Subversion Repositories Projects

/*****************************************************************************

 *   Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de                  *

 *   Copyright (C) 2009-2010 Peter "woggle" Mack, mac@denich.net             *

 *                                                                           *

 *   This program is free software; you can redistribute it and/or modify    *

 *   it under the terms of the GNU General Public License as published by    *

 *   the Free Software Foundation; either version 2 of the License.          *

 *                                                                           *

 *   This program is distributed in the hope that it will be useful,         *

 *   but WITHOUT ANY WARRANTY; without even the implied warranty of          *

 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the           *

 *   GNU General Public License for more details.                            *

 *                                                                           *

 *   You should have received a copy of the GNU General Public License       *

 *   along with this program; if not, write to the                           *

 *   Free Software Foundation, Inc.,                                         *

 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.               *

 *                                                                           *

 *                                                                           *

 *   Credits to:                                                             *

 *   Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN  *

 *                          http://www.mikrokopter.de                        *

 *   Gregor "killagreg" Stobrawa for his version of the MK code              *

 *   Thomas Kaiser "thkais" for the original project. See                    *

 *                          http://www.ft-fanpage.de/mikrokopter/            *

 *                          http://forum.mikrokopter.de/topic-4061-1.html    *

 *   Claas Anders "CaScAdE" Rathje for providing the font and his C-OSD code *

 *                          http://www.mylifesucks.de/oss/c-osd/             *

 *****************************************************************************/

#include <inttypes.h>

#include <avr/io.h>

#include <avr/interrupt.h>

#include <avr/pgmspace.h>

#include <avr/eeprom.h>

#include <util/delay.h>

#include "main.h"

#include "lcd.h"

#include "usart.h"

#include "parameter.h"

#include "menu.h"

#include "display.h"

#include "timer.h"

#include "jeti.h"

#include "lipo.h"

#include "eeprom.h"

#include "mk-data-structs.h"

#define LEDS    // my development board has some status LEDs

//#define MTEST // Menu Test (skip FC/NC detection)

Version_t *version;

volatile uint8_t mode = 0;

uint8_t hardware = 0;

uint8_t current_hardware = 0;

int main (void)

{

        uint8_t timeout;

        PORTA = 0xF0;

        PORTB = 0x43;

        PORTC = 0xFF;

        PORTD = 0x70;

#ifdef LEDS

        DDRC = 0x1C;

        DDRD = 0xF0;

#else

        //      DDRC = 0x03;

        DDRD = 0x80;

#endif

        ReadParameter ();

        LCD_Init ();

        USART_Init ();

        JETI_Init();

        TIMER0_Init ();

        ADC_Init();

        sei ();

#ifndef MTEST

        lcd_cls ();

        //lcd_printp (PSTR("Portable Kopter Tool\r\n"), 0);

        lcd_printp (PSTR("MK Multi Box\r\n"), 0);

        lcd_printp (PSTR("checking hardware..."), 0);

        // switch to NC

        USART_putc (0x1b);

        USART_putc (0x1b);

        USART_putc (0x55);

        USART_putc (0xaa);

        USART_putc (0x00);

        mode = 'V';

        timeout = 50;

        while (!rxd_buffer_locked && timeout)

        {

                SendOutData('v', ADDRESS_ANY, 0);

                timer = 20;

                while (timer > 0);

                timeout--;

        }

        if (timeout != 0)

        {

                Decode64 ();

                version = (Version_t *) pRxData;

                lcd_cls ();

                //lcd_printp (PSTR("Portable Kopter Tool\r\n"), 0);

                lcd_printp (PSTR("MK Multi Box\r\n"), 0);

                lcd_printp (PSTR("found:\r\n\n"), 0);

                if ((rxd_buffer[1] - 'a') == ADDRESS_FC)

                {

                        lcd_printp (PSTR("Flight-Ctrl\r\n"), 0);

                        hardware = FC;

                        current_hardware = hardware;

                }

                else if ((rxd_buffer[1] - 'a') == ADDRESS_NC)

                {

                        lcd_printp (PSTR("Navi-Ctrl\r\n"), 0);

                        hardware = NC;

                        current_hardware = hardware;

                }

                lcd_printp (PSTR("Version: "), 0);

                lcd_write_number_u (version->SWMajor);

                lcd_printp (PSTR("."), 0);

                lcd_write_number_u (version->SWMinor);

                lcd_putc (lcd_xpos, lcd_ypos, version->SWPatch + 'a', 0);

        }

        else

        {       // timeout occured

                lcd_printp (PSTR("\r\n\nERROR: no data"), 0);

        }

        mode = 0;

        rxd_buffer_locked = FALSE;

        timer = 200;

        while (timer > 0);

#endif

        for (;;)

        {

                main_menu ();

        }

}