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/Transportables_Koptertool/trunk/V-0.1.2/CHANGE.LOG
0,0 → 1,194
/****************************************************************************
* Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje *
* admiralcascade@gmail.com *
* Project-URL: http://www.mylifesucks.de/oss/c-osd/ *
* *
* 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. *
****************************************************************************/
 
20090612-2100
*spi transfer now struct driven (needs C-Strom 20090612-2100 now!!!)
*lesser spi update rate (caused problems on some strom-slaves)
*voltage gets transfered via spi as well
*menu to switch display of 2nd voltage measured by C-Strom on and off
 
20090604-1350
*bugfix for stats
 
20090604-1330
*possible to choose between different osd-layouts (via menu)
 
20090604-0700
+(shaddi)osd_ncmode_minimal for less symbols during FPV
 
20090601-2233
*(woggle) changed timer init an interupt to be more precise
*(woggle) remove all warning during compile
*(woggle) simplify draw_big_variometer
*(woggle) put compass rose to PROGMEM
*(woggle) put directions array to PROGMEM
 
20090525-2305
+HUD on/off via RC (connect to PPM, according to manual) testing stuff
 
20090523-1150
+pal/ntsc changable in menu (applied immedeately!)
 
20090519-2245
*mah corrected
+config gets saved now (menu item!)
*source moved a bit
 
20090519-0115
+mah currently wasted
*some small changes
 
20090517-2345
*modded the real alpha stuff i have been talking about below
 
20090516-2345
+some really testing stuff 'bout current measurement, more to come
 
20090513-2350
*cellnumber autoconfig modified, offset set to 1,5V
*copy paste nick/roll error fixed
*clean after build in dist.sh
+a little shellscript to auto-build the files (testing)
*osd-layouts in seperate files so including own layouts should get easier
+build date is displayed during init to know which version you are runing
 
20090513-1040
*some code movement
+artificial horizon for FC-ONLY mode
 
20090512-2100
+some FCONLY basics (set FCONLY to 1 in main.h to use it)
 
20090511-2345
*battery voltages now calculated according to CELL_VOLT_MIN CELL_VOLT_MAX and CELL_NUM
*CELL_NUM -1 causes a rough auto detection of cell number
-UBAT_WRN and UBAT_MAX are now deprecated
 
20090427-2315
+write_gps_pos(...) (needs to be tested)
+gps position is shown in stats screen for testing purpose
 
20090427-2131
*stats are only collected while engines running (shaddi)
 
20090427-2102
*fixed maximum distance in stats (shaddi)
 
20090427-2050
*clear() now faster
*fixed calculation of max speed in stats (shaddi)
*littel typo in artificial horizon (thx joko)
*stats are only shown AFTER flight (more specific, after motors had been on at least once)
+indication icon for serial link (requires new character 198)
+indication icon for manual controll (stick > stick threshold)
(Character set 192 needs to be reflashed since new icon is in it)
 
20090420-0205
*reset-bug fixed
*moved code a bit
 
20090419-2145
*reset-bug workaround in usart1.c: usart1_DisableTXD and usart1_EnableTXD
 
20090419-1900
*fixed bug in heading-fine conv for bearing to home
 
20090419-1245
*compass characters bigger
*battery position
+voltage-symbol to battery-voltage
(Character Set 208 needs to be reflashed since compass chars are in it)
 
20090418-2015
*fixed bug in Character Set 128 (reflash it if you already flashed it!)
+another set of vario chars
*changed vario to use new characters
*moved vario/home-bearing positions
*big vario now enabled via menu or BIGVARIO
(Character Set 112 needs to be flashed)
 
20090418-1235
+big vario for testing purpose
(Character Set 192 needs to be flashed)
 
20090418-0100
*variometer uses more steps (9 instead of 5)
*home-arrow is now home-clock using more steps (22,5° resolution)
+visual battery-gauge according to difference between UBAT_WRN and UBAT_MAX
 
20090417-1115
*changed calculation of km/h (thx wowie)
*added JochenK_(joko)'s characters
(Character-Sets 128, 136, 144, 152, 160, 168, 176 and 184 need to be flashed!)
 
20090408-1245 (shaddi)
*fixed distance towards home
 
20090408-0035
*rewrote number->display functions
*fixed height bug (uint vs int)
 
20090407-2100
+added request of OSD data, disrequest of debug data and uptime reset to menu
-removed the uptime-reset binding from S2
+pgm space for some strings to save _normal_ data space
*some code movement
 
20090406-0130
*MK-Datastruct updated to work with NaviCtrl 0.15c firmware
*changed flags from NO* to invers versions
*enhanced the menu a bit
-artificial horizon at bootup, the menu is cooler imho
 
20090405-0207
+NOOSD as requested
*height now corrected (thx lephisto) and displayed as .x up to 10m
 
20090402-0106
+ disabling the txd pin while not using it so it won't interfere with KopterTool usage (thx joko)
+ if no data has been received for over 2sec we re-request it
* tried source organisation a bit
 
20090401-1741 (shaddi)
+ More precise Veriometer. Uses more more characters to show the speed of the movement
(Character-Set 232 needs to be flashed!)
 
20090331-1549
+ simple config menu during runtime, press S1 to jump in, S2 to cyle and S1 to accept choice
- S1 no longer requests the NC data
 
20090331-1305
+ added more statistics
* corrected S1/S2 mapping (d'oh)
+ started simple mode controll, press S2 during bootup toggles artificial horizon
 
20090329-1452
* fixed bearing to home
+ added flight stats (shown while engines off)
+ sat icon should indicate PH/CH/Free now
+ you need to flash characters 224-231 if you were using previous versions
 
20090327-2140
* fixed km/h (was cm/s)
* fixed height m (was dm)
* modified incoming data speed to 100ms (was 200ms)
 
20090326-2031
+ first binary release
/Transportables_Koptertool/trunk/V-0.1.2/LICENSE.TXT
0,0 → 1,340
GNU GENERAL PUBLIC LICENSE
Version 2, June 1991
 
Copyright (C) 1989, 1991 Free Software Foundation, Inc.
59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
 
Preamble
 
The licenses for most software are designed to take away your
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(at your option) any later version.
 
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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/Transportables_Koptertool/trunk/V-0.1.2/MMB 1.pdf
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/Transportables_Koptertool/trunk/V-0.1.2/MMB 1.pdf
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/Transportables_Koptertool/trunk/V-0.1.2/MMB 1.sch
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/Transportables_Koptertool/trunk/V-0.1.2/MMB 1.sch
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/Transportables_Koptertool/trunk/V-0.1.2/Makefile
0,0 → 1,499
#-------------------------------------------------------------------
# Use only one!
# _M_obiles _M_ikrokopter _T_ool http://forum.mikrokopter.de/topic-4061-1.html
# MK Multi Box
BOARD = MMB
#
#BOARD = xxx
 
#-------------------------------------------------------------------
VERSION_MAJOR = 0
VERSION_MINOR = 2
VERSION_PATCH = 1
 
VERSION_SERIAL_MAJOR = 10 # Serial Protocol Major Version
VERSION_SERIAL_MINOR = 0 # Serial Protocol Minor Version
 
#-------------------------------------------------------------------
# get SVN revision
REV := $(shell sh -c "cat .svn/entries | sed -n '4p'")
 
ifeq ($(BOARD), MMT)
# The original with ATmega32 and 7.3 MHz
MCU = atmega32
F_CPU = 7372800
QUARZ = 7MHZ
FUSE_SETTINGS = -u -U lfuse:w:0x3f:m -U hfuse:w:0xcf:m
HEX_NAME = $(BOARD)_MEGA32
endif
ifeq ($(BOARD), MMB)
# MK Multi Box with ATmega644p and 20 MHz
MCU = atmega644p
F_CPU = 20000000
QUARZ = 20MHZ
FUSE_SETTINGS = -u -U lfuse:w:0xd7:m -U hfuse:w:0xdf:m -U efuse:w:0xfc:m
HEX_NAME = $(BOARD)_MEGA644p
endif
ifeq ($(BOARD), MMB1)
# original board. ATmega32 replaced with ATmega644p
MCU = atmega644p
F_CPU = 7372800
QUARZ = 7MHZ
FUSE_SETTINGS = -u -U lfuse:w:0xd7:m -U hfuse:w:0xdf:m -U efuse:w:0xfc:m
HEX_NAME = $(BOARD)_MEGA644p
endif
 
 
# Output format. (can be srec, ihex, binary)
FORMAT = ihex
 
# Target file name (without extension).
ifeq ($(VERSION_PATCH), 0)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)a_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 1)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 2)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 3)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 4)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 5)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 6)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 7)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 8)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)i_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 9)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)j_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 10)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)k_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 11)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)l_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 12)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)m_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 13)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)n_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 14)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)o_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 15)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)p_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 16)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)q_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 17)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)r_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 18)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)s_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 19)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)t_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 20)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)u_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 21)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)v_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 22)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)w_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 23)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)x_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 24)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)y_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 25)
TARGET = $(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)z_SVN$(REV)
endif
 
 
# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization.
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
OPT = s
 
##########################################################################################################
# List C source files here. (C dependencies are automatically generated.)
SRC = main.c menu.c timer.c lcd.c font8X6.c font8x8.c usart.c settings.c motortest.c display.c osd.c debug.c jeti.c servo.c lipo.c parameter.c status.c eeprom.c
 
##########################################################################################################
 
 
# List Assembler source files here.
# Make them always end in a capital .S. Files ending in a lowercase .s
# will not be considered source files but generated files (assembler
# output from the compiler), and will be deleted upon "make clean"!
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line.
ASRC =
 
 
 
# List any extra directories to look for include files here.
# Each directory must be seperated by a space.
EXTRAINCDIRS =
 
 
# Optional compiler flags.
# -g: generate debugging information (for GDB, or for COFF conversion)
# -O*: optimization level
# -f...: tuning, see gcc manual and avr-libc documentation
# -Wall...: warning level
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlms: create assembler listing
CFLAGS = -O$(OPT)
CFLAGS += -funsigned-char
CFLAGS += -funsigned-bitfields
CFLAGS += -fpack-struct
CFLAGS += -fshort-enums
CFLAGS += -Wall
CFLAGS += -Wstrict-prototypes
CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
 
 
# Compiler flag to set the C Standard level.
# Unremark just one line below to set the language standard to use.
# c89 = "ANSI" C
# gnu89 = c89 plus GCC extensions
# c99 = ISO C99 standard (not yet fully implemented)
# gnu99 = c99 plus GCC extensions
#CFLAGS += -std=c89
#CFLAGS += -std=gnu89
#CFLAGS += -std=c99
CFLAGS += -std=gnu99
 
CFLAGS += -DF_CPU=$(F_CPU)
CFLAGS += -DQUARZ=$(QUARZ)
CFLAGS += -DVERSION_MAJOR=$(VERSION_MAJOR)
CFLAGS += -DVERSION_MINOR=$(VERSION_MINOR)
CFLAGS += -DVERSION_PATCH=$(VERSION_PATCH)
CFLAGS += -DVERSION_SERIAL_MAJOR=$(VERSION_SERIAL_MAJOR)
CFLAGS += -DVERSION_SERIAL_MINOR=$(VERSION_SERIAL_MINOR)
 
ifeq ($(BOARD), MMT)
CFLAGS += -DUSE_MMT
endif
ifeq ($(BOARD), MMTNG)
CFLAGS += -DUSE_MMTNG
endif
 
 
# Optional assembler flags.
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlms: create listing
# -gstabs: have the assembler create line number information; note that
# for use in COFF files, additional information about filenames
# and function names needs to be present in the assembler source
# files -- see avr-libc docs [FIXME: not yet described there]
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
 
 
 
# Optional linker flags.
# -Wl,...: tell GCC to pass this to linker.
# -Map: create map file
# --cref: add cross reference to map file
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
 
# Additional libraries
 
# Minimalistic printf version
#LDFLAGS += -Wl,-u,vfprintf -lprintf_min
 
# Floating point printf version (requires -lm below)
#LDFLAGS += -Wl,-u,vfprintf -lprintf_flt
 
# -lm = math library
LDFLAGS += -lm
 
 
##LDFLAGS += -T./linkerfile/avr5.x
 
 
 
# Programming support using avrdude. Settings and variables.
 
# Programming hardware:
#
# Type: avrdude -c ?
# to get a full listing.
#
AVRDUDE_PROGRAMMER = usbasp
#falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden
 
#AVRDUDE_PORT = com1 # programmer connected to serial device
#AVRDUDE_PORT = lpt1 # programmer connected to parallel port
#AVRDUDE_PORT = usb # programmer connected to USB
 
AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
AVRDUDE_WRITE_FUSE = $(FUSE_SETTINGS)
AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
 
#avrdude -c avrispv2 -P usb -p m32 -U flash:w:blink.hex
#AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
AVRDUDE_FLAGS = -p $(MCU) -c $(AVRDUDE_PROGRAMMER)
 
# Uncomment the following if you want avrdude's erase cycle counter.
# Note that this counter needs to be initialized first using -Yn,
# see avrdude manual.
#AVRDUDE_ERASE += -y
 
# Uncomment the following if you do /not/ wish a verification to be
# performed after programming the device.
AVRDUDE_FLAGS += -V
 
# Increase verbosity level. Please use this when submitting bug
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
# to submit bug reports.
#AVRDUDE_FLAGS += -v -v
 
# ---------------------------------------------------------------------------
# Define directories, if needed.
#DIRAVR = c:/winavr
#DIRAVRBIN = $(DIRAVR)/bin
#DIRAVRUTILS = $(DIRAVR)/utils/bin
#DIRINC = .
#DIRLIB = $(DIRAVR)/avr/lib
 
 
# Define programs and commands.
SHELL = sh
 
CC = avr-gcc
 
OBJCOPY = avr-objcopy
OBJDUMP = avr-objdump
SIZE = avr-size
 
# Programming support using avrdude.
AVRDUDE = avrdude
 
REMOVE = rm -f
COPY = cp
 
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
##ELFSIZE = $(SIZE) -A $(TARGET).elf
ELFSIZE = $(SIZE) --mcu=$(MCU) --format=avr $(TARGET).elf
 
# Define Messages
# English
MSG_ERRORS_NONE = Errors: none
MSG_BEGIN = -------- begin --------
MSG_END = -------- end --------
MSG_SIZE_BEFORE = Size before:
MSG_SIZE_AFTER = Size after:
MSG_COFF = Converting to AVR COFF:
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
MSG_FLASH = Creating load file for Flash:
MSG_EEPROM = Creating load file for EEPROM:
MSG_EXTENDED_LISTING = Creating Extended Listing:
MSG_SYMBOL_TABLE = Creating Symbol Table:
MSG_LINKING = Linking:
MSG_COMPILING = Compiling:
MSG_ASSEMBLING = Assembling:
MSG_CLEANING = Cleaning project:
 
 
# Define all object files.
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
 
# Define all listing files.
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst)
 
# Combine all necessary flags and optional flags.
# Add target processor to flags.
#ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS)
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
 
 
# Default target.
all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \
$(TARGET).lss $(TARGET).sym sizeafter finished end
 
 
# Eye candy.
# AVR Studio 3.x does not check make's exit code but relies on
# the following magic strings to be generated by the compile job.
begin:
@echo
@echo $(MSG_BEGIN)
 
finished:
@echo $(MSG_ERRORS_NONE)
 
end:
@echo $(MSG_END)
@echo
 
 
# Display size of file.
sizebefore:
@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
 
sizeafter:
@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
 
 
 
# Display compiler version information.
gccversion :
@$(CC) --version
 
 
# Convert ELF to COFF for use in debugging / simulating in
# AVR Studio or VMLAB.
COFFCONVERT=$(OBJCOPY) --debugging \
--change-section-address .data-0x800000 \
--change-section-address .bss-0x800000 \
--change-section-address .noinit-0x800000 \
--change-section-address .eeprom-0x810000
 
 
coff: $(TARGET).elf
@echo
@echo $(MSG_COFF) $(TARGET).cof
$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
 
 
extcoff: $(TARGET).elf
@echo
@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
 
 
 
 
# Program the device.
flash: $(TARGET).hex
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
eeprom: $(TARGET).eep
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_EEPROM)
fuse:
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FUSE)
 
reset:
$(AVRDUDE) $(AVRDUDE_FLAGS)
 
 
# Create final output files (.hex, .eep) from ELF output file.
%.hex: %.elf
@echo
@echo $(MSG_FLASH) $@
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
 
%.eep: %.elf
@echo
@echo $(MSG_EEPROM) $@
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
 
# Create extended listing file from ELF output file.
%.lss: %.elf
@echo
@echo $(MSG_EXTENDED_LISTING) $@
$(OBJDUMP) -h -S $< > $@
 
# Create a symbol table from ELF output file.
%.sym: %.elf
@echo
@echo $(MSG_SYMBOL_TABLE) $@
avr-nm -n $< > $@
 
 
# Link: create ELF output file from object files.
.SECONDARY : $(TARGET).elf
.PRECIOUS : $(OBJ)
%.elf: $(OBJ)
@echo
@echo $(MSG_LINKING) $@
$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
 
 
# Compile: create object files from C source files.
%.o : %.c
@echo
@echo $(MSG_COMPILING) $<
$(CC) -c $(ALL_CFLAGS) $< -o $@
 
