),0);
		126	BeepTime = 1000;
		127	BeepMuster = 0x0040;
		128	_delay_ms(2000);
		129	}
		130	else
		131	{
		132	_delay_ms(1000);
		133	lcd_printpns_at (0, 1, PSTR("RAM set to 57600 "),0);
		134	lcd_printpns_at (0, 2, PSTR("ok "),0);
		135	_delay_ms(2000);
		136	}
		137	USART_Init( UART_BAUD_SELECT(57600,F_CPU) );
		138	}
		139	lcd_cls_line (0,1,21);
		140	lcd_printpns_at (0, 1, PSTR("Version:"),0);
		141	lcd_print_hex_at(9,1,RegisterWi232,0);
		142	}
		143	clr_WI232CMD();
		144	}
		145
		146
		147	/*************************************************************************
		148	Function: InitWI232()
		149	Purpose: set Wi232Register for Mikrokopter
		150	Returns: 0 = ACK, FF = NAK
		151
		152	**************************************************************************/
		153	void InitWi232(void)
		154	{
		155
		156	uint8_t i = 0;
		157
		158	Change_Output(Uart02Wi); // Verbindung zu Wi232 herstellen
		159
		160	discoverWi232(); // Check if Wi232 available
		161
		162	if (Wi232_hardware != 0)
		163	{
		164	lcd_printpns_at (0, 2, PSTR("Init Wi232 wait...."),0);
		165	set_WI232CMD();
		166	_delay_ms(200);
		167	SwitchToWi232(); /* Serielle Kanäle Wi232 mit USB verbinden*/
		168	USART_Init( UART_BAUD_SELECT(57600,F_CPU) ); /* erstmal mit 57600 versuchen*/
		169
		170	if (WriteWi232(regNETGRP,126)!=0) /damit Wi232 nix mehr vom Kopter schickt erstmal Networkgroup ins Nirwana setzen /
		171	lcd_printpns_at (i++,4,PSTR("."),0);
		172	// InitErr =12;
		173	// Grund:
		174	//If RF packets are received while the CMD line is active,
		175	//they are still processed and presented to the module’s UART for transmission.
		176
		177	// wenn sich ein EEPROM-Wert ändert wird auch das Ram beschrieben damit die Änderung sofort wirksam wird
		178	if (WriteWi232(regNVTXCHANNEL,WiTXRXChannel)!=0)
		179	InitErrorWi232(1); /TX Channel/
		180	lcd_printpns_at (i++,4,PSTR("."),0);
		181
		182	if (WriteWi232(regTXCHANNEL,WiTXRXChannel)!=0)
		183	InitErrorWi232(2);/TX Channel/
		184	lcd_printpns_at (i++,4,PSTR("."),0);
		185
		186	if (WriteWi232(regNVRXCHANNEL,WiTXRXChannel)!=0)
		187	InitErrorWi232(3);/* RX Channel*/
		188	lcd_printpns_at (i++,4,PSTR("."),0);
		189
		190	if (WriteWi232(regRXCHANNEL,WiTXRXChannel)!=0)
		191	InitErrorWi232(4);/* RX Channel*/
		192	lcd_printpns_at (i++,4,PSTR("."),0);
		193
		194	if (WriteWi232(regNVSLPMODE ,Sleep_Awake)!=0)
		195	InitErrorWi232(5);/* Sleepmode*/
		196	lcd_printpns_at (i++,4,PSTR("."),0);
		197
		198	if (WriteWi232(regNVPWRMODE,WbModeP15)!=0)
		199	InitErrorWi232(6);/* Transceiver Mode/Powermode */
		200	lcd_printpns_at (i++,4,PSTR("."),0);
		201
		202	if (WriteWi232(regNVTXTO,WiTXTO)!=0)
		203	InitErrorWi232(7);/* UART Timeout */
		204	lcd_printpns_at (i++,4,PSTR("."),0);
		205
		206	if (WriteWi232(regTXTO,WiTXTO)!=0)
		207	InitErrorWi232(8);/* UART Timeout */
		208	lcd_printpns_at (i++,4,PSTR("."),0);
		209
		210	if (WriteWi232(regNVUARTMTU,WiUartMTU)!=0)
		211	InitErrorWi232(9);/* UART Buffer*/
		212	lcd_printpns_at (i++,4,PSTR("."),0);
		213
		214	if (WriteWi232(regUARTMTU,WiUartMTU)!=0)
		215	InitErrorWi232(10);/* UART Buffer*/