 
# Compile: create assembler files from C source files.
%.s : %.c
$(CC) -S $(ALL_CFLAGS) $< -o $@
 
 
# Assemble: create object files from assembler source files.
%.o : %.S
@echo
@echo $(MSG_ASSEMBLING) $<
$(CC) -c $(ALL_ASFLAGS) $< -o $@
 
 
# Target: clean project.
clean: begin clean_list finished end
 
clean_list :
@echo
@echo $(MSG_CLEANING)
# $(REMOVE) $(TARGET).hex
$(REMOVE) $(TARGET).eep
$(REMOVE) $(TARGET).obj
$(REMOVE) $(TARGET).cof
$(REMOVE) $(TARGET).elf
$(REMOVE) $(TARGET).map
$(REMOVE) $(TARGET).obj
$(REMOVE) $(TARGET).a90
$(REMOVE) $(TARGET).sym
$(REMOVE) $(TARGET).lnk
$(REMOVE) $(TARGET).lss
$(REMOVE) $(OBJ)
$(REMOVE) $(LST)
$(REMOVE) $(SRC:.c=.s)
$(REMOVE) $(SRC:.c=.d)
@echo
 
 
# Automatically generate C source code dependencies.
# (Code originally taken from the GNU make user manual and modified
# (See README.txt Credits).)
#
# Note that this will work with sh (bash) and sed that is shipped with WinAVR
# (see the SHELL variable defined above).
# This may not work with other shells or other seds.
#
%.d: %.c
@set -e; $(CC) -MM $(ALL_CFLAGS) $< \
| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \
[ -s $@ ] || rm -f $@
 
 
# Remove the '-' if you want to see the dependency files generated.
-include $(SRC:.c=.d)
 
 
# Listing of phony targets.
.PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff clean clean_list flash eeprom fuse reset
/Transportables_Koptertool/trunk/V-0.1.2/README.txt
0,0 → 1,166
MK Multi Box:
=============
 
Stand: 16.01.2010
 
Was kann die MMB:
- Anzeige der OSD-Daten
- MK Display
- MK Motor Test
- MK Debug-Daten
- Jeti Box
- Servo Tester
 
Das muß noch geschrieben/überarbeitet/getestet werde:
- MK Parameter
- LiPo Überwachung
- I2C-Tester für BL-Ctrl
 
Die MMB entstand aus dem Projekt "Transportables Kopter Tool" von thkais:
http://www.ft-fanpage.de/mikrokopter/
und
http://forum.mikrokopter.de/topic-4061-1.html
 
Das Projekt hatte ich mal auf Lochraster nachgebaut.
Leider war es kurz nach dem Bau ziemlich nutzlos.
Die FC bekam ein Firmware-Update und niemand hat sich um die Software-Anpassung des Tools gekümmert. :-(
So lag es denn einige Monate und staubte vor sich hin...
 
Mitte 2009 wollte ich mich mit den AVRs beschäftigen und
mir etwas basteln um die OSD-Daten vom MK zu visualisieren.
 
Und zufällig schweift mein Blick über die verstaubte Kopter-Tool Hardware. ;-)
Herausgekommen ist die MMB.
 
Die Hardware basiert weitestgehend auf dem Entwurf von thkais.
Ich habe nur etwas "modernisiert", d.h. den ATmega32 durch einen ATmega644p mit 20 MHz ersetzt.
Die genauen Hardware-Details finden sich im Schaltplan, der auch im Eagle-Format vorliegt.
 
Die "tausend" LEDs habe ich mir nur als "Debug-Hilfe" dazugebastelt
und können auch weggelassen werden.
 
Entwickelt habe ich auf dem Mac (Mac OS X 10.6) mit Crosspack. Als Editor mußte XCode herhalten.
Der Source sollte sich aber auch unter Linux oder (zur Not) auch Windows mit den entsprechenden AVR-Tools compilieren lassen.
 
Die Tasten
^ v ⎋ ⏎
^ - Up
v - Down
⎋ - Escape/Back/Top
⏎ - Enter
 
Wenn genug Platz im Display vorhanden ist, wird in der untersten Zeile die aktuelle
Tastenbelegung eingeblendet. Das ist aber leider nicht immer möglich.
 
Hauptmenü:
==========
- Navi Data
- Display
- Parameters
- Debug Data
- Jeti
- Utilities...
 
1) Navi Data
Anzeige des OSD Datensatzes der NC.
 
Tasten:
---- ---- Exit Status
 
Beim Stoppen der Motoren wird einen Statusseite angezeigt.
Die Statusseite kann auch gezielt mit der Status-taste ausgerufen werden.
 
Tasten (Statusseite):
---- ---- Exit ----
 
2) Display
Anzeigen des MK-Displays.
 
Tasten:
page- page+ Exit NC/FC
 
3) Parameters
-- noch nicht funktionsfähig ---
Auslesen und Ändern der FC Parameter.
 
4) Debug Data
Anzeige der MK Debug Daten.
 
Tasten:
page- page+ Exit NC/FC
 
5) Jeti
Die MK Multi Box arbeitet als "Jeti Box".
Die Belegung der Tasten hat sich wie folgt geändert:
^ v < >
^ - Up
v - Down
< - Left
> - Right
 
Die "Jeti Box"-Funktion wird über längeres Drückern der <-Taste (Left) verlassen.
 
6) Utilities...
Weiter zum Sub-Menü "Utilities".
 
 
Utilities:
==========
- Motor Test
- Servo Tester
- LiPo Status
- Status
- Settings...
 
1) Motor Test
MK Motortest
 
2) Servo Tester
Generiert einen Servo Puls mit variabler Länge von 1.0 ms bis 2.0 ms
mit einer Wiederholrate vom 20 ms.
 
Tasten:
-10 +10 Exit >|<
 
-10 - -10 Steps
+10 - +10 Steps
Exit - Servo-Test verlassen
>|< - Servo in Mittenposition (1,5 ms)
 
Langes Drücken auf >|< schaltet die Schrittweite auf +1/-1 um.
 
Schrittweite ist 0,32 µs.
 
3) LiPo Status
Anzeige der Zellenspannungen eines LiPos bis max 4S.
 
4) Status
Einige Statusinformationen...
 
5) Settings...
Weiter zum Sub-Menü "Settings".
 
 
Settings:
=========
- Orientation
- LiPo Warn
- View Font
- Line
- Rectangle
 
1) Orientation
Anzeige um 128 Grad drehen.
Einstellung wird im EEPROM gespeichert.
 
2) LiPo Warn
Einstellen der Warnschwelle
 
3) View Font
Anzeige des 6x8 Fonts.
 
4) Line
***TEST
 
5) Rectangle
***TEST
/Transportables_Koptertool/trunk/V-0.1.2/TODO.txt
0,0 → 1,8
- MK Parameter
 
- LiPo Überwachung
Warnung ausgeben!
 
- I2C BL-Ctrl Tester
entweder zusammen mit dem Motor-Test (einfach alle Motoren bzw. alle I2C BL-Ctrl Adressen) oder
als extra Menü und Reglernummer wählbar
/Transportables_Koptertool/trunk/V-0.1.2/debug.c
0,0 → 1,278
/*****************************************************************************
* Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de *
* Copyright (C) 2009 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. *
* *
*****************************************************************************/
 
// @TODO: maybe choose a smaler font for the debug data. 6x6 or 6x7 would be nice and gives some additional space for status lines
 
#include <avr/io.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
#include <string.h>
 
#include "main.h"
#include "menu.h"
#include "lcd.h"
#include "usart.h"
#include "debug.h"
#include "timer.h"
 
#include "mk-data-structs.h"
 
#define TIMEOUT 200 // 2 sec
#define ANALOGTIME 20 // 200 ms
 
// WARNING: this work for NC & FC only
// if current_hardware == MK3MAG or MKGPS the access is outside of the array...
uint8_t AnalogNames[2][32][16 + 1]; // 32 names, 16 characters + 1 0x00
uint8_t AnalogNamesRead[2] = {0,0};
 
 
//*****************************************************************************
//
void GetAnalogNames (void)
{
uint8_t i = AnalogNamesRead[current_hardware - 1];
uint8_t t = 0;
 
lcd_cls ();
lcd_printp_at (0, 3, PSTR("Reading"), 0);
lcd_printp_at (0, 4, PSTR("Analog Names: "), 0);
 
mode = 'A'; // read Names
_delay_ms(200);
rxd_buffer_locked = FALSE;
 
timer = ANALOGTIME;
while (i < 32)
{
SendOutData ('a', ADDRESS_ANY, 1, &i, 1);
while (!rxd_buffer_locked && timer);
if (timer)
{
Decode64 ();
if (i == *pRxData)
{
write_ndigit_number_u(14, 4, i, 2, 0);
memcpy (AnalogNames[current_hardware - 1][*pRxData], (uint8_t *) pRxData + 1, 16);
AnalogNames[current_hardware - 1][*pRxData][16] = 0;
i++;
t = 0;
}
else
{
_delay_ms (100);
}
 
timer = ANALOGTIME;
rxd_buffer_locked = FALSE;
}
else
{ // timeout occured
t++;
timer = ANALOGTIME;
if (t >= 50)
{
lcd_printp_at (0, 2, PSTR("ERROR: no data"), 0);
timer = 100;
while (timer > 0);
break;
}
}
}
AnalogNamesRead[current_hardware - 1] = i;
#if 0
if (timer)
{
for (page = 0; page < 4; page++)
{
for (i = 0; i < 7; i++)
{
lcd_print_at (0, i, AnalogNames[current_hardware - 1][i + page * 8], 0);
}
while (!get_key_press (1 << KEY_ESC)); // ESC
}
}
//return;
#endif
}
 
 
//*****************************************************************************
//
void display_debug (void)
{
uint8_t i = 0;
uint8_t tmp_dat;
uint8_t page = 0;
DebugData_t *DebugData;
 
lcd_cls ();
 
timer = TIMEOUT;
if (AnalogNamesRead[current_hardware - 1] < 32) {
GetAnalogNames ();
}
if (!timer)
{
return;
}
mode = 'D'; // Debug Data
rxd_buffer_locked = FALSE;
timer = TIMEOUT;
tmp_dat = 10;
SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
 
for (i = 0; i < 8; i++)
{
lcd_print_at (0, i, AnalogNames[current_hardware - 1][i + page * 8], 0);
}
 
do
{
if (rxd_buffer_locked)
{
Decode64 ();
DebugData = (DebugData_t *) pRxData;
 
//lcd_printp_at (0,6,PSTR("Page"),0);
lcd_write_number_u_at (20, 0, page);
switch (current_hardware)
{
case FC:
lcd_printp_at (20, 1, PSTR("F"), 0);
break;
 
case NC:
lcd_printp_at (20, 1, PSTR("N"), 0);
break;
default:
lcd_printp_at (20, 1, PSTR("?"), 0);
break;
}
 
for (i = 0; i < 8; i++)
{
//lcd_print_at (0, i, AnalogNames[i + page * 8], 0);
if (current_hardware == NC)
{
write_ndigit_number_u (14, i, DebugData->Analog[i + page * 8], 5, 0);
}
else
{
write_ndigit_number_s (14, i, DebugData->Analog[i + page * 8], 5, 0);
}
}
timer = TIMEOUT;
rxd_buffer_locked = FALSE;
}
 
if (get_key_press (1 << KEY_MINUS))
{
page--;
page &= 0x03;
lcd_cls ();
for (i = 0; i < 8; i++)
{
lcd_print_at (0, i, AnalogNames[current_hardware - 1][i + page * 8], 0);
}
}
else if (get_key_press (1 << KEY_PLUS))
{
page++;
page &= 0x03;
lcd_cls ();
for (i = 0; i < 8; i++)
{
lcd_print_at (0, i, AnalogNames[current_hardware - 1][i + page * 8], 0);
}
}
 
if ((hardware == NC) && get_key_press (1 << KEY_ENTER))
{
tmp_dat = 0;
SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
_delay_ms (200);
 
if (current_hardware == NC)
{
SwitchToFC();
 
timer = TIMEOUT;
//lcd_printpns_at (0, 7, PSTR(" \x1c \x1d Exit NC"), 0);
}
else
{
SwitchToNC();
 
timer = TIMEOUT;
//lcd_printpns_at (0, 7, PSTR(" \x1c \x1d Exit FC"), 0);
}
_delay_ms (200);
if (AnalogNamesRead[current_hardware - 1] < 32) {
GetAnalogNames ();
}
mode = 'D'; // Debug Data
rxd_buffer_locked = FALSE;
timer = TIMEOUT;
 
tmp_dat = 10;
SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
lcd_cls ();
page = 0;
 
for (i = 0; i < 8; i++)
{
lcd_print_at (0, i, AnalogNames[current_hardware - 1][i + page * 8], 0);
}
}
}
while (!get_key_press (1 << KEY_ESC) && timer); // ESC
 
tmp_dat = 0;
SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
 
mode = 0;
rxd_buffer_locked = FALSE;
 
if (!timer)
{ // timeout occured
lcd_cls ();
lcd_printp_at (0, 2, PSTR("ERROR: no data"), 0);
timer = 100;
while (timer > 0);
}
}
/Transportables_Koptertool/trunk/V-0.1.2/debug.h
0,0 → 1,32
/*****************************************************************************
* Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de *
* Copyright (C) 2009 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. *
* *
*****************************************************************************/
 
#ifndef _DEBUG_H
#define _DEBUG_H
 
//*****************************************************************************
//
extern uint8_t AnalogNamesRead[2];
 
//*****************************************************************************
//
void display_debug(void);
 
#endif
/Transportables_Koptertool/trunk/V-0.1.2/displ_val.c
0,0 → 1,88
 
#include <avr/io.h>
#include <inttypes.h>
#include <stdlib.h>
#include <avr/pgmspace.h>
 
#include "main.h"
#include "lcd.h"
#include "usart.h"
 
// Insgesamt 32 Werte können angezeigt werden
// jeweils 8 Stück werden gleichzeitg angezeigt
// Auswahl über Tasten
 
uint8_t displ_page;
 
 
void displ_get_text (uint8_t number)
{
#if 0
uint8_t text[17];
uint8_t i;
buffer[0] = '#';
buffer[1] = 'a';
buffer[2] = 'a';
buffer[3] = number;
buffer[4] = 0;
buffer[5] = 0;
// base64_send(6);
 
do
{
// get_message ();
}
while (buffer[1] != 'A');
 
for (i = 0; i < 16; i++)
text[i] = buffer[i];
 
text[16] = 0x00;
 
lcd_print_at (0, (number & 0x07), text, 0);
#endif
}
 
void displ_values (void)
{
#if 0
uint8_t displ_page, i;
int16_t value;
uint8_t text[17];
 
displ_page = 0; // Page 0..3 (4 Pages zu je 8 Werte)
lcd_cls (); // LCD löschen
do
{
for (i = 0; i < 8; i++) // Texte lesen und anzeigen
displ_get_text (i + displ_page * 8);
do
{
// get_message ();
if (buffer[1] == 'D')
{
for (i = 0; i < 8; i++)
{
value = buffer[i * 2 + displ_page * 16 + 2] + 256 * buffer[i * 2 + displ_page * 16 + 3];
itoa (value, text, 10);
lcd_printp_at (14, i, PSTR(" "), 0);
lcd_print_at (14, i, text, 0);
}
}
}
while (key == key_nokey);
if (key == key_minus)
displ_page++;
if (key == key_plus)
displ_page--;
displ_page &= 0x03;
}
while (key != key_enter);
#endif
}
 
/Transportables_Koptertool/trunk/V-0.1.2/displ_val.h
0,0 → 1,9
 
#ifndef _DISPL_VAL_H
#define _DISPL_VAL_H
 
//*****************************************************************************
//
void displ_values(void);
 
#endif
/Transportables_Koptertool/trunk/V-0.1.2/display.c
0,0 → 1,153
/*****************************************************************************
* Copyright (C) 2009 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. *
* *
*****************************************************************************/
 
#include <avr/io.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
 
#include "main.h"
#include "lcd.h"
#include "usart.h"
#include "timer.h"
 
#include "mk-data-structs.h"
 
#define TIMEOUT 500 // 5 sec
 
void display_data (void)
{
uint8_t cmd;
uint8_t flag = 0;;
mode = 'H';
lcd_cls ();
if (current_hardware == NC)
{
lcd_printpns_at (0, 7, PSTR(" \x1c \x1d Exit FC"), 0);
}
else
{
if (hardware == FC)
{
lcd_printpns_at (0, 7, PSTR(" \x1c \x1d Exit"), 0);
}
else
{
lcd_printpns_at (0, 7, PSTR(" \x1c \x1d Exit NC"), 0);
}
}
lcd_printp_at (0, 0, PSTR("Display"), 0);
rxd_buffer_locked = FALSE;
timer = TIMEOUT;
cmd = 0x03; // Home = first page
 
do
{
SendOutData('h', ADDRESS_ANY, 1, &cmd, 1);
cmd = 0;
//LED6_TOGGLE;
_delay_ms (250);
 
if (rxd_buffer_locked)
{
Decode64 ();
flag = 1;
if (!hardware)
{ // hardware was not detected at startup
hardware = rxd_buffer[1] - 'a';
if (hardware == NC)
{
lcd_printpns_at (0, 7, PSTR(" \x1c \x1d Exit FC"), 0);
current_hardware = NC;
}
else
{
lcd_printpns_at (0, 7, PSTR(" \x1c \x1d Exit"), 0);
current_hardware = FC;
}
}
 
rxd_buffer[24] = 0;
lcd_print_at (0, rxd_buffer[3] + 1, (uint8_t *) &rxd_buffer[4], 0);
 
rxd_buffer_locked = FALSE;
timer = TIMEOUT;
}
if (get_key_press (1 << KEY_MINUS))
{
cmd = 0x01; // next page
LED1_TOGGLE;
//SendOutData('h', ADDRESS_ANY, 1, &cmd, 1);
//cmd = 0;
}
else if (get_key_press (1 << KEY_PLUS))
{
cmd = 0x02; // previous page
LED2_TOGGLE;
//SendOutData('h', ADDRESS_ANY, 1, &cmd, 1);
//cmd = 0;
}
else if ((hardware == NC) && get_key_press (1 << KEY_ENTER))
{
if (current_hardware == NC)
{
SwitchToFC();
 
//timer = TIMEOUT;
lcd_printpns_at (0, 7, PSTR(" \x1c \x1d Exit NC"), 0);
LED3_TOGGLE;
}
else
{
SwitchToNC();
 
//timer = TIMEOUT;
lcd_printpns_at (0, 7, PSTR(" \x1c \x1d Exit FC"), 0);
LED4_TOGGLE;
}
cmd = 0x03; // Home = first page
//SendOutData('h', ADDRESS_ANY, 1, &cmd, 1);
//cmd = 0;
}
}
while (!get_key_press (1 << KEY_ESC) && timer);
 
get_key_press(KEY_ALL);
 
mode = 0;
rxd_buffer_locked = FALSE;
if (!timer)
{ // timeout occured
if (flag)
{
lcd_cls ();
}
lcd_printp_at (0, 2, PSTR("ERROR: no data"), 0);
timer = 100;
while (timer > 0);
}
LED_ALL_OFF;
}
/Transportables_Koptertool/trunk/V-0.1.2/display.h
0,0 → 1,27
/*****************************************************************************
* Copyright (C) 2009 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. *
* *
*****************************************************************************/
 
#ifndef _DISPLAY_H
#define _DISPLAY_H
 
//*****************************************************************************
//
void display_data (void);
 
#endif
/Transportables_Koptertool/trunk/V-0.1.2/eeprom.c
0,0 → 1,60
/*****************************************************************************
* Copyright (C) 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. *
* *
*****************************************************************************/
 
#include <avr/io.h>
#include <avr/eeprom.h>
#include <avr/pgmspace.h>
 
#include "eeprom.h"
#include "lcd.h"
#include "lipo.h"
#include "timer.h"
 
//*****************************************************************************
//
unsigned char EEPromArray[E2END+1] EEMEM;
 
//*****************************************************************************
//
void WriteParameterDefaults (void)
{
eeprom_write_byte(&EEPromArray[EEPROM_ADDR_VALID], EEPROM_REV);
eeprom_write_byte(&EEPromArray[EEPROM_ADDR_ORIENTATION], 0);
eeprom_write_byte(&EEPromArray[EEPROM_ADDR_LIPO], 33);
}
 
//*****************************************************************************
//
void ReadParameter (void)
{
if ((eeprom_read_byte(&EEPromArray[EEPROM_ADDR_VALID])) != EEPROM_REV)
{
WriteParameterDefaults();
}
LCD_ORIENTATION = eeprom_read_byte (&EEPromArray[EEPROM_ADDR_ORIENTATION]);
AD_WarnLevel = eeprom_read_byte (&EEPromArray[EEPROM_ADDR_LIPO]);
}
 
//*****************************************************************************
//
void WriteParameter (void)
{
eeprom_write_byte(&EEPromArray[EEPROM_ADDR_ORIENTATION], LCD_ORIENTATION);
eeprom_write_byte(&EEPromArray[EEPROM_ADDR_LIPO], AD_WarnLevel);
}
/Transportables_Koptertool/trunk/V-0.1.2/eeprom.h
0,0 → 1,34
/*****************************************************************************
* Copyright (C) 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. *
* *
*****************************************************************************/
 
#ifndef _EEPROM_H
#define _EEPROM_H
 
#define EEPROM_REV 1 // please increment when adding or changing parameters!
 
#define EEPROM_ADDR_VALID 1
#define EEPROM_ADDR_ORIENTATION 2
#define EEPROM_ADDR_LIPO 3
 
//*****************************************************************************
//
void ReadParameter (void);
void WriteParameter (void);
 
#endif
/Transportables_Koptertool/trunk/V-0.1.2/font8X6.c
0,0 → 1,158
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* - font provided by Claas Anders "CaScAdE" Rathje *
* - umlauts and special characters by Peter "woggle" Mack *
* *
* 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. *
* *
*****************************************************************************/
 
#include <avr/pgmspace.h>
 
// one byte is a column
// bit 7 is the bottom
 
prog_uint8_t font8x6[128][6] =
{
{ 0x78,0x15,0x14,0x15,0x78,0x00 }, // ASCII - 0 'Ä'
{ 0x20,0x55,0x54,0x55,0x78,0x00 }, // ASCII - 1 'ä'
{ 0x38,0x45,0x44,0x45,0x38,0x00 }, // ASCII - 2 'Ö'
{ 0x30,0x49,0x48,0x49,0x30,0x00 }, // ASCII - 3 'ö'
{ 0x3c,0x41,0x40,0x41,0x3c,0x00 }, // ASCII - 4 'Ü'
{ 0x38,0x41,0x40,0x21,0x78,0x00 }, // ASCII - 5 'ü'
{ 0x7e,0x15,0x15,0x15,0x0a,0x00 }, // ASCII - 6 'ß'
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 7
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 8
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 9
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 10 A (not useable)
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 11 B
{ 0x10,0x38,0x54,0x10,0x10,0x1e }, // ASCII - 12 C Enter Symbol
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 13 D (not useable)
{ 0x10,0x10,0x10,0x10,0x10,0x10 }, // ASCII - 14 E hor. line
{ 0x10,0x10,0x10,0x7c,0x10,0x10 }, // ASCII - 15 F hor. line with tick mark
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 16 10
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 17 11
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 18 12
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 19 13
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 20 14
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 21 15
{ 0x04,0x02,0x7f,0x02,0x04,0x00 }, // ASCII - 22 16 Arrow up
{ 0x10,0x20,0x7f,0x20,0x10,0x00 }, // ASCII - 23 17 Arrow down
{ 0x10,0x38,0x54,0x10,0x10,0x10 }, // ASCII - 24 18 <-
{ 0x10,0x10,0x10,0x54,0x38,0x10 }, // ASCII - 25 19 ->
{ 0x10,0x18,0x1c,0x1c,0x18,0x10 }, // ASCII - 26 1A ^
{ 0x08,0x18,0x38,0x38,0x18,0x08 }, // ASCII - 27 1B v
{ 0x00,0x08,0x1c,0x3e,0x7f,0x00 }, // ASCII - 28 1C <
{ 0x00,0x7f,0x3e,0x1c,0x08,0x00 }, // ASCII - 29 1D >
{ 0x06,0x09,0x09,0x09,0x06,0x00 }, // ASCII - 30 1E '°'
{ 0x06,0x49,0x7d,0x49,0x06,0x00 }, // ASCII - 31 1F RC-Tx
 
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 32 20 ' '
{ 0x00,0x00,0x2f,0x00,0x00,0x00 }, // ASCII - 33 21 '!'
{ 0x00,0x07,0x00,0x07,0x00,0x00 }, // ASCII - 34 22 '"'
{ 0x14,0x7f,0x14,0x7f,0x14,0x00 }, // ASCII - 35 23 '#'
{ 0x24,0x2a,0x6b,0x2a,0x12,0x00 }, // ASCII - 36 24 '$'
{ 0x23,0x13,0x08,0x64,0x62,0x00 }, // ASCII - 37 25 '%'
{ 0x36,0x49,0x55,0x22,0x50,0x00 }, // ASCII - 38 26 '&'
{ 0x00,0x05,0x03,0x00,0x00,0x00 }, // ASCII - 39 27 '''
{ 0x00,0x1c,0x22,0x41,0x00,0x00 }, // ASCII - 40 28 '('
{ 0x00,0x41,0x22,0x1c,0x00,0x00 }, // ASCII - 41 29 ')'
{ 0x14,0x08,0x3e,0x08,0x14,0x00 }, // ASCII - 42 2a '*'
{ 0x08,0x08,0x3e,0x08,0x08,0x00 }, // ASCII - 43 2b '+'
{ 0x00,0x50,0x30,0x00,0x00,0x00 }, // ASCII - 44 2c ','
{ 0x08,0x08,0x08,0x08,0x08,0x00 }, // ASCII - 45 2d '-'
{ 0x00,0x60,0x60,0x00,0x00,0x00 }, // ASCII - 46 2e '.'
{ 0x20,0x10,0x08,0x04,0x02,0x00 }, // ASCII - 47 2f '/'
{ 0x3e,0x51,0x49,0x45,0x3e,0x00 }, // ASCII - 48 30 '0'
{ 0x00,0x42,0x7f,0x40,0x00,0x00 }, // ASCII - 49 31 '1'
{ 0x42,0x61,0x51,0x49,0x46,0x00 }, // ASCII - 50 32 '2'
{ 0x21,0x41,0x45,0x4b,0x31,0x00 }, // ASCII - 51 33 '3'
{ 0x18,0x14,0x12,0x7f,0x10,0x00 }, // ASCII - 52 34 '4'
{ 0x27,0x45,0x45,0x45,0x39,0x00 }, // ASCII - 53 35 '5'
{ 0x3c,0x4a,0x49,0x49,0x30,0x00 }, // ASCII - 54 36 '6'
{ 0x03,0x01,0x71,0x09,0x07,0x00 }, // ASCII - 55 37 '7'
{ 0x36,0x49,0x49,0x49,0x36,0x00 }, // ASCII - 56 38 '8'
{ 0x06,0x49,0x49,0x29,0x1e,0x00 }, // ASCII - 57 39 '9'
{ 0x00,0x36,0x36,0x00,0x00,0x00 }, // ASCII - 58 3a ':'
{ 0x00,0x56,0x36,0x00,0x00,0x00 }, // ASCII - 59 3b ';'
{ 0x08,0x14,0x22,0x41,0x00,0x00 }, // ASCII - 60 3c '<'
{ 0x14,0x14,0x14,0x14,0x14,0x00 }, // ASCII - 61 3d '='
{ 0x00,0x41,0x22,0x14,0x08,0x00 }, // ASCII - 62 3e '>'
{ 0x02,0x01,0x51,0x09,0x06,0x00 }, // ASCII - 63 3f '?'
{ 0x32,0x49,0x79,0x41,0x3e,0x00 }, // ASCII - 64 40 '@'
{ 0x7e,0x11,0x11,0x11,0x7e,0x00 }, // ASCII - 65 41 'A'
{ 0x7f,0x49,0x49,0x49,0x36,0x00 }, // ASCII - 66 42 'B'
{ 0x3e,0x41,0x41,0x41,0x22,0x00 }, // ASCII - 67 43 'C'
{ 0x7f,0x41,0x41,0x22,0x1c,0x00 }, // ASCII - 68 44 'D'
{ 0x7f,0x49,0x49,0x49,0x41,0x00 }, // ASCII - 69 45 'E'
{ 0x7f,0x09,0x09,0x09,0x01,0x00 }, // ASCII - 70 46 'F'
{ 0x3e,0x41,0x49,0x49,0x7a,0x00 }, // ASCII - 71 47 'G'
{ 0x7f,0x08,0x08,0x08,0x7f,0x00 }, // ASCII - 72 48 'H'
{ 0x00,0x41,0x7f,0x41,0x00,0x00 }, // ASCII - 73 49 'I'
{ 0x20,0x40,0x41,0x3f,0x01,0x00 }, // ASCII - 74 4a 'J'
{ 0x7f,0x08,0x14,0x22,0x41,0x00 }, // ASCII - 75 4b 'K'
{ 0x7f,0x40,0x40,0x40,0x40,0x00 }, // ASCII - 76 4c 'L'
{ 0x7f,0x02,0x0c,0x02,0x7f,0x00 }, // ASCII - 77 4d 'M'
{ 0x7f,0x04,0x08,0x10,0x7f,0x00 }, // ASCII - 78 4e 'N'
{ 0x3e,0x41,0x41,0x41,0x3e,0x00 }, // ASCII - 79 4f 'O'
{ 0x7f,0x09,0x09,0x09,0x06,0x00 }, // ASCII - 80 50 'P'
{ 0x3e,0x41,0x51,0x21,0x5e,0x00 }, // ASCII - 81 51 'Q'
{ 0x7f,0x09,0x19,0x29,0x46,0x00 }, // ASCII - 82 52 'R'
{ 0x46,0x49,0x49,0x49,0x31,0x00 }, // ASCII - 83 53 'S'
{ 0x01,0x01,0x7f,0x01,0x01,0x00 }, // ASCII - 84 54 'T'
{ 0x3f,0x40,0x40,0x40,0x3f,0x00 }, // ASCII - 85 55 'U'
{ 0x1f,0x20,0x40,0x20,0x1f,0x00 }, // ASCII - 86 56 'V'
{ 0x3f,0x40,0x38,0x40,0x3f,0x00 }, // ASCII - 87 57 'W'
{ 0x63,0x14,0x08,0x14,0x63,0x00 }, // ASCII - 88 58 'X'
{ 0x07,0x08,0x70,0x08,0x07,0x00 }, // ASCII - 89 59 'Y'
{ 0x61,0x51,0x49,0x45,0x43,0x00 }, // ASCII - 90 5a 'Z'
{ 0x7f,0x41,0x41,0x00,0x00,0x00 }, // ASCII - 91 5b '['
{ 0x02,0x04,0x08,0x10,0x20,0x00 }, // ASCII - 92 5c '\'
{ 0x00,0x41,0x41,0x7f,0x00,0x00 }, // ASCII - 93 5d ']'
{ 0x04,0x02,0x01,0x02,0x04,0x00 }, // ASCII - 94 5e '^'
{ 0x40,0x40,0x40,0x40,0x40,0x00 }, // ASCII - 95 5f '_'
{ 0x00,0x01,0x02,0x04,0x00,0x00 }, // ASCII - 96 60 '`'
{ 0x20,0x54,0x54,0x54,0x78,0x00 }, // ASCII - 97 61 'a'
{ 0x7f,0x48,0x44,0x44,0x38,0x00 }, // ASCII - 98 62 'b'
{ 0x38,0x44,0x44,0x44,0x20,0x00 }, // ASCII - 99 63 'c'
{ 0x38,0x44,0x44,0x48,0x7f,0x00 }, // ASCII - 100 64 'd'
{ 0x38,0x54,0x54,0x54,0x18,0x00 }, // ASCII - 101 65 'e'
{ 0x08,0x7e,0x09,0x01,0x02,0x00 }, // ASCII - 102 66 'f'
{ 0x0c,0x52,0x52,0x52,0x3e,0x00 }, // ASCII - 103 67 'g'
{ 0x7f,0x08,0x04,0x04,0x78,0x00 }, // ASCII - 104 68 'h'
{ 0x00,0x44,0x7d,0x40,0x00,0x00 }, // ASCII - 105 69 'i'
{ 0x20,0x40,0x44,0x3d,0x00,0x00 }, // ASCII - 106 6a 'j'
{ 0x7f,0x10,0x28,0x44,0x00,0x00 }, // ASCII - 107 6b 'k'
{ 0x00,0x41,0x7f,0x40,0x00,0x00 }, // ASCII - 108 6c 'l'
{ 0x7c,0x04,0x18,0x04,0x78,0x00 }, // ASCII - 109 6d 'm'
{ 0x7c,0x08,0x04,0x04,0x78,0x00 }, // ASCII - 110 6e 'n'
{ 0x38,0x44,0x44,0x44,0x38,0x00 }, // ASCII - 111 6f 'o'
{ 0x7c,0x14,0x14,0x14,0x08,0x00 }, // ASCII - 112 70 'p'
{ 0x08,0x14,0x14,0x18,0x7c,0x00 }, // ASCII - 113 71 'q'
{ 0x7c,0x08,0x04,0x04,0x08,0x00 }, // ASCII - 114 72 'r'
{ 0x48,0x54,0x54,0x54,0x20,0x00 }, // ASCII - 115 73 's'
{ 0x04,0x3f,0x44,0x40,0x20,0x00 }, // ASCII - 116 74 't'
{ 0x3c,0x40,0x40,0x20,0x7c,0x00 }, // ASCII - 117 75 'u'
{ 0x1c,0x20,0x40,0x20,0x1c,0x00 }, // ASCII - 118 76 'v'
{ 0x3c,0x40,0x38,0x40,0x3c,0x00 }, // ASCII - 119 77 'w'
{ 0x44,0x28,0x10,0x28,0x44,0x00 }, // ASCII - 120 78 'x'
{ 0x0c,0x50,0x50,0x50,0x3c,0x00 }, // ASCII - 121 79 'y'
{ 0x44,0x64,0x54,0x4c,0x44,0x00 }, // ASCII - 122 7a 'z'
{ 0x00,0x08,0x36,0x41,0x00,0x00 }, // ASCII - 123 7b '{'
{ 0x00,0x00,0x7f,0x00,0x00,0x00 }, // ASCII - 124 7c '|'
{ 0x00,0x41,0x36,0x08,0x00,0x00 }, // ASCII - 125 7d '}'
{ 0x08,0x08,0x2a,0x1c,0x08,0x00 }, // ASCII - 126 7e ->
{ 0x08,0x1c,0x2a,0x08,0x08,0x00 }, // ASCII - 127 7f <-
};
/Transportables_Koptertool/trunk/V-0.1.2/font8x6.h
0,0 → 1,31
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* - font provided by Claas Anders "CaScAdE" Rathje *
* - umlauts and special characters by Peter "woggle" Mack *
* *
* 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. *
* *
*****************************************************************************/
 