		216	lcd_printpns_at (i++,4,PSTR("."),0);
		217
		218	if (WriteWi232(regNVNETMODE,WiNetworkMode)!=0)
		219	InitErrorWi232(11);/* Networkmode*/
		220	lcd_printpns_at (i++,4,PSTR("."),0);
		221
		222	if (WriteWi232(regNETMODE,WiNetworkMode)!=0)
		223	InitErrorWi232(12);/* Networkmode*/
		224	lcd_printpns_at (i++,4,PSTR("."),0);
		225
		226	if (WriteWi232(regNVUSECRC ,CRC_Enable)!=0)
		227	InitErrorWi232(13);/* CRC*/
		228	lcd_printpns_at (i++,4,PSTR("."),0);
		229
		230	if (WriteWi232(regNVCSMAMODE,CSMA_En)!=0)
		231	InitErrorWi232(14);/* CSMA*/
		232	lcd_printpns_at (i++,4,PSTR("."),0);
		233
		234	if (WriteWi232(regNVDATARATE,Wi232_57600)!=0)
		235	InitErrorWi232(15);/* Baudrate*/
		236	lcd_printpns_at (i++,4,PSTR("."),0);
		237
		238	if (WriteWi232(regDATARATE,Wi232_57600)!=0)
		239	InitErrorWi232(16);/* Baudrate*/
		240	lcd_printpns_at (i++,4,PSTR("."),0);
		241
		242	if (WriteWi232(regNVNETGRP,WiNetworkGroup)!=0)
		243	InitErrorWi232(17);/* Networkgroup */
		244	lcd_printpns_at (i++,4,PSTR("."),0);
		245
		246	if (WriteWi232(regNETGRP,WiNetworkGroup)!=0)
		247	InitErrorWi232(18);/* Networkgroup */
		248	lcd_printpns_at (i++,4,PSTR("."),0);
		249
		250	clr_WI232CMD();
		251
		252	if (InitErr !=0)
		253	{
		254	lcd_printpns_at (0, 2, PSTR("Wi232 InitError "),0);
		255	lcd_print_hex(InitErr,0);
		256	BeepTime = 1000;
		257	BeepMuster = 0x0040;
		258	_delay_ms(2000);
		259	}
		260	else
		261	{
		262	lcd_printpns_at (0, 2, PSTR("Wi232 Init ok...."),0);
		263	WriteWiInitFlag(); // Init merken
		264	}
		265	USART_Init (UART_BAUD_SELECT(57600,F_CPU));
		266	_delay_ms(2000);
		267	}
		268	}
		269
		270	/*************************************************************************
		271	Function: InitErrorWI232()
		272	Purpose: Show Wi232 Error, Value
		273	Returns:
		274	**************************************************************************/
		275	void InitErrorWi232(uint8_t Error)
		276	{
		277
		278	lcd_printpns_at (0, 3, PSTR("Wi232 InitError "),0);
		279	lcd_print_hex(Error,0);
		280	InitErr=Error;
		281	BeepTime = 500;
		282	BeepMuster = 0x0040;
		283	_delay_ms(500);
		284
		285	}
		286
		287
		288
		289
		290	/*************************************************************************
		291	Function: WriteWI232()
		292	Purpose: set Register to Wi232, Register, Value
		293	Returns: 0 = ACK, FF = NAK
		294	ACHTUNG nur für Value <0x80
		295	**************************************************************************/
		296	int16_t WriteWi232(uint8_t Wi232Register, uint8_t RegisterValue)
		297
		298	{
		299	uint8_t timeout=10;
		300	uint8_t tc=0;
		301	unsigned int v;
		302
		303	USART_putc(0xff);
		304	USART_putc(0x02);
		305	USART_putc(Wi232Register);
		306	USART_putc(RegisterValue);
		307	// lcd_print_hex(Wi232Register,0);
		308	// lcd_print_hex(RegisterValue,0);
		309
		310	do
		311	{
		312	v = USART_getc(); /ACK erwartet/
		313	_delay_ms(100);
		314	tc ++;
		315	}
		316	while (v==0 && tc!=timeout);
		317
		318	// lcd_print_hex(v,0);
		319	if (v != 0x06)
		320	{
		321	lcd_printpns_at (0, 2, PSTR("Wi.232 NAK"),0);
		322	BeepTime = 1000;
		323	BeepMuster = 0x0040;