#ifndef _FONT8X6_H
#define _FONT8X6_H
 
#include <avr/pgmspace.h>
 
//*****************************************************************************
//
extern prog_uint8_t font8x6[128][6];
 
#endif
/Transportables_Koptertool/trunk/V-0.1.2/font8x8.c
0,0 → 1,271
/*
* font8x8.c
* LCD-OSD
*
* Created by Peter Mack on 26.12.09.
* Copyright 2009 SCS GmbH & Co. KG. All rights reserved.
*
*/
 
#include <avr/pgmspace.h>
 
prog_uint8_t font8x8[256][8]={
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // 0x00
{0x7E,0x81,0x95,0xB1,0xB1,0x95,0x81,0x7E}, // 0x01
{0x7E,0xFF,0xEB,0xCF,0xCF,0xEB,0xFF,0x7E}, // 0x02
{0x0E,0x1F,0x3F,0x7E,0x3F,0x1F,0x0E,0x00}, // 0x03
{0x08,0x1C,0x3E,0x7F,0x3E,0x1C,0x08,0x00}, // 0x04
{0x38,0x3A,0x9F,0xFF,0x9F,0x3A,0x38,0x00}, // 0x05
{0x10,0x38,0xBC,0xFF,0xBC,0x38,0x10,0x00}, // 0x06
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // 0x07
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // 0x08
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // 0x09
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // 0x0A
{0x70,0xF8,0x88,0x88,0xFD,0x7F,0x07,0x0F}, // 0x0B
{0x00,0x4E,0x5F,0xF1,0xF1,0x5F,0x4E,0x00}, // 0x0C
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // 0x0D
{0xC0,0xFF,0x7F,0x05,0x05,0x65,0x7F,0x3F}, // 0x0E
{0x99,0x5A,0x3C,0xE7,0xE7,0x3C,0x5A,0x99}, // 0x0F
{0x7F,0x3E,0x3E,0x1C,0x1C,0x08,0x08,0x00}, // 0x10
{0x08,0x08,0x1C,0x1C,0x3E,0x3E,0x7F,0x00}, // 0x11
{0x00,0x24,0x66,0xFF,0xFF,0x66,0x24,0x00}, // 0x12
{0x00,0x5F,0x5F,0x00,0x00,0x5F,0x5F,0x00}, // 0x13
{0x06,0x0F,0x09,0x7F,0x7F,0x01,0x7F,0x7F}, // 0x14
{0xDA,0xBF,0xA5,0xA5,0xFD,0x59,0x03,0x02}, // 0x15
{0x00,0x70,0x70,0x70,0x70,0x70,0x70,0x00}, // 0x16
{0x80,0x94,0xB6,0xFF,0xFF,0xB6,0x94,0x80}, // 0x17
{0x00,0x04,0x06,0x7F,0x7F,0x06,0x04,0x00}, // 0x18
{0x00,0x10,0x30,0x7F,0x7F,0x30,0x10,0x00}, // 0x19
{0x08,0x08,0x08,0x2A,0x3E,0x1C,0x08,0x00}, // 0x1A
{0x08,0x1C,0x3E,0x2A,0x08,0x08,0x08,0x00}, // 0x1B
{0x3C,0x3C,0x20,0x20,0x20,0x20,0x20,0x00}, // 0x1C
{0x08,0x1C,0x3E,0x08,0x08,0x3E,0x1C,0x08}, // 0x1D
{0x30,0x38,0x3C,0x3E,0x3E,0x3C,0x38,0x30}, // 0x1E
{0x06,0x0E,0x1E,0x3E,0x3E,0x1E,0x0E,0x06}, // 0x1F
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // 0x20
{0x00,0x06,0x5F,0x5F,0x06,0x00,0x00,0x00}, // 0x21
{0x00,0x07,0x07,0x00,0x07,0x07,0x00,0x00}, // 0x22
{0x14,0x7F,0x7F,0x14,0x7F,0x7F,0x14,0x00}, // 0x23
{0x24,0x2E,0x6B,0x6B,0x3A,0x12,0x00,0x00}, // 0x24
{0x46,0x66,0x30,0x18,0x0C,0x66,0x62,0x00}, // 0x25
{0x30,0x7A,0x4F,0x5D,0x37,0x7A,0x48,0x00}, // 0x26
{0x04,0x07,0x03,0x00,0x00,0x00,0x00,0x00}, // 0x27
{0x00,0x1C,0x3E,0x63,0x41,0x00,0x00,0x00}, // 0x28
{0x00,0x41,0x63,0x3E,0x1C,0x00,0x00,0x00}, // 0x29
{0x08,0x2A,0x3E,0x1C,0x1C,0x3E,0x2A,0x08}, // 0x2A
{0x08,0x08,0x3E,0x3E,0x08,0x08,0x00,0x00}, // 0x2B
{0x00,0xA0,0xE0,0x60,0x00,0x00,0x00,0x00}, // 0x2C
{0x08,0x08,0x08,0x08,0x08,0x08,0x00,0x00}, // 0x2D
{0x00,0x00,0x60,0x60,0x00,0x00,0x00,0x00}, // 0x2E
{0x60,0x30,0x18,0x0C,0x06,0x03,0x01,0x00}, // 0x2F
{0x3E,0x7F,0x59,0x4D,0x7F,0x3E,0x00,0x00}, // 0x30
{0x42,0x42,0x7F,0x7F,0x40,0x40,0x00,0x00}, // 0x31
{0x62,0x73,0x59,0x49,0x6F,0x66,0x00,0x00}, // 0x32
{0x22,0x63,0x49,0x49,0x7F,0x36,0x00,0x00}, // 0x33
{0x18,0x1C,0x16,0x13,0x7F,0x7F,0x10,0x00}, // 0x34
{0x27,0x67,0x45,0x45,0x7D,0x39,0x00,0x00}, // 0x35
{0x3C,0x7E,0x4B,0x49,0x79,0x30,0x00,0x00}, // 0x36
{0x03,0x63,0x71,0x19,0x0F,0x07,0x00,0x00}, // 0x37
{0x36,0x7F,0x49,0x49,0x7F,0x36,0x00,0x00}, // 0x38
{0x06,0x4F,0x49,0x69,0x3F,0x1E,0x00,0x00}, // 0x39
{0x00,0x00,0x6C,0x6C,0x00,0x00,0x00,0x00}, // 0x3A
{0x00,0xA0,0xEC,0x6C,0x00,0x00,0x00,0x00}, // 0x3B
{0x08,0x1C,0x36,0x63,0x41,0x00,0x00,0x00}, // 0x3C
{0x14,0x14,0x14,0x14,0x14,0x14,0x00,0x00}, // 0x3D
{0x00,0x41,0x63,0x36,0x1C,0x08,0x00,0x00}, // 0x3E
{0x02,0x03,0x51,0x59,0x0F,0x06,0x00,0x00}, // 0x3F
{0x3E,0x7F,0x41,0x5D,0x5D,0x1F,0x1E,0x00}, // 0x40
{0x7C,0x7E,0x13,0x13,0x7E,0x7C,0x00,0x00}, // 0x41
{0x41,0x7F,0x7F,0x49,0x49,0x7F,0x36,0x00}, // 0x42
{0x1C,0x3E,0x63,0x41,0x41,0x63,0x22,0x00}, // 0x43
{0x41,0x7F,0x7F,0x41,0x63,0x7F,0x1C,0x00}, // 0x44
{0x41,0x7F,0x7F,0x49,0x5D,0x41,0x63,0x00}, // 0x45
{0x41,0x7F,0x7F,0x49,0x1D,0x01,0x03,0x00}, // 0x46
{0x1C,0x3E,0x63,0x41,0x51,0x73,0x72,0x00}, // 0x47
{0x7F,0x7F,0x08,0x08,0x7F,0x7F,0x00,0x00}, // 0x48
{0x00,0x41,0x7F,0x7F,0x41,0x00,0x00,0x00}, // 0x49
{0x30,0x70,0x40,0x41,0x7F,0x3F,0x01,0x00}, // 0x4A
{0x41,0x7F,0x7F,0x08,0x1C,0x77,0x63,0x00}, // 0x4B
{0x41,0x7F,0x7F,0x41,0x40,0x60,0x70,0x00}, // 0x4C
{0x7F,0x7F,0x06,0x0C,0x06,0x7F,0x7F,0x00}, // 0x4D
{0x7F,0x7F,0x06,0x0C,0x18,0x7F,0x7F,0x00}, // 0x4E
{0x1C,0x3E,0x63,0x41,0x63,0x3E,0x1C,0x00}, // 0x4F
{0x41,0x7F,0x7F,0x49,0x09,0x0F,0x06,0x00}, // 0x50
{0x1E,0x3F,0x21,0x71,0x7F,0x5E,0x00,0x00}, // 0x51
{0x41,0x7F,0x7F,0x19,0x39,0x6F,0x46,0x00}, // 0x52
{0x26,0x67,0x4D,0x59,0x7B,0x32,0x00,0x00}, // 0x53
{0x03,0x41,0x7F,0x7F,0x41,0x03,0x00,0x00}, // 0x54
{0x7F,0x7F,0x40,0x40,0x7F,0x7F,0x00,0x00}, // 0x55
{0x1F,0x3F,0x60,0x60,0x3F,0x1F,0x00,0x00}, // 0x56
{0x7F,0x7F,0x30,0x18,0x30,0x7F,0x7F,0x00}, // 0x57
{0x63,0x77,0x1C,0x08,0x1C,0x77,0x63,0x00}, // 0x58
{0x07,0x4F,0x78,0x78,0x4F,0x07,0x00,0x00}, // 0x59
{0x67,0x73,0x59,0x4D,0x47,0x63,0x71,0x00}, // 0x5A
{0x00,0x7F,0x7F,0x41,0x41,0x00,0x00,0x00}, // 0x5B
{0x01,0x03,0x06,0x0C,0x18,0x30,0x60,0x00}, // 0x5C
{0x00,0x41,0x41,0x7F,0x7F,0x00,0x00,0x00}, // 0x5D
{0x08,0x0C,0x06,0x03,0x06,0x0C,0x08,0x00}, // 0x5E
{0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80}, // 0x5F
{0x00,0x00,0x03,0x07,0x04,0x00,0x00,0x00}, // 0x60
{0x20,0x74,0x54,0x54,0x3C,0x78,0x40,0x00}, // 0x61
{0x41,0x3F,0x7F,0x44,0x44,0x7C,0x38,0x00}, // 0x62
{0x38,0x7C,0x44,0x44,0x6C,0x28,0x00,0x00}, // 0x63
{0x30,0x78,0x48,0x49,0x3F,0x7F,0x40,0x00}, // 0x64
{0x38,0x7C,0x54,0x54,0x5C,0x18,0x00,0x00}, // 0x65
{0x48,0x7E,0x7F,0x49,0x03,0x02,0x00,0x00}, // 0x66
{0x98,0xBC,0xA4,0xA4,0xF8,0x7C,0x04,0x00}, // 0x67
{0x41,0x7F,0x7F,0x08,0x04,0x7C,0x78,0x00}, // 0x68
{0x00,0x44,0x7D,0x7D,0x40,0x00,0x00,0x00}, // 0x69
{0x40,0xC4,0x84,0xFD,0x7D,0x00,0x00,0x00}, // 0x6A
{0x41,0x7F,0x7F,0x10,0x38,0x6C,0x44,0x00}, // 0x6B
{0x00,0x41,0x7F,0x7F,0x40,0x00,0x00,0x00}, // 0x6C
{0x7C,0x7C,0x0C,0x18,0x0C,0x7C,0x78,0x00}, // 0x6D
{0x7C,0x7C,0x04,0x04,0x7C,0x78,0x00,0x00}, // 0x6E
{0x38,0x7C,0x44,0x44,0x7C,0x38,0x00,0x00}, // 0x6F
{0x84,0xFC,0xF8,0xA4,0x24,0x3C,0x18,0x00}, // 0x70
{0x18,0x3C,0x24,0xA4,0xF8,0xFC,0x84,0x00}, // 0x71
{0x44,0x7C,0x78,0x44,0x1C,0x18,0x00,0x00}, // 0x72
{0x48,0x5C,0x54,0x54,0x74,0x24,0x00,0x00}, // 0x73
{0x00,0x04,0x3E,0x7F,0x44,0x24,0x00,0x00}, // 0x74
{0x3C,0x7C,0x40,0x40,0x3C,0x7C,0x40,0x00}, // 0x75
{0x1C,0x3C,0x60,0x60,0x3C,0x1C,0x00,0x00}, // 0x76
{0x3C,0x7C,0x60,0x30,0x60,0x7C,0x3C,0x00}, // 0x77
{0x44,0x6C,0x38,0x10,0x38,0x6C,0x44,0x00}, // 0x78
{0x9C,0xBC,0xA0,0xA0,0xFC,0x7C,0x00,0x00}, // 0x79
{0x4C,0x64,0x74,0x5C,0x4C,0x64,0x00,0x00}, // 0x7A
{0x08,0x08,0x3E,0x77,0x41,0x41,0x00,0x00}, // 0x7B
{0x00,0x00,0x00,0x77,0x77,0x00,0x00,0x00}, // 0x7C
{0x41,0x41,0x77,0x3E,0x08,0x08,0x00,0x00}, // 0x7D
{0x02,0x03,0x01,0x03,0x02,0x03,0x01,0x00}, // 0x7E
{0x78,0x7C,0x46,0x43,0x46,0x7C,0x78,0x00}, // 0x7F
{0x1E,0xBF,0xE1,0x61,0x33,0x12,0x00,0x00}, // 0x80
{0x3A,0x7A,0x40,0x40,0x7A,0x7A,0x40,0x00}, // 0x81
{0x38,0x7C,0x56,0x57,0x5D,0x18,0x00,0x00}, // 0x82
{0x02,0x23,0x75,0x55,0x55,0x7D,0x7B,0x42}, // 0x83
{0x21,0x75,0x54,0x54,0x7D,0x79,0x40,0x00}, // 0x84
{0x20,0x75,0x57,0x56,0x7C,0x78,0x40,0x00}, // 0x85
{0x00,0x22,0x77,0x55,0x55,0x7F,0x7A,0x40}, // 0x86
{0x1C,0xBE,0xE2,0x62,0x36,0x14,0x00,0x00}, // 0x87
{0x02,0x3B,0x7D,0x55,0x55,0x5D,0x1B,0x02}, // 0x88
{0x39,0x7D,0x54,0x54,0x5D,0x19,0x00,0x00}, // 0x89
{0x38,0x7D,0x57,0x56,0x5C,0x18,0x00,0x00}, // 0x8A
{0x01,0x45,0x7C,0x7C,0x41,0x01,0x00,0x00}, // 0x8B
{0x02,0x03,0x45,0x7D,0x7D,0x43,0x02,0x00}, // 0x8C
{0x00,0x45,0x7F,0x7E,0x40,0x00,0x00,0x00}, // 0x8D
{0x79,0x7D,0x26,0x26,0x7D,0x79,0x00,0x00}, // 0x8E
{0x70,0x7A,0x2D,0x2D,0x7A,0x70,0x00,0x00}, // 0x8F
{0x44,0x7C,0x7E,0x57,0x55,0x44,0x00,0x00}, // 0x90
{0x20,0x74,0x54,0x54,0x7C,0x7C,0x54,0x54}, // 0x91
{0x7C,0x7E,0x0B,0x09,0x7F,0x7F,0x49,0x00}, // 0x92
{0x32,0x7B,0x49,0x49,0x7B,0x32,0x00,0x00}, // 0x93
{0x32,0x7A,0x48,0x48,0x7A,0x32,0x00,0x00}, // 0x94
{0x30,0x79,0x4B,0x4A,0x78,0x30,0x00,0x00}, // 0x95
{0x3A,0x7B,0x41,0x41,0x7B,0x7A,0x40,0x00}, // 0x96
{0x38,0x79,0x43,0x42,0x78,0x78,0x40,0x00}, // 0x97
{0xBA,0xBA,0xA0,0xA0,0xFA,0x7A,0x00,0x00}, // 0x98
{0x39,0x7D,0x44,0x44,0x44,0x7D,0x39,0x00}, // 0x99
{0x3D,0x7D,0x40,0x40,0x7D,0x3D,0x00,0x00}, // 0x9A
{0x38,0x7C,0x64,0x54,0x4C,0x7C,0x38,0x00}, // 0x9B
{0x68,0x7E,0x7F,0x49,0x43,0x66,0x20,0x00}, // 0x9C
{0x5C,0x3E,0x73,0x49,0x67,0x3E,0x1D,0x00}, // 0x9D
{0x44,0x6C,0x38,0x38,0x6C,0x44,0x00,0x00}, // 0x9E
{0x40,0xC8,0x88,0xFE,0x7F,0x09,0x0B,0x02}, // 0x9F
{0x20,0x74,0x56,0x57,0x7D,0x78,0x40,0x00}, // 0xA0
{0x00,0x44,0x7E,0x7F,0x41,0x00,0x00,0x00}, // 0xA1
{0x30,0x78,0x48,0x4A,0x7B,0x31,0x00,0x00}, // 0xA2
{0x38,0x78,0x40,0x42,0x7B,0x79,0x40,0x00}, // 0xA3
{0x7A,0x7B,0x09,0x0B,0x7A,0x73,0x01,0x00}, // 0xA4
{0x7A,0x7B,0x19,0x33,0x7A,0x7B,0x01,0x00}, // 0xA5
{0x00,0x26,0x2F,0x29,0x2F,0x2F,0x28,0x00}, // 0xA6
{0x00,0x26,0x2F,0x29,0x29,0x2F,0x26,0x00}, // 0xA7
{0x30,0x78,0x4D,0x45,0x60,0x20,0x00,0x00}, // 0xA8
{0x1C,0x22,0x7D,0x4B,0x5B,0x65,0x22,0x1C}, // 0xA9
{0x08,0x08,0x08,0x08,0x38,0x38,0x00,0x00}, // 0xAA
{0x61,0x3F,0x1F,0xCC,0xEE,0xAB,0xB9,0x90}, // 0xAB
{0x61,0x3F,0x1F,0x4C,0x66,0x73,0xD9,0xF8}, // 0xAC
{0x00,0x00,0x60,0xFA,0xFA,0x60,0x00,0x00}, // 0xAD
{0x08,0x1C,0x36,0x22,0x08,0x1C,0x36,0x22}, // 0xAE
{0x22,0x36,0x1C,0x08,0x22,0x36,0x1C,0x08}, // 0xAF
{0xAA,0x00,0x55,0x00,0xAA,0x00,0x55,0x00}, // 0xB0
{0xAA,0x55,0xAA,0x55,0xAA,0x55,0xAA,0x55}, // 0xB1
{0x55,0xFF,0xAA,0xFF,0x55,0xFF,0xAA,0xFF}, // 0xB2
{0x00,0x00,0x00,0xFF,0xFF,0x00,0x00,0x00}, // 0xB3
{0x10,0x10,0x10,0xFF,0xFF,0x00,0x00,0x00}, // 0xB4
{0x70,0x78,0x2C,0x2E,0x7B,0x71,0x00,0x00}, // 0xB5
{0x72,0x79,0x2D,0x2D,0x79,0x72,0x00,0x00}, // 0xB6
{0x71,0x7B,0x2E,0x2C,0x78,0x70,0x00,0x00}, // 0xB7
{0x1C,0x22,0x5D,0x55,0x55,0x41,0x22,0x1C}, // 0xB8
{0x14,0x14,0xF7,0xF7,0x00,0xFF,0xFF,0x00}, // 0xB9
{0x00,0x00,0xFF,0xFF,0x00,0xFF,0xFF,0x00}, // 0xBA
{0x14,0x14,0xF4,0xF4,0x04,0xFC,0xFC,0x00}, // 0xBB
{0x14,0x14,0x17,0x17,0x10,0x1F,0x1F,0x00}, // 0xBC
{0x18,0x3C,0x24,0xE7,0xE7,0x24,0x24,0x00}, // 0xBD
{0x2B,0x2F,0xFC,0xFC,0x2F,0x2B,0x00,0x00}, // 0xBE
{0x10,0x10,0x10,0xF0,0xF0,0x00,0x00,0x00}, // 0xBF
{0x00,0x00,0x00,0x1F,0x1F,0x10,0x10,0x10}, // 0xC0
{0x10,0x10,0x10,0x1F,0x1F,0x10,0x10,0x10}, // 0xC1
{0x10,0x10,0x10,0xF0,0xF0,0x10,0x10,0x10}, // 0xC2
{0x00,0x00,0x00,0xFF,0xFF,0x10,0x10,0x10}, // 0xC3
{0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10}, // 0xC4
{0x10,0x10,0x10,0xFF,0xFF,0x10,0x10,0x10}, // 0xC5
{0x22,0x77,0x55,0x57,0x7E,0x7B,0x41,0x00}, // 0xC6
{0x72,0x7B,0x2D,0x2F,0x7A,0x73,0x01,0x00}, // 0xC7
{0x00,0x00,0x1F,0x1F,0x10,0x17,0x17,0x14}, // 0xC8
{0x00,0x00,0xFC,0xFC,0x04,0xF4,0xF4,0x14}, // 0xC9
{0x14,0x14,0x17,0x17,0x10,0x17,0x17,0x14}, // 0xCA
{0x14,0x14,0xF4,0xF4,0x04,0xF4,0xF4,0x14}, // 0xCB
{0x00,0x00,0xFF,0xFF,0x00,0xF7,0xF7,0x14}, // 0xCC
{0x14,0x14,0x14,0x14,0x14,0x14,0x14,0x14}, // 0xCD
{0x14,0x14,0xF7,0xF7,0x00,0xF7,0xF7,0x14}, // 0xCE
{0x66,0x3C,0x3C,0x24,0x3C,0x3C,0x66,0x00}, // 0xCF
{0x05,0x27,0x72,0x57,0x7D,0x38,0x00,0x00}, // 0xD0
{0x49,0x7F,0x7F,0x49,0x63,0x7F,0x1C,0x00}, // 0xD1
{0x46,0x7D,0x7D,0x55,0x55,0x46,0x00,0x00}, // 0xD2
{0x45,0x7D,0x7C,0x54,0x55,0x45,0x00,0x00}, // 0xD3
{0x44,0x7D,0x7F,0x56,0x54,0x44,0x00,0x00}, // 0xD4
{0x0A,0x0E,0x08,0x00,0x00,0x00,0x00,0x00}, // 0xD5
{0x00,0x44,0x7E,0x7F,0x45,0x00,0x00,0x00}, // 0xD6
{0x02,0x45,0x7D,0x7D,0x45,0x02,0x00,0x00}, // 0xD7
{0x01,0x45,0x7C,0x7C,0x45,0x01,0x00,0x00}, // 0xD8
{0x10,0x10,0x10,0x1F,0x1F,0x00,0x00,0x00}, // 0xD9
{0x00,0x00,0x00,0xF0,0xF0,0x10,0x10,0x10}, // 0xDA
{0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF}, // 0xDB
{0xF0,0xF0,0xF0,0xF0,0xF0,0xF0,0xF0,0xF0}, // 0xDC
{0x00,0x00,0x00,0x77,0x77,0x00,0x00,0x00}, // 0xDD
{0x00,0x45,0x7F,0x7E,0x44,0x00,0x00,0x00}, // 0xDE
{0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F}, // 0xDF
{0x38,0x7C,0x46,0x47,0x45,0x7C,0x38,0x00}, // 0xE0
{0xFC,0xFE,0x2A,0x2A,0x3E,0x14,0x00,0x00}, // 0xE1
{0x3A,0x7D,0x45,0x45,0x45,0x7D,0x3A,0x00}, // 0xE2
{0x38,0x7C,0x45,0x47,0x46,0x7C,0x38,0x00}, // 0xE3
{0x32,0x7B,0x49,0x4B,0x7A,0x33,0x01,0x00}, // 0xE4
{0x3A,0x7F,0x45,0x47,0x46,0x7F,0x39,0x00}, // 0xE5
{0x80,0xFE,0x7E,0x20,0x20,0x3E,0x1E,0x00}, // 0xE6
{0x42,0x7E,0x7E,0x54,0x1C,0x08,0x00,0x00}, // 0xE7
{0x41,0x7F,0x7F,0x55,0x14,0x1C,0x08,0x00}, // 0xE8
{0x3C,0x7C,0x42,0x43,0x7D,0x3C,0x00,0x00}, // 0xE9
{0x3A,0x79,0x41,0x41,0x79,0x3A,0x00,0x00}, // 0xEA
{0x3C,0x7D,0x43,0x42,0x7C,0x3C,0x00,0x00}, // 0xEB
{0xB8,0xB8,0xA2,0xA3,0xF9,0x78,0x00,0x00}, // 0xEC
{0x0C,0x5C,0x72,0x73,0x5D,0x0C,0x00,0x00}, // 0xED
{0x02,0x02,0x02,0x02,0x02,0x02,0x00,0x00}, // 0xEE
{0x00,0x00,0x02,0x03,0x01,0x00,0x00,0x00}, // 0xEF
{0x10,0x10,0x10,0x10,0x10,0x10,0x00,0x00}, // 0xF0
{0x44,0x44,0x5F,0x5F,0x44,0x44,0x00,0x00}, // 0xF1
{0x28,0x28,0x28,0x28,0x28,0x28,0x00,0x00}, // 0xF2
{0x71,0x35,0x1F,0x4C,0x66,0x73,0xD9,0xF8}, // 0xF3
{0x06,0x0F,0x09,0x7F,0x7F,0x01,0x7F,0x7F}, // 0xF4
{0xDA,0xBF,0xA5,0xA5,0xFD,0x59,0x03,0x02}, // 0xF5
{0x08,0x08,0x6B,0x6B,0x08,0x08,0x00,0x00}, // 0xF6
{0x00,0x80,0xC0,0x40,0x00,0x00,0x00,0x00}, // 0xF7
{0x00,0x06,0x0F,0x09,0x0F,0x06,0x00,0x00}, // 0xF8
{0x02,0x02,0x00,0x00,0x02,0x02,0x00,0x00}, // 0xF9
{0x00,0x00,0x00,0x10,0x10,0x00,0x00,0x00}, // 0xFA
{0x00,0x12,0x13,0x1F,0x1F,0x10,0x10,0x00}, // 0xFB
{0x00,0x11,0x15,0x15,0x1F,0x1F,0x0A,0x00}, // 0xFC
{0x00,0x19,0x1D,0x15,0x17,0x12,0x00,0x00}, // 0xFD
{0x00,0x00,0x3C,0x3C,0x3C,0x3C,0x00,0x00}, // 0xFE
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00} // 0xFF
};
/Transportables_Koptertool/trunk/V-0.1.2/font8x8.h
0,0 → 1,19
/*
* font8x8.h
* LCD-OSD
*
* Created by Peter Mack on 26.12.09.
* Copyright 2009 SCS GmbH & Co. KG. All rights reserved.
*
*/
 
#ifndef _FONT8X8_H
#define _FONT8X8_H
 
#include <avr/pgmspace.h>
 
//*****************************************************************************
//
extern prog_uint8_t font8x8[256][8];
 
#endif
/Transportables_Koptertool/trunk/V-0.1.2/jeti.c
0,0 → 1,260
/*****************************************************************************
* Copyright (C) 2009-2010 Peter "woggle" Mack, mac@denich.net *
* *
* see this fine thread on RCLine: *
* http://www.rclineforum.de/forum/thread.php?threadid=226786 *
* *
* 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. *
* *
*****************************************************************************/
 
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
 
#include "main.h" // LEDs
#include "timer.h" // Keys
#include "lcd.h"
#include "jeti.h"
 
#define font8x8
 
uint8_t JetiBuffer[32]; // 32 characters
volatile uint8_t JetiBufferReady;
 
 
//*****************************************************************************
//
ISR (USART1_RX_vect)
{
uint8_t stat;
uint8_t rh;
uint8_t rl;
static uint8_t jbp;
stat = UCSR1A;
rh = UCSR1B;
rl = UDR1;
if (stat & ((1 << FE1) | (1 << DOR1) | (1 << UPE1)))
{ // discard buffer and start new on any error
JetiBufferReady = 0;
jbp = 0;
//1234567890123456
lcd_printpj_at (0, 3, PSTR(" Communication "), 0);
lcd_printpj_at (0, 4, PSTR(" Error "), 0);
LED6_TOGGLE;
}
else if ((rh & (1 << RXB81)) == 0)
{ // control
if (rl == 0xfe)
{ // start condition
JetiBufferReady = 0;
jbp = 0;
LED1_ON;
}
else if (rl == 0xff)
{ // stop condition
JetiBufferReady = 1;
LED1_OFF;
}
}
else
{ // data
if (jbp < 32)
{
JetiBuffer[jbp++] = rl;
}
}
}
 
//*****************************************************************************
//
void JETI_Init (void)
{
DDRD &= ~(1 << DDD3); // set TXD1 pin as input
PORTD &= ~(1 << PORTD3); // disable pullup on TXD1 pin
// set clock divider
#undef BAUD
#define BAUD 9600
#include <util/setbaud.h>
UBRR1H = UBRRH_VALUE;
UBRR1L = UBRRL_VALUE;
#if USE_2X
UCSR1A |= (1 << U2X1); // enable double speed operation
#else
UCSR1A &= ~(1 << U2X1); // disable double speed operation
#endif
// set 9O1
UCSR1C = (1 << UPM11) | (1 << UPM10) | (1 << UCSZ11) | (1 << UCSZ10);
UCSR1B = (1 << UCSZ12);
// flush receive buffer
while ( UCSR1A & (1 << RXC1) ) UDR1;
}
 
//*****************************************************************************
// disable the txd pin of usart
void JETI_DisableTXD (void)
{
UCSR1B &= ~(1 << TXEN1); // disable TX}
}
 
//*****************************************************************************
// enable the txd pin of usart
void JETI_EnableTXD (void)
{
UCSR1B |= (1 << TXEN1); // enable TX
}
 
 
//*****************************************************************************
//
void JETI_putw (uint16_t c)
{
loop_until_bit_is_set(UCSR1A, UDRE1);
UCSR1B &= ~(1 << TXB81);
if (c & 0x0100)
{
UCSR1B |= (1 << TXB81);
}
UDR1 = c;
}
 
//*****************************************************************************
//
void JETI_putc (uint8_t c)
{
loop_until_bit_is_set(UCSR1A, UDRE1);
// UCSRB &= ~(1 << TXB8);
UCSR1B |= (1 << TXB81);
UDR1 = c;
}
 
//*****************************************************************************
//
void JETI_puts (char *s)
{
while (*s)
{
JETI_putc (*s);
s++;
}
}
 
//*****************************************************************************
//
void JETI_puts_p (const char *s)
{
while (pgm_read_byte(s))
{
JETI_putc (pgm_read_byte(s));
s++;
}
}
 
//*****************************************************************************
//
void JETI_put_start (void)
{
loop_until_bit_is_set(UCSR1A, UDRE1);
UCSR1B &= ~(1 << TXB81);
UDR1 = 0xFE;
}
 
//*****************************************************************************
//
void JETI_put_stop (void)
{
loop_until_bit_is_set(UCSR1A, UDRE1);
UCSR1B &= ~(1 << TXB81);
UDR1 = 0xFF;
}
 
//*****************************************************************************
//
void jeti (void)
{
uint8_t key;
uint8_t i;
 
// enable Rx
UCSR1B |= (1 << RXEN1);
UCSR1B |= (1 << RXCIE1);
lcd_cls ();
lcd_printp_at (0, 0, PSTR("Jeti Box Display"), 0);
lcd_printpns_at (0, 7, PSTR(" \x1a \x1b \x1c \x1d"), 0);
#ifdef font8x8
lcd_line(0, 21, 127, 21, 1);
lcd_line(0, 22, 127, 22, 1);
lcd_line(0, 40, 127, 40, 1);
lcd_line(0, 41, 127, 41, 1);
#else
lcd_rect(10, 22, 98, 18, 1);
#endif
do
{
if (JetiBufferReady)
{
JETI_EnableTXD();
LED2_ON;
for (i = 0; i < 16; i++)
{
#ifdef font8x8
lcd_putc_jeti(i, 3, JetiBuffer[i], 0);
#else
lcd_putc (2 + i, 3, JetiBuffer[i], 0);
#endif
}
for (i = 0; i < 16; i++)
{
#ifdef font8x8
lcd_putc_jeti(i, 4, JetiBuffer[i + 16], 0);
#else
lcd_putc (2 + i, 4, JetiBuffer[i + 16], 0);
#endif
}
JetiBufferReady = 0; // invalidate buffer
LED2_OFF;
_delay_ms (1); //
// Writing to the display takes aprox. 5.8 ms @ 7 MHz and 3.2 ms @ 20 MHz.
// With the additional 4 ms we had a 10 ms delay.
// 10 ms works perfect with the MUI30 and the MT125
// But not with the TU transceiver module.
key = get_key_short ((1 << KEY_MINUS) | (1 << KEY_PLUS) | (1 << KEY_ESC) | (1 << KEY_ENTER));
key = (key << 1) | (key >> 3);
key = (~key) & 0xf0;
JETI_putw((uint16_t) key);
_delay_ms (1);
JETI_DisableTXD();
}
}
while (!get_key_long (1 << KEY_ESC));
get_key_press(KEY_ALL);
 
// disable Rx
UCSR1B &= ~(1 << RXCIE1);
UCSR1B &= ~(1 << RXEN1);
}
/Transportables_Koptertool/trunk/V-0.1.2/jeti.h
0,0 → 1,40
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* *
* see this fine thread on RCLine: *
* http://www.rclineforum.de/forum/thread.php?threadid=226786 *
* *
* 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. *
* *
*****************************************************************************/
 
#ifndef _JETI_H
#define _JETI_H
 
//*****************************************************************************
//
void JETI_Init (void);
void JETI_DisableTXD (void);
void JETI_EnableTXD (void);
void JETI_putw (uint16_t c);
void JETI_putc (uint8_t c);
void JETI_puts (char *s);
void JETI_puts_p (const char *s);
void JETI_put_start (void);
void JETI_put_stop (void);
 
void jeti (void);
 