		324	_delay_ms(2000);
		325	return 0xFF;
		326	}
		327
		328	if (v==0x06)
		329	return 0;
		330
		331	return 0xFF;
		332	}
		333
		334
		335	/*************************************************************************
		336	Function: ReadWI232()
		337	Purpose: send Readcommand to Wi232,
		338	Returns: Registervalue, 0 = timeout 0xFF = Syntaxerror
		339
		340	**************************************************************************/
		341	int16_t ReadWi232(uint16_t Wi232Register)
		342
		343	{
		344	uint8_t timeout=10;
		345	uint8_t tc=0;
		346
		347
		348	unsigned int v;
		349
		350	v = USART_getc(); /Zeichen löschen/
		351	USART_putc(0xff);
		352	USART_putc(0x02);
		353	USART_putc(0xfe);
		354	USART_putc(Wi232Register);
		355	_delay_ms(50);
		356	// lcd_printpns_at (0, 2, PSTR("read Wi232"),0);
		357
		358
		359	do
		360	{
		361	v = USART_getc(); /ACK erwartet/
		362	_delay_ms(100);
		363	tc ++;
		364	}
		365	while (v==0 && tc!=timeout);
		366
		367	if (tc == timeout)
		368	return 0; /* Timeout*/
		369
		370	if (v != 0x06)
		371	return 0xFF; /* Syntaxerror*/
		372
		373	lcd_print_hex(v,0);
		374	v = USART_getc(); /Register/
		375	// lcd_print_hex(v,0);
		376	v = USART_getc(); /Value/
		377	// lcd_print_hex(v,0);
		378
		379	return v;
		380
		381	}
		382
		383
		384
		385	/*************************************************************************
		386	Function: EscapeString()
		387	Purpose:
		388	Returns:
		389	Quelle: Radiotronix Wi.232 Manual
		390	**************************************************************************/
		391
		392
		393	int EscapeString(char src, char src_len, char dest)
		394	{
		395	// The following function copies and encodes the first
		396	// src_len characters from src into dest. This
		397	// encoding is necessary for Wi.232 command formats.
		398	// The resulting string is null terminated. The size
		399	// of this string is the function return value.
		400	// ---------------------------------------------------
		401	uint8_t src_idx, dest_idx;
		402	// Save space for the command header and size bytes
		403	// ------------------------------------------------
		404	dest_idx = 2;
		405	// Loop through source string and copy/encode
		406	// ------------------------------------------
		407	for (src_idx = 0; src_idx < src_len; src_idx++)
		408	{
		409	if (src[src_idx] > 127)
		410	{
		411	dest[dest_idx++] = 0xFE;
		412	}
		413	dest[dest_idx++] = (src[src_idx] & 0x7F);
		414	}
		415	// Add null terminator
		416	// -------------------
		417	dest[dest_idx] = 0;
		418	// Add command header
		419	// ------------------
		420	dest[0] = 0xFF;
		421	dest[1] = dest_idx-2;
		422
		423	// Return escape string size
		424	// -------------------------
		425	return dest_idx;
		426	}
		427
		428
		429	//#if defined HWVERSION1_3W \|\| defined HWVERSION3_9
		430	/*************************************************************************
		431	Function: Wi232USB()
		432	Purpose: Connect Wi232 Programmmode to PKT USB,
		433	Returns:
		434
		435	**************************************************************************/
		436	void Wi232_USB(void)
		437
		438
		439	{
		440	unsigned int c0,c1;
		441
		442	if (Wi232_hardware==1)
		443	{
		444	// USART_Init (UART_BAUD_SELECT(57600,F_CPU));
		445	// uart1_init( UART_BAUD_SELECT(57600,F_CPU) );
		446	// USART_Init (UART_BAUD_SELECT(2400,F_CPU));
		447	// uart1_init( UART_BAUD_SELECT(2400,F_CPU) );
		448	}
		449
		450	if (Wi232_hardware==2)
		451	{
		452	USART_Init (UART_BAUD_SELECT(2400,F_CPU));
		453	uart1_init( UART_BAUD_SELECT(2400,F_CPU) );
		454	}
		455
		456	lcd_cls ();
		457	// SwitchToWi232(); /* Serielle Kanäle Wi232 mit USB verbinden*/
		458
		459	set_WI232CMD();
		460
		461	lcd_printpns_at (0, 0, PSTR("Wi.232 Konfiguration "),0);
		462	lcd_printpns_at (0, 1, PSTR("PC mit USB verbinden"),0);
		463	lcd_printpns_at (0, 2, PSTR("Wi.232"),0);
		464	lcd_printpns_at (0, 3, PSTR("Programm starten"),0);
		465	lcd_printpns_at (17, 7, PSTR("Exit"),0);
		466
		467	c1 = 0;
		468
		469	for(;;)
		470	{
		471	c0 = uart1_getc(); /* from USB*/
		472	if ( c0 & UART_NO_DATA )
		473	{
		474	c1 = USART_getc();
		475
		476	if (c1 == 0)
		477	{}
		478	else
		479	{
		480	// lcd_print_hex(c1,0);
		481	uart1_putc (c1); /to USB/;
		482	}
		483	}
		484	else
		485	{
		486	USART_putc(c0 ); /* to Wi232*/
		487	// lcd_print_hex(c0,0);
		488	// _delay_ms(1);
		489	}
		490
		491	if ((get_key_press (1 << KEY_ENTER)))
		492	{
		493	clr_WI232CMD();
		494	// uart1_init( UART_BAUD_SELECT(57600,F_CPU) );
		495	// USART_Init( UART_BAUD_SELECT(57600,F_CPU) );
		496	// SwitchToFC();
		497	return;
		498	}
		499
		500	}
		501	}
		502	/*************************************************************************
		503	Function: Wi232_FC()
		504	Purpose: Connect Wi232 to PKT USB, Transparent
		505	Returns:
		506
		507	**************************************************************************/
		508	void Wi232_FC(void)
		509
		510
		511	{
		512	unsigned int c0,c1;
		513
		514
		515	USART_Init (UART_BAUD_SELECT(57600,F_CPU));
		516	uart1_init( UART_BAUD_SELECT(57600,F_CPU) );
		517	// USART_Init (UART_BAUD_SELECT(2400,F_CPU));
		518	// uart1_init( UART_BAUD_SELECT(2400,F_CPU) );
		519
		520	lcd_cls ();
		521	// SwitchToWi232(); /* Serielle Kanäle Wi232 mit USB verbinden*/
		522
		523
		524	lcd_printpns_at (0, 0, PSTR("Wi.232 to FC "),0);
		525	lcd_printpns_at (0, 1, PSTR("PC mit USB verbinden"),0);
		526	lcd_printpns_at (0, 2, PSTR("und Mikrokoptertool"),0);
		527	lcd_printpns_at (0, 3, PSTR("starten"),0);
		528	lcd_printpns_at (17, 7, PSTR("Exit"),0);
		529
		530	c1 = 0;
		531
		532	for(;;)
		533	{
		534	c0 = uart1_getc(); /* from USB*/
		535	if ( c0 & UART_NO_DATA )
		536	{
		537	c1 = USART_getc();
		538	if (c1 == 0)
		539	{}
		540	else
		541	{
		542	// lcd_print_hex(c1,0);
		543	uart1_putc (c1); /to USB/;
		544
		545	}
		546	}
		547	else
		548	{
		549	USART_putc(c0 ); /* to Wi232*/
		550	// lcd_print_hex(c0,0);
		551	// _delay_ms(1);
		552	}
		553
		554	if ((get_key_press (1 << KEY_ENTER)))
		555	{
		556	return;
		557	}
		558	}
		559	}
		560
		561
		562	#endif

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(root)/Transportables_Koptertool/branch/GPL_PKT_V3_5_8a_FC086/Wi232.c @ 1488 - Rev 1470