#endif
/Transportables_Koptertool/trunk/V-0.1.2/lcd.c
0,0 → 1,1130
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* - original LCD control by Thomas "thkais" Kaiser *
* - special number formating routines taken from C-OSD *
* from Claas Anders "CaScAdE" Rathje *
* - some extension, ellipse and circ_line by Peter "woggle" Mack *
* *
* 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. *
* *
*****************************************************************************/
 
#include <avr/io.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
 
#include "font8x6.h"
#include "font8x8.h"
#include "main.h"
#include "lcd.h"
 
 
#define DISP_W 128
#define DISP_H 64
 
#define DISP_BUFFER ((DISP_H * DISP_W) / 8)
 
volatile uint8_t display_buffer[DISP_BUFFER]; // Display-Puffer, weil nicht zurückgelesen werden kann
volatile uint16_t display_buffer_pointer; // Pointer auf das aktuell übertragene Byte
volatile uint8_t display_buffer_counter; // Hilfszähler zur Selektierung der Page
volatile uint8_t display_page_counter; // aktuelle Page-Nummer
volatile uint8_t display_mode; // Modus für State-Machine
volatile uint8_t LCD_ORIENTATION;
 
// DOG: 128 x 64 with 6x8 Font => 21 x 8
// MAX7456: 30 x 16
 
uint8_t lcd_xpos;
uint8_t lcd_ypos;
 
 
void send_byte (uint8_t data)
{
clr_cs ();
SPDR = data;
while (!(SPSR & (1<<SPIF)));
//SPSR = SPSR;
set_cs ();
}
 
 
void lcd_cls (void)
{
uint16_t i, j;
// memset (display_buffer, 0, 1024);
for (i = 0; i < DISP_BUFFER; i++)
display_buffer[i] = 0x00;
for (i = 0; i < 8; i++)
{
clr_A0 ();
send_byte (0xB0 + i); //1011xxxx
send_byte (0x10); //00010000
// send_byte(0x04); //00000100 gedreht plus 4 Byte
// send_byte(0x00); //00000000
send_byte (LCD_ORIENTATION); //00000000
 
set_A0 ();
for (j = 0; j < 128; j++)
send_byte (0x00);
}
 
lcd_xpos = 0;
lcd_ypos = 0;
}
 
void wait_1ms (void)
{
_delay_ms (1.0);
}
 
void wait_ms (uint16_t time)
{
uint16_t i;
for (i = 0; i < time; i++)
wait_1ms ();
}
 
void LCD_Init (void)
{
lcd_xpos = 0;
lcd_ypos = 0;
 
DDRB = 0xFF;
 
// SPI max. speed
// the DOGM128 lcd controller can work at 20 MHz
SPCR = (1 << SPE) | (1 << MSTR) | (1 << CPHA) | (1 << CPOL);
SPSR = (1 << SPI2X);
set_cs ();
clr_reset ();
wait_ms (10);
set_reset ();
clr_cs ();
clr_A0 ();
send_byte (0x40);
 
if (LCD_ORIENTATION == 0)
{
send_byte (0xA1); // A1 normal A0 reverse(original)
send_byte (0xC0); // C0 normal C8 reverse(original)
}
else
{
send_byte (0xA0); // A1 normal A0 reverse(original)
send_byte (0xC8); // C0 normal C8 reverse(original)
}
send_byte (0xA6);
send_byte (0xA2);
send_byte (0x2F);
send_byte (0xF8);
send_byte (0x00);
send_byte (0x27);
send_byte (0x81);
send_byte (0x16);
send_byte (0xAC);
send_byte (0x00);
send_byte (0xAF);
 
lcd_cls ();
}
 
 
void set_adress (uint16_t adress, uint8_t data)
{
uint8_t page;
uint8_t column;
page = adress >> 7;
clr_A0 ();
send_byte (0xB0 + page);
// column = (adress & 0x7F) + 4; Wenn gedreht
// column = (adress & 0x7F);
column = (adress & 0x7F) + LCD_ORIENTATION;
 
send_byte (0x10 + (column >> 4));
send_byte (column & 0x0F);
set_A0 ();
send_byte (data);
}
 
 
void scroll (void)
{
uint16_t adress;
for (adress = 0; adress < 896; adress++)
{
display_buffer[adress] = display_buffer[adress + 128];
set_adress (adress, display_buffer[adress]);
}
for (adress = 896; adress < 1024; adress++)
{
display_buffer[adress] = 0;
set_adress (adress, 0);
}
}
 
 
//
// x,y = character-Pos. !
//
// mode: 0=Overwrite, 1 = OR, 2 = XOR, 3 = AND, 4 = Delete
void lcd_putc (uint8_t x, uint8_t y, uint8_t c, uint8_t mode)
{
uint8_t ch;
uint8_t i;
uint16_t adress;
 
switch (c)
{ // ISO 8859-1
case 0xc4: // Ä
c = 0x00;
break;
case 0xe4: // ä
c = 0x01;
break;
case 0xd6: // Ö
c = 0x02;
break;
case 0xf6: // ö
c = 0x03;
break;
case 0xdc: // Ü
c = 0x04;
break;
case 0xfc: // ü
c = 0x05;
break;
case 0xdf: // ß
//c = 0x06;
c = 0x1e; // ° (used by Jeti)
break;
}
 
c &= 0x7f;
adress = y * 128 + x * 6;
adress &= 0x3FF;
for (i = 0; i < 6; i++)
{
ch = pgm_read_byte (&font8x6[0][0] + i + c * 6);
 
switch (mode)
{
case 0:
display_buffer[adress+i] = ch;
break;
case 1:
display_buffer[adress+i] |= ch;
break;
case 2:
display_buffer[adress+i] ^= ch;
break;
case 3:
display_buffer[adress+i] &= ch;
break;
case 4:
display_buffer[adress+i] &= ~ch;
break;
}
set_adress (adress + i, display_buffer[adress + i]);
}
}
 
void lcd_putc_jeti (uint8_t x, uint8_t y, uint8_t c, uint8_t mode)
{
uint8_t ch;
uint8_t i;
uint16_t adress;
switch (c)
{
case 0x7e:
c = 0x1a; // ->
break;
case 0x7f:
c = 0x1b; // <-
break;
case 0xdf:
c = 0xf8; // °
break;
}
adress = y * 128 + x * 8;
adress &= 0x3FF;
for (i = 0; i < 8; i++)
{
ch = pgm_read_byte (&font8x8[0][0] + i + c * 8);
switch (mode)
{
case 0:
display_buffer[adress+i] = ch;
break;
case 1:
display_buffer[adress+i] |= ch;
break;
case 2:
display_buffer[adress+i] ^= ch;
break;
case 3:
display_buffer[adress+i] &= ch;
break;
case 4:
display_buffer[adress+i] &= ~ch;
break;
}
set_adress (adress + i, display_buffer[adress + i]);
}
}
 
 
void new_line (void)
{
lcd_ypos++;
if (lcd_ypos > 7)
{
scroll ();
lcd_ypos = 7;
}
}
 
 
void lcd_printpj (const char *text, uint8_t mode)
{
while (pgm_read_byte(text))
{
switch (pgm_read_byte(text))
{
case 0x0D:
lcd_xpos = 0;
break;
case 0x0A:
new_line();
break;
default:
lcd_putc_jeti (lcd_xpos, lcd_ypos, pgm_read_byte(text), mode);
lcd_xpos++;
if (lcd_xpos > 20)
{
lcd_xpos = 0;
new_line ();
}
break;
}
text++;
}
}
 
 
void lcd_printpj_at (uint8_t x, uint8_t y, const char *text, uint8_t mode)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_printpj (text, mode);
}
 
 
void lcd_printpns (const char *text, uint8_t mode)
{
while (pgm_read_byte(text))
{
switch (pgm_read_byte(text))
{
case 0x0D:
lcd_xpos = 0;
break;
case 0x0A:
new_line();
break;
default:
lcd_putc (lcd_xpos, lcd_ypos, pgm_read_byte(text), mode);
lcd_xpos++;
if (lcd_xpos > 20)
{
lcd_xpos = 0;
// new_line ();
}
break;
}
text++;
}
}
 
 
void lcd_printpns_at (uint8_t x, uint8_t y, const char *text, uint8_t mode)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_printpns (text, mode);
}
 
 
void lcd_printp (const char *text, uint8_t mode)
{
while (pgm_read_byte(text))
{
switch (pgm_read_byte(text))
{
case 0x0D:
lcd_xpos = 0;
break;
case 0x0A:
new_line();
break;
default:
lcd_putc (lcd_xpos, lcd_ypos, pgm_read_byte(text), mode);
lcd_xpos++;
if (lcd_xpos > 20)
{
lcd_xpos = 0;
new_line ();
}
break;
}
text++;
}
}
 
 
void lcd_printp_at (uint8_t x, uint8_t y, const char *text, uint8_t mode)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_printp (text, mode);
}
 
 
void lcd_print (uint8_t *text, uint8_t mode)
{
while (*text)
{
switch (*text)
{
case 0x0D:
lcd_xpos = 0;
break;
case 0x0A:
new_line();
break;
default:
lcd_putc (lcd_xpos, lcd_ypos, *text, mode);
lcd_xpos++;
if (lcd_xpos > 20)
{
lcd_xpos = 0;
new_line ();
}
break;
}
text++;
}
}
 
void lcd_print_at (uint8_t x, uint8_t y, uint8_t *text, uint8_t mode)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_print (text, mode);
}
 
 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Plot (set one Pixel)
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// mode:
// 0=Clear, 1=Set, 2=XOR
void lcd_plot (uint8_t xpos, uint8_t ypos, uint8_t mode)
{
uint16_t adress;
uint8_t mask;
if ((xpos < DISP_W) && (ypos < DISP_H))
{
adress = (ypos / 8) * DISP_W + xpos; // adress = 0/8 * 128 + 0 = 0
mask = 1 << (ypos & 0x07); // mask = 1<<0 = 1
adress &= DISP_BUFFER - 1;
switch (mode)
{
case 0:
display_buffer[adress] &= ~mask;
break;
case 1:
display_buffer[adress] |= mask;
break;
case 2:
display_buffer[adress] ^= mask;
break;
}
set_adress (adress, display_buffer[adress]);
}
}
 
 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Line (draws a line from x1,y1 to x2,y2
// + Based on Bresenham line-Algorithm
// + found in the internet, modified by thkais 2007
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
void lcd_line (unsigned char x1, unsigned char y1, unsigned char x2, unsigned char y2, uint8_t mode)
{
int x, y, count, xs, ys, xm, ym;
 
x = (int) x1;
y = (int) y1;
xs = (int) x2 - (int) x1;
ys = (int) y2 - (int) y1;
if (xs < 0)
xm = -1;
else
if (xs > 0)
xm = 1;
else
xm = 0;
if (ys < 0)
ym = -1;
else
if (ys > 0)
ym = 1;
else
ym = 0;
if (xs < 0)
xs = -xs;
 
if (ys < 0)
ys = -ys;
 
lcd_plot ((unsigned char) x, (unsigned char) y, mode);
 
if (xs > ys) // Flat Line <45 degrees
{
count = -(xs / 2);
while (x != x2)
{
count = count + ys;
x = x + xm;
if (count > 0)
{
y = y + ym;
count = count - xs;
}
lcd_plot ((unsigned char) x, (unsigned char) y, mode);
}
}
else // Line >=45 degrees
{
count =- (ys / 2);
while (y != y2)
{
count = count + xs;
y = y + ym;
if (count > 0)
{
x = x + xm;
count = count - ys;
}
lcd_plot ((unsigned char) x, (unsigned char) y, mode);
}
}
}
 
 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Filled rectangle
// + x1, y1 = upper left corner
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
void lcd_frect (uint8_t x1, uint8_t y1, uint8_t widthx, uint8_t widthy, uint8_t mode)
{
uint16_t x2, y2;
uint16_t i;
 
if (x1 >= DISP_W)
x1 = DISP_W - 1;
 
if (y1 >= DISP_H)
y1 = DISP_H - 1;
 
x2 = x1 + widthx;
y2 = y1 + widthy;
if (x2 > DISP_W)
x2 = DISP_W;
 
if (y2 > DISP_H)
y2 = DISP_H;
for (i = y1; i <= y2; i++)
{
lcd_line (x1, i, x2, i, mode);
}
}
 
 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + outline of rectangle
// + x1, y1 = upper left corner
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
void lcd_rect (uint8_t x1, uint8_t y1, uint8_t widthx, uint8_t widthy, uint8_t mode)
{
uint16_t x2, y2;
 
if (x1 >= DISP_W)
x1 = DISP_W - 1;
if (y1 >= DISP_H)
y1 = DISP_H - 1;
x2 = x1 + widthx;
y2 = y1 + widthy;
if (x2 > DISP_W)
x2 = DISP_W;
if (y2 > DISP_H)
y2 = DISP_H;
 
lcd_line (x1, y1, x2, y1, mode);
lcd_line (x2, y1, x2, y2, mode);
lcd_line (x2, y2, x1, y2, mode);
lcd_line (x1, y2, x1, y1, mode);
}
 
 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + outline of a circle
// + Based on Bresenham-algorithm found in wikipedia
// + modified by thkais (2007)
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
void lcd_circle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode)
{
int16_t f = 1 - radius;
int16_t ddF_x = 0;
int16_t ddF_y = -2 * radius;
int16_t x = 0;
int16_t y = radius;
 
lcd_plot (x0, y0 + radius, mode);
lcd_plot (x0, y0 - radius, mode);
lcd_plot (x0 + radius, y0, mode);
lcd_plot (x0 - radius, y0, mode);
 
while (x < y)
{
if (f >= 0)
{
y --;
ddF_y += 2;
f += ddF_y;
}
x ++;
ddF_x += 2;
f += ddF_x + 1;
 
lcd_plot (x0 + x, y0 + y, mode);
lcd_plot (x0 - x, y0 + y, mode);
lcd_plot (x0 + x, y0 - y, mode);
lcd_plot (x0 - x, y0 - y, mode);
lcd_plot (x0 + y, y0 + x, mode);
lcd_plot (x0 - y, y0 + x, mode);
lcd_plot (x0 + y, y0 - x, mode);
lcd_plot (x0 - y, y0 - x, mode);
}
}
 
 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + filled Circle
// + modified circle-algorithm thkais (2007)
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
void lcd_fcircle (int16_t x0, int16_t y0, int16_t radius)
{
int16_t f = 1 - radius;
int16_t ddF_x = 0;
int16_t ddF_y = -2 * radius;
int16_t x = 0;
int16_t y = radius;
lcd_line (x0, y0 + radius, x0, y0 - radius, 1);
lcd_line (x0 + radius, y0, x0 - radius, y0, 1);
while (x < y)
{
if (f >= 0)
{
y--;
ddF_y += 2;
f += ddF_y;
}
x++;
ddF_x += 2;
f += ddF_x + 1;
lcd_line (x0 + x, y0 + y, x0 - x, y0 + y, 1);
lcd_line (x0 + x, y0 - y, x0 - x, y0 - y, 1);
lcd_line (x0 + y, y0 + x, x0 - y, y0 + x, 1);
lcd_line (x0 + y, y0 - x, x0 - y, y0 - x, 1);
}
}
 
//*****************************************************************************
//
void lcd_circ_line (uint8_t x, uint8_t y, uint8_t r, uint16_t deg, uint8_t mode)
{
uint8_t xc, yc;
double deg_rad;
 
deg_rad = (deg * M_PI) / 180.0;
 
yc = y - (uint8_t) round (cos (deg_rad) * (double) r);
xc = x + (uint8_t) round (sin (deg_rad) * (double) r);
lcd_line (x, y, xc, yc, mode);
}
 
//*****************************************************************************
//
void lcd_ellipse_line (uint8_t x, uint8_t y, uint8_t rx, uint8_t ry, uint16_t deg, uint8_t mode)
{
uint8_t xc, yc;
double deg_rad;
deg_rad = (deg * M_PI) / 180.0;
yc = y - (uint8_t) round (cos (deg_rad) * (double) ry);
xc = x + (uint8_t) round (sin (deg_rad) * (double) rx);
lcd_line (x, y, xc, yc, mode);
}
 
//*****************************************************************************
//
void lcd_ellipse (int16_t x0, int16_t y0, int16_t rx, int16_t ry, uint8_t mode)
{
const int16_t rx2 = rx * rx;
const int16_t ry2 = ry * ry;
int16_t F = round (ry2 - rx2 * ry + 0.25 * rx2);
int16_t ddF_x = 0;
int16_t ddF_y = 2 * rx2 * ry;
int16_t x = 0;
int16_t y = ry;
lcd_plot (x0, y0 + ry, mode);
lcd_plot (x0, y0 - ry, mode);
lcd_plot (x0 + rx, y0, mode);
lcd_plot (x0 - rx, y0, mode);
// while ( 2*ry2*x < 2*rx2*y ) { we can use ddF_x and ddF_y
while (ddF_x < ddF_y)
{
if(F >= 0)
{
y -= 1; // south
ddF_y -= 2 * rx2;
F -= ddF_y;
}
x += 1; // east
ddF_x += 2 * ry2;
F += ddF_x + ry2;
lcd_plot (x0 + x, y0 + y, mode);
lcd_plot (x0 + x, y0 - y, mode);
lcd_plot (x0 - x, y0 + y, mode);
lcd_plot (x0 - x, y0 - y, mode);
}
F = round (ry2 * (x + 0.5) * (x + 0.5) + rx2 * (y - 1) * (y - 1) - rx2 * ry2);
while(y > 0)
{
if(F <= 0)
{
x += 1; // east
ddF_x += 2 * ry2;
F += ddF_x;
}
y -=1; // south
ddF_y -= 2 * rx2;
F += rx2 - ddF_y;
lcd_plot (x0 + x, y0 + y, mode);
lcd_plot (x0 + x, y0 - y, mode);
lcd_plot (x0 - x, y0 + y, mode);
lcd_plot (x0 - x, y0 - y, mode);
}
}
 
//*****************************************************************************
//
void lcd_ecircle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode)
{
lcd_ellipse (x0, y0, radius + 3, radius, mode);
}
 
//*****************************************************************************
//
void lcd_ecirc_line (uint8_t x, uint8_t y, uint8_t r, uint16_t deg, uint8_t mode)
{
lcd_ellipse_line(x, y, r + 3, r, deg, mode);
}
 
//*****************************************************************************
//
void lcd_view_font (uint8_t page)
{
int x;
int y;
 
lcd_cls ();
lcd_printp (PSTR(" 0123456789ABCDEF\r\n"), 0);
// lcd_printpns_at (0, 7, PSTR(" \x16 \x17 Exit"), 0);
lcd_printpns_at (0, 7, PSTR(" \x1a \x1b Exit"), 0);
 
lcd_ypos = 2;
for (y = page * 4 ; y < (page * 4 + 4); y++)
{
if (y < 10)
{
lcd_putc (0, lcd_ypos, '0' + y, 0);
}
else
{
lcd_putc (0, lcd_ypos, 'A' + y - 10, 0);
}
lcd_xpos = 2;
for (x = 0; x < 16; x++)
{
lcd_putc (lcd_xpos, lcd_ypos, y * 16 + x, 0);
lcd_xpos++;
}
lcd_ypos++;
}
}
 
uint8_t hdigit (uint8_t d)
{
if (d < 10)
{
return '0' + d;
}
else
{
return 'A' + d - 10;
}
}
 
void lcd_print_hex_at (uint8_t x, uint8_t y, uint8_t h, uint8_t mode)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_putc (lcd_xpos++, lcd_ypos, hdigit (h >> 4), mode);
lcd_putc (lcd_xpos, lcd_ypos, hdigit (h & 0x0f), mode);
}
 
void lcd_write_number_u (uint8_t number)
{
uint8_t num = 100;
uint8_t started = 0;
while (num > 0)
{
uint8_t b = number / num;
if (b > 0 || started || num == 1)
{
lcd_putc (lcd_xpos++, lcd_ypos, '0' + b, 0);
started = 1;
}
number -= b * num;
num /= 10;
}
}
 
void lcd_write_number_u_at (uint8_t x, uint8_t y, uint8_t number)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_write_number_u (number);
}
 
 
/**
* Write only some digits of a unsigned <number> at <x>/<y> to MAX7456 display memory
* <num> represents the largest multiple of 10 that will still be displayable as
* the first digit, so num = 10 will be 0-99 and so on
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
*/
void write_ndigit_number_u (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad)
{
char s[7];
 
utoa(number, s, 10 );
 
uint8_t len = strlen(s);
 
if (length < len)
{
for (uint8_t i = 0; i < length; i++)
{
lcd_putc (x++, y, '*', 0);
}
return;
}
 
for (uint8_t i = 0; i < length - len; i++)
{
if (pad)
{
lcd_putc (x++, y, '0', 0);
}
else
{
lcd_putc (x++, y, ' ', 0);
}
}
lcd_print_at(x, y, s, 0);
}
 
/**
* Write only some digits of a signed <number> at <x>/<y> to MAX7456 display memory
* <num> represents the largest multiple of 10 that will still be displayable as
* the first digit, so num = 10 will be 0-99 and so on
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
*/
void write_ndigit_number_s (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad)
{
char s[7];
itoa(number, s, 10 );
 
uint8_t len = strlen(s);
 
if (length < len)
{
for (uint8_t i = 0; i < length; i++)
{
lcd_putc (x++, y, '*', 0);
}
return;
}
 
for (uint8_t i = 0; i < length - len; i++)
{
if (pad)
{
lcd_putc (x++, y, '0', 0);
}
else
{
lcd_putc (x++, y, ' ', 0);
}
}
lcd_print_at(x, y, s, 0);
}
 
/**
* Write only some digits of a unsigned <number> at <x>/<y> to MAX7456 display memory
* as /10th of the value
* <num> represents the largest multiple of 10 that will still be displayable as
* the first digit, so num = 10 will be 0-99 and so on
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
*/
void write_ndigit_number_u_10th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad)
{
char s[7];
itoa(number, s, 10 );
 
uint8_t len = strlen(s);
 
if (length < len)
{
for (uint8_t i = 0; i < length; i++)
{
lcd_putc (x++, y, '*', 0);
}
return;
}
 
for (uint8_t i = 0; i < length - len; i++)
{
if (pad)
{
lcd_putc (x++, y, '0', 0);
}
else
{
lcd_putc (x++, y, ' ', 0);
}
}
 
char rest = s[len - 1];
 
s[len - 1] = 0;
 
if (len == 1)
{
lcd_putc (x-1, y, '0', 0);
}
else if (len == 2 && s[0] == '-')
{
lcd_putc (x-1, y, '-', 0);
lcd_putc (x, y, '0', 0);
}
else
{
lcd_print_at(x, y, s, 0);
}
x += len - 1;
lcd_putc (x++, y, '.', 0);
lcd_putc (x++, y, rest, 0);
}
 
void write_ndigit_number_u_100th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad)
{
uint8_t num = 100;
while (num > 0)
{
uint8_t b = number / num;
 
if ((num / 10) == 1)
{
lcd_putc (x++, y, '.', 0);
}
lcd_putc (x++, y, '0' + b, 0);
number -= b * num;
num /= 10;
}
}
 
/**
* Write only some digits of a signed <number> at <x>/<y> to MAX7456 display memory
* as /10th of the value
* <num> represents the largest multiple of 10 that will still be displayable as
* the first digit, so num = 10 will be 0-99 and so on
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
*/
void write_ndigit_number_s_10th (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad)
{
char s[7];
 
itoa (number, s, 10 );
 
uint8_t len = strlen(s);
 
if (length < len)
{
for (uint8_t i = 0; i < length; i++)
{
lcd_putc (x++, y, '*', 0);
}
return;
}
 
for (uint8_t i = 0; i < length - len; i++)
{
if (pad)
{
lcd_putc (x++, y, '0', 0);
}
else
{
lcd_putc (x++, y, ' ', 0);
}
}
 
char rest = s[len - 1];
 
s[len - 1] = 0;
 
if (len == 1)
{
lcd_putc (x-1, y, '0', 0);
}
else if (len == 2 && s[0] == '-')
{
lcd_putc (x-1, y, '-', 0);
lcd_putc (x, y, '0', 0);
}
else
{
lcd_print_at(x, y, s, 0);
}
x += len - 1;
lcd_putc (x++, y, '.', 0);
lcd_putc (x++, y, rest, 0);
}
 
/**
* write <seconds> as human readable time at <x>/<y> to MAX7456 display mem
*/
void write_time (uint8_t x, uint8_t y, uint16_t seconds)
{
uint16_t min = seconds / 60;
seconds -= min * 60;
write_ndigit_number_u (x, y, min, 2, 0);
lcd_putc (x + 2, y, ':', 0);
write_ndigit_number_u (x + 3, y, seconds, 2, 1);
}
 
/**
* wirte a <position> at <x>/<y> assuming it is a gps position for long-/latitude
*/
void write_gps_pos (uint8_t x, uint8_t y, int32_t position)
{
if (position < 0)
{
position ^= ~0;
position++;
lcd_putc (x++, y, '-', 0);
}
else
{
lcd_putc (x++, y, ' ', 0);
}
write_ndigit_number_u (x, y, (uint16_t) (position / (int32_t) 10000000), 3, 1);
lcd_putc (x + 3, y, '.', 0);
position = position - ((position / (int32_t) 10000000) * (int32_t) 10000000);
write_ndigit_number_u (x + 4, y, (uint16_t) (position / (int32_t) 1000), 4, 1);
position = position - ((uint16_t) (position / (int32_t) 1000) * (int32_t) 1000);
write_ndigit_number_u (x + 8, y, (uint16_t) position, 3, 1);
lcd_putc (x + 11, y, 0x1e, 0); // degree symbol
}
/Transportables_Koptertool/trunk/V-0.1.2/lcd.h
0,0 → 1,118
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* - original LCD control by Thomas "thkais" Kaiser *
* - special number formating routines taken from C-OSD *
* from Claas Anders "CaScAdE" Rathje *
* - some extension, ellipse and circ_line by Peter "woggle" Mack *
* *
* 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. *
* *
*****************************************************************************/
 
#ifndef _LCD_H
#define _LCD_H
 
//*****************************************************************************
//
extern volatile uint8_t LCD_ORIENTATION;
 
extern uint8_t lcd_xpos;
extern uint8_t lcd_ypos;
 
//*****************************************************************************
//
void LCD_Init (void);
 
void lcd_putc (uint8_t x, uint8_t y, uint8_t c, uint8_t mode);
//void send_byte (uint8_t data);
void lcd_print (uint8_t *text, uint8_t mode);
void lcd_print_at (uint8_t x, uint8_t y, uint8_t *text, uint8_t mode);
void lcd_printp (const char *text, uint8_t mode);
void lcd_printp_at (uint8_t x, uint8_t y, const char *text, uint8_t mode);
void lcd_printpns (const char *text, uint8_t mode);
void lcd_printpns_at (uint8_t x, uint8_t y, const char *text, uint8_t mode);
void lcd_cls (void);
 
// Jeti
void lcd_putc_jeti (uint8_t x, uint8_t y, uint8_t c, uint8_t mode);
void lcd_printpj (const char *text, uint8_t mode);
void lcd_printpj_at (uint8_t x, uint8_t y, const char *text, uint8_t mode);
 
void lcd_plot (uint8_t x, uint8_t y, uint8_t mode);
void lcd_line (unsigned char x1, unsigned char y1, unsigned char x2, unsigned char y2, uint8_t mode);
void lcd_rect (uint8_t x1, uint8_t y1, uint8_t widthx, uint8_t widthy, uint8_t mode);
void lcd_frect (uint8_t x1, uint8_t y1, uint8_t widthx, uint8_t widthy, uint8_t mode);
void lcd_circle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode);
void lcd_fcircle (int16_t x0, int16_t y0, int16_t radius);
void lcd_circ_line (uint8_t x, uint8_t y, uint8_t r, uint16_t deg, uint8_t mode);
 
void lcd_ellipse (int16_t x0, int16_t y0, int16_t rx, int16_t ry, uint8_t mode);
void lcd_ellipse_line (uint8_t x, uint8_t y, uint8_t rx, uint8_t ry, uint16_t deg, uint8_t mode);
 
void lcd_ecircle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode);
void lcd_ecirc_line (uint8_t x, uint8_t y, uint8_t r, uint16_t deg, uint8_t mode);
 
void lcd_view_font (uint8_t page);
void lcd_print_hex_at (uint8_t x, uint8_t y, uint8_t h, uint8_t mode);
 
void lcd_write_number_u (uint8_t number);
void lcd_write_number_u_at (uint8_t x, uint8_t y, uint8_t number);
 
/**
* Write only some digits of a unsigned <number> at <x>/<y>
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
*/
void write_ndigit_number_u (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad);
 
/**
* Write only some digits of a signed <number> at <x>/<y>
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
*/
void write_ndigit_number_s (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad);
 
/**
* Write only some digits of a unsigned <number> at <x>/<y> as /10th of the value
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 00.7 instead of .7
*/
void write_ndigit_number_u_10th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad);
 
/**
* Write only some digits of a unsigned <number> at <x>/<y> as /100th of the value
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 00.7 instead of .7
*/
void write_ndigit_number_u_100th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad);
 
/**
* Write only some digits of a signed <number> at <x>/<y> as /10th of the value
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 00.7 instead of .7
*/
void write_ndigit_number_s_10th (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad);
 
/**
* write <seconds> as human readable time at <x>/<y>
*/
void write_time (uint8_t x, uint8_t y, uint16_t seconds);
 
/**
* wirte a <position> at <x>/<y> assuming it is a gps position for long-/latitude
*/
void write_gps_pos (uint8_t x, uint8_t y, int32_t position);
 
#endif
/Transportables_Koptertool/trunk/V-0.1.2/lipo.c
0,0 → 1,105
/*****************************************************************************
* Copyright (C) 2009 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. *
* *
*****************************************************************************/
 
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
 
#include "main.h" // LEDs
#include "timer.h" // Keys
#include "lcd.h"
#include "lipo.h"
 
 
volatile uint8_t AD_Ready = 0;
volatile uint8_t AD_Channel = 0;
volatile uint16_t AD_Val[4];
 
volatile uint8_t AD_WarnLevel;
volatile uint8_t AD_Warn = 0;
 
 
//*****************************************************************************
//
ISR(ADC_vect)
{
LED1_TOGGLE;
AD_Val[AD_Channel] = ADC;
if (AD_Val[AD_Channel] <= (AD_WarnLevel * 20))
{
AD_Warn |= (1 << AD_Channel);
}
AD_Channel++;
AD_Channel &= 0x03;
ADMUX = (ADMUX & 0xe0) | AD_Channel;
if (AD_Channel)
{
ADCSRA |= (1 << ADSC);
}
else
{
AD_Ready = 1;
}
 
}
 
//*****************************************************************************
//
void ADC_Init(void)
{
DIDR0 = 0x0f; // disable digital inputs on PA0-3
ADMUX = (1 << REFS1) | (1 << REFS0); // internal 2.56 V ref.
ADCSRB = 0; // free running mode
// enable ADC, start conversion, auto trigger, enable interrupt, prescaler = 128
ADCSRA = (1 << ADEN) | (1 << ADSC) | (0 << ADATE) | (1 << ADIE) | (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0);
}
 
//*****************************************************************************
//
void lipo (void)
{
uint8_t i;
lcd_cls ();
lcd_printp_at (0, 0, PSTR("LiPo Display"), 0);
lcd_printpns_at (0, 7, PSTR(" Exit"), 0);
 
lcd_printp_at (0, 2, PSTR("Cell 1:"), 0);
lcd_printp_at (0, 3, PSTR("Cell 2:"), 0);
lcd_printp_at (0, 4, PSTR("Cell 3:"), 0);
lcd_printp_at (0, 5, PSTR("Cell 4:"), 0);
 
do
{
if (AD_Ready)
{
for (i = 0; i < 4; i++)
{
//write_ndigit_number_u (0, 2 + i, AD_Val[i], 4, 0);
//write_ndigit_number_u_10th (6, 2 + i, AD_Val[i] >> 1, 3, 0);
write_ndigit_number_u_100th (10, 2 + i, AD_Val[i] >> 1, 10, 0);
}
AD_Ready = 0;
ADCSRA |= (1 << ADSC);
}
}
while (!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
}
/Transportables_Koptertool/trunk/V-0.1.2/lipo.h
0,0 → 1,34
/*****************************************************************************
* Copyright (C) 2009 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. *
* *
*****************************************************************************/
 
#ifndef _LIPO_H
#define _LIPO_H
 
//*****************************************************************************
//
extern volatile uint16_t AD_Val[4];
extern volatile uint8_t AD_WarnLevel;
extern volatile uint8_t AD_Warn;
 
//*****************************************************************************
//
void ADC_Init(void);
void lipo (void);
 
#endif
/Transportables_Koptertool/trunk/V-0.1.2/main.c
0,0 → 1,156
/*****************************************************************************
* 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 ();
}
}
/Transportables_Koptertool/trunk/V-0.1.2/main.h
0,0 → 1,84
/*****************************************************************************
* Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de *
* Copyright (C) 2009 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/ *
*****************************************************************************/
 
#ifndef _MAIN_H
#define _MAIN_H
 
//*****************************************************************************
//
#define set_cs() (PORTB |= (1 << PB4))
#define clr_cs() (PORTB &= ~(1 << PB4))
#define set_reset() (PORTB |= (1 << PB2))
#define clr_reset() (PORTB &= ~(1 << PB2))
#define set_A0() (PORTB |= (1 << PB3)) // Data
#define clr_A0() (PORTB &= ~(1 << PB3)) // Command
#define set_scl() (PORTB |= (1 << PB7))
#define clr_scl() (PORTB &= ~(1 << PB7))
#define set_si() (PORTB |= (1 << PB5))
#define clr_si() (PORTB &= ~(1 << PB5))
 
#define LED1_OFF PORTC |= (1 << PC3)
#define LED1_ON PORTC &= ~(1 << PC3)
#define LED1_TOGGLE PORTC ^= (1 << PC3)
 
#define LED2_OFF PORTD |= (1 << PD4)
#define LED2_ON PORTD &= ~(1 << PD4)
#define LED2_TOGGLE PORTD ^= (1 << PD4)
 
#define LED3_OFF PORTD |= (1 << PD5)
#define LED3_ON PORTD &= ~(1 << PD5)
#define LED3_TOGGLE PORTD ^= (1 << PD5)
 
#define LED4_OFF PORTD |= (1 << PD6)
#define LED4_ON PORTD &= ~(1 << PD6)
#define LED4_TOGGLE PORTD ^= (1 << PD6)
 
#define LED5_OFF PORTC |= (1 << PC4)
#define LED5_ON PORTC &= ~(1 << PC4)
#define LED5_TOGGLE PORTC ^= (1 << PC4)
 
#define LED6_OFF PORTC |= (1 << PC2)
#define LED6_ON PORTC &= ~(1 << PC2)
#define LED6_TOGGLE PORTC ^= (1 << PC2)
 
#define LED_ALL_OFF {LED1_OFF; LED2_OFF; LED3_OFF; LED4_OFF; LED5_OFF; LED6_OFF;}
 
#define NC 1
#define FC 2
#define MK3MAG 3
#define MKGPS 4
 
//*****************************************************************************
//
extern volatile uint8_t mode;
extern uint8_t hardware;
extern uint8_t current_hardware;
 
#endif
/Transportables_Koptertool/trunk/V-0.1.2/menu.c
0,0 → 1,253
/*****************************************************************************
* 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. *
* *
*****************************************************************************/
 
#include <avr/io.h>
#include <inttypes.h>
#include <stdlib.h>
#include <avr/pgmspace.h>
 
#include "main.h"
#include "lcd.h"
#include "parameter.h"
#include "menu.h"
#include "display.h"
#include "motortest.h"
#include "debug.h"
#include "settings.h"
#include "timer.h"
#include "osd.h"
#include "jeti.h"
#include "servo.h"
#include "lipo.h"
#include "status.h"
 
 
void utils (void);
void sett (void);
 
 
//*****************************************************************************
// Main Menu
const char mm_item_0[] PROGMEM = "Navi Data";
const char mm_item_1[] PROGMEM = "Display";
const char mm_item_2[] PROGMEM = "Parameters";
const char mm_item_3[] PROGMEM = "Debug Data";
const char mm_item_4[] PROGMEM = "Jeti";
const char mm_item_5[] PROGMEM = "Utilities...";
 
const struct menu menu_main[] PROGMEM = {
{mm_item_0, osd},
{mm_item_1, display_data},
{mm_item_2, edit_parameter},
{mm_item_3, display_debug},
{mm_item_4, jeti},
{mm_item_5, utils}, // sub menu
};
#define N_MAIN (sizeof menu_main / sizeof menu_main[0])
 
 
//*****************************************************************************
// Utilities Menu
const char mu_item_0[] PROGMEM = "Motor Test";
const char mu_item_1[] PROGMEM = "I2C Motor Test";
const char mu_item_2[] PROGMEM = "Servo Tester";
const char mu_item_3[] PROGMEM = "LiPo Status";
const char mu_item_4[] PROGMEM = "Status";
const char mu_item_5[] PROGMEM = "Settings...";
 
const struct menu menu_util[] PROGMEM = {
{mu_item_0, motor_test},
{mu_item_1, motor_i2c},
{mu_item_2, servo_test},
{mu_item_3, lipo},
{mu_item_4, status},
{mu_item_5, sett}, // sub menu
};
#define N_UTIL (sizeof menu_util / sizeof menu_util[0])
 
 
//*****************************************************************************
// Settings Menu
const char ms_item_0[] PROGMEM = "Orientation";
const char ms_item_1[] PROGMEM = "LiPo Warn";
const char ms_item_2[] PROGMEM = "View Font";
const char ms_item_3[] PROGMEM = "Line";
const char ms_item_4[] PROGMEM = "Rectangle";
 
const struct menu menu_set[] PROGMEM = {
{ms_item_0, set_toggledisplay},
{ms_item_1, set_lipo},
{ms_item_2, set_viewfont},
{ms_item_3, set_line},
{ms_item_4, set_rect},
};
#define N_SET (sizeof menu_set / sizeof menu_set[0])
 
#if 0
const struct menus PROGMEM = {
{menu_main, N_MAIN, title_main},
{menu_util, N_UTIL, title_util},
{menu_set, N_SET, title_set},
};
#endif
 
 
//*****************************************************************************
//
void menu_print (const struct menu m[], uint8_t size)
{
uint8_t i;
for (i = MENU_LINE; i < MENU_LINE + size; i++)
{
lcd_printp_at (MENU_COL, i, (const char *) pgm_read_word(&(m[i - MENU_LINE].str)), 0);
}
lcd_printpns_at (0, 7, PSTR(" \x1a \x1b Back \x0c"), 0);
}
 
 
//*****************************************************************************
//
void utils (void)
{
static uint8_t f = MENU_LINE;
do
{
lcd_cls ();
lcd_printp (PSTR("Utilities:"), 0);
menu_print(menu_util, N_UTIL);
f = menu_choose (MENU_LINE, N_UTIL, CURSOR_COL, f);
if (f != 255)
{
((pfunc)(pgm_read_word (&(menu_util[f - MENU_LINE].func))))();
}
}
while (f != 255);
f = MENU_LINE;
}
 
 
//*****************************************************************************
//
void sett (void)
{
static uint8_t f = MENU_LINE;
 
do
{
lcd_cls ();
lcd_printp (PSTR("Settings:"), 0);
menu_print(menu_set, N_SET);
f = menu_choose (MENU_LINE, N_SET, CURSOR_COL, f);
if (f != 255)
{
((pfunc)(pgm_read_word (&(menu_set[f - MENU_LINE].func))))();
}
}
while (f != 255);
f = MENU_LINE;
}
 
 
//*****************************************************************************
// print cursor
void menu_set_cursor (uint8_t before, uint8_t line, uint8_t pos)
{
lcd_printp_at (pos, before, PSTR(" "), 0);
lcd_printp_at (pos, line, PSTR("\x1D"), 0);
}
 
 
//*****************************************************************************
//
uint8_t menu_choose (uint8_t min, uint8_t max, uint8_t pos, uint8_t start)
{
uint8_t line = start;
uint8_t before = start;
uint8_t k;
 
menu_set_cursor (line, line, pos);
do
{
if (get_key_press (1 << KEY_PLUS))
{
if (line < max)
{
line ++;
}
else
{
line = min;
}
}
 
if (get_key_press (1 << KEY_MINUS))
{
if (line > min)
{
line --;
}
else
{
line = max;
}
}
 
if (line != before)
{
menu_set_cursor (before, line, pos);
before = line;
}
}
while (!(k = get_key_press ((1 << KEY_ENTER) | (1 << KEY_ESC))));
if (k & (1 << KEY_ESC))
{
line = 255;
}
 
return line;
}
 
 
//*****************************************************************************
//
void main_menu (void)
{
static uint8_t f = MENU_LINE;
lcd_cls ();
//lcd_printp (PSTR("Portable Kopter Tool"), 0);
lcd_printp (PSTR("MK Multi Box"), 0);
menu_print(menu_main, N_MAIN);
 
f = menu_choose (MENU_LINE, N_MAIN, CURSOR_COL, f);
if (f != 255)
{
((pfunc)(pgm_read_word (&(menu_main[f - MENU_LINE].func))))();
}
else
{
f = MENU_LINE;
}
}
/Transportables_Koptertool/trunk/V-0.1.2/menu.h
0,0 → 1,43
/*****************************************************************************
* Copyright (C) 2009 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. *
* *
*****************************************************************************/
 
#ifndef _MENU_H
#define _MENU_H
 
//*****************************************************************************
//
#define CURSOR_COL 1 // column where the menu cursor is displayed
#define MENU_LINE 1 // starting line of menu
#define MENU_COL 3 // column where the menu starts
 
//*****************************************************************************
//
typedef void(*pfunc)(void);
 
struct menu {
const char *str;
pfunc func;
};
 
//*****************************************************************************
//
void main_menu (void);
uint8_t menu_choose (uint8_t min, uint8_t max, uint8_t pos, uint8_t start);
 
#endif
/Transportables_Koptertool/trunk/V-0.1.2/mk-data-structs.h
0,0 → 1,246
/****************************************************************************
* Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje *
* admiralcascade@gmail.com *
* Project-URL: http://www.mylifesucks.de/oss/c-osd/ *
* *
* 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. *
****************************************************************************/
 
/* ##########################################################################
* gain some fake arm compat :)
* ##########################################################################*/
#define u8 uint8_t
#define s8 int8_t
#define u16 uint16_t
#define s16 int16_t
#define u32 uint32_t
#define s32 int32_t
 
//*****************************************************************************
//
#define NUMBER_OF_DEBUG_DATAS 32
#define ANALOG_NAME_LENGTH 16
 
// Version of supported serial protocol
#define MIN_VERSION 7
#define MAX_VERSION 10
 
// Setting index
#define SETTING_1 1
#define SETTING_2 2
#define SETTING_3 3
#define SETTING_4 4
#define SETTING_5 5
#define SETTING_CURRENT 0xff
 
typedef struct
{
unsigned char SWMajor;
unsigned char SWMinor;
unsigned char ProtoMajor;
unsigned char ProtoMinor;
unsigned char SWPatch;
unsigned char Reserved[5];
} __attribute__((packed)) Version_t;
 
/*
* FC Debug Struct
* portions taken and adapted from
* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h
*/
typedef struct {
uint8_t Digital[2];
// NC: unsigned; FC: signed !!!!
int16_t Analog[32]; // Debugvalues
} __attribute__((packed)) DebugData_t;
 
typedef struct {
uint8_t line;
uint8_t text[20];
} __attribute__((packed)) Display_t;
 
typedef struct
{
char Revision;
char Name[12];
signed char Motor[16][4];
} __attribute__((packed)) Mixer_t;
 
/*
* NaviCtrl OSD Structs
* portions taken and adapted from
* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h
*/
typedef struct {
s32 Longitude; // in 1E-7 deg
s32 Latitude; // in 1E-7 deg
s32 Altitude; // in mm
u8 Status; // validity of data
} __attribute__((packed)) GPS_Pos_t;
 
typedef struct {
s16 Distance; // distance to target in cm
s16 Bearing; // course to target in deg
} __attribute__((packed)) GPS_PosDev_t;
 
typedef struct {
u8 Version; // version of the data structure
GPS_Pos_t CurrentPosition; // see ubx.h for details
GPS_Pos_t TargetPosition;
GPS_PosDev_t TargetPositionDeviation;
GPS_Pos_t HomePosition;
GPS_PosDev_t HomePositionDeviation;
u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
u8 WaypointNumber; // number of stored waypoints
u8 SatsInUse; // number of satellites used for position solution
s16 Altimeter; // hight according to air pressure
s16 Variometer; // climb(+) and sink(-) rate
u16 FlyingTime; // in seconds
u8 UBat; // Battery Voltage in 0.1 Volts
u16 GroundSpeed; // speed over ground in cm/s (2D)
s16 Heading; // current flight direction in ∞ as angle to north
s16 CompassHeading; // current compass value in ∞
s8 AngleNick; // current Nick angle in 1∞
s8 AngleRoll; // current Rick angle in 1∞
u8 RC_Quality; // RC_Quality
u8 MKFlags; // Flags from FC
u8 NCFlags; // Flags from NC
u8 Errorcode; // 0 --> okay
u8 OperatingRadius; // current operation radius around the Home Position in m
s16 TopSpeed; // velocity in vertical direction in cm/s
u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
u8 Reserve[4]; // for future use
} __attribute__((packed)) NaviData_t;
 
/*
* MikroKopter Flags
* taken from
* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.73d%2Ffc.h
*/
#define FLAG_MOTOR_RUN 1
#define FLAG_FLY 2
#define FLAG_CALIBRATE 4
#define FLAG_START 8
#define FLAG_NOTLANDUNG 16
#define FLAG_LOWBAT 32
 
/*
* NaviCtrl Flags
* taken from
* http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h
*/
#define NC_FLAG_FREE 0x01
#define NC_FLAG_PH 0x02
#define NC_FLAG_CH 0x04
#define NC_FLAG_RANGE_LIMIT 0x08
#define NC_FLAG_NOSERIALLINK 0x10
#define NC_FLAG_TARGET_REACHED 0x20
#define NC_FLAG_MANUAL_CONTROL 0x40
#define NC_FLAG_8 0x80
 
typedef struct
{
unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
unsigned char Hoehe_MinGas; // Wert : 0-100
unsigned char Luftdruck_D; // Wert : 0-250
unsigned char MaxHoehe; // Wert : 0-32
unsigned char Hoehe_P; // Wert : 0-32
unsigned char Hoehe_Verstaerkung; // Wert : 0-50
unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250
unsigned char Hoehe_HoverBand; // Wert : 0-250
unsigned char Hoehe_GPS_Z; // Wert : 0-250
unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
unsigned char Stick_P; // Wert : 1-6
unsigned char Stick_D; // Wert : 0-64
unsigned char Gier_P; // Wert : 1-20
unsigned char Gas_Min; // Wert : 0-32
unsigned char Gas_Max; // Wert : 33-250
unsigned char GyroAccFaktor; // Wert : 1-64
unsigned char KompassWirkung; // Wert : 0-32
unsigned char Gyro_P; // Wert : 10-250
unsigned char Gyro_I; // Wert : 0-250
unsigned char Gyro_D; // Wert : 0-250
unsigned char Gyro_Gier_P; // Wert : 10-250
unsigned char Gyro_Gier_I; // Wert : 0-250
unsigned char UnterspannungsWarnung; // Wert : 0-250
unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust
unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
unsigned char UfoAusrichtung; // X oder + Formation
unsigned char I_Faktor; // Wert : 0-250
unsigned char UserParam1; // Wert : 0-250
unsigned char UserParam2; // Wert : 0-250
unsigned char UserParam3; // Wert : 0-250
unsigned char UserParam4; // Wert : 0-250
unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos
unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo
unsigned char ServoNickMin; // Wert : 0-250 // Anschlag
unsigned char ServoNickMax; // Wert : 0-250 // Anschlag
//--- Seit V0.75
unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos
unsigned char ServoRollComp; // Wert : 0-250
unsigned char ServoRollMin; // Wert : 0-250
unsigned char ServoRollMax; // Wert : 0-250
//---
unsigned char ServoNickRefresh; //
unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping
unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag
unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag
unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt
unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt
unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)
unsigned char Driftkomp;
unsigned char DynamicStability;
unsigned char UserParam5; // Wert : 0-250
unsigned char UserParam6; // Wert : 0-250
unsigned char UserParam7; // Wert : 0-250
unsigned char UserParam8; // Wert : 0-250
//---Output ---------------------------------------------
unsigned char J16Bitmask; // for the J16 Output
unsigned char J16Timing; // for the J16 Output
unsigned char J17Bitmask; // for the J17 Output
unsigned char J17Timing; // for the J17 Output
// seit version V0.75c
unsigned char WARN_J16_Bitmask; // for the J16 Output
unsigned char WARN_J17_Bitmask; // for the J17 Output
//---NaviCtrl---------------------------------------------
unsigned char NaviGpsModeControl; // Parameters for the Naviboard
unsigned char NaviGpsGain;
unsigned char NaviGpsP;
unsigned char NaviGpsI;
unsigned char NaviGpsD;
unsigned char NaviGpsPLimit;
unsigned char NaviGpsILimit;
unsigned char NaviGpsDLimit;
unsigned char NaviGpsACC;
unsigned char NaviGpsMinSat;
unsigned char NaviStickThreshold;
unsigned char NaviWindCorrection;
unsigned char NaviSpeedCompensation;
unsigned char NaviOperatingRadius;
unsigned char NaviAngleLimitation;
unsigned char NaviPH_LoginTime;
//---Ext.Ctrl---------------------------------------------
unsigned char ExternalControl; // for serial Control
//------------------------------------------------
unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen
unsigned char ExtraConfig; // bitcodiert
char Name[12];
} __attribute__((packed)) mk_param_struct_t;
#define STRUCT_PARAM_LAENGE sizeof(mk_param_struct_t)
/Transportables_Koptertool/trunk/V-0.1.2/motortest.c
0,0 → 1,281
/*****************************************************************************
* Copyright (C) 2009 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. *
* *
*****************************************************************************/
 
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <string.h>
#include <util/twi.h>
 
#include "main.h"
#include "motortest.h"
#include "lcd.h"
#include "usart.h"
#include "timer.h"
 
 
uint8_t m;
 
 
#define SCL_FREQ 200000L
 
#define I2C_STATE_TX_ADDRESS 0
#define I2C_STATE_TX_DATA 1
#define I2C_STATE_TX_STOP 2
#define I2C_STATE_RX_ADDRESS 3
#define I2C_STATE_RX_1BYTE 4
#define I2C_STATE_RX_2BYTE 5
 
volatile uint8_t i2c_state;
volatile uint8_t motor_addr = 0;
 
//*****************************************************************************
//
void I2C_Init(void)
{
uint8_t sreg = SREG;
cli();
DDRC &= ~(1<<DDC1); // SDA is input
DDRC |= (1<<DDC0); // SCL is output
PORTC |= (1<<PORTC0)|(1<<PORTC1); // pull up SDA and SCL
// prescaler 1 (TWPS1 = 0, TWPS0 = 0)
TWSR &= ~((1<<TWPS1)|(1<<TWPS0));
 
TWBR = ((F_CPU/SCL_FREQ)-16)/2;
i2c_state = I2C_STATE_TX_ADDRESS;
 
SREG = sreg;
}
 
//*****************************************************************************
//
void I2C_Start(uint8_t start_state)
{
i2c_state = start_state;
 
// generate start condition and enable interrupts
TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN) | (1<<TWIE);
}
 
//*****************************************************************************
//
void I2C_Stop(uint8_t start_state)
{
i2c_state = start_state;
 
// generate stop condition and disable interrupt
TWCR = (1<<TWINT) | (1<<TWSTO) | (1<<TWEN);
}
 
//*****************************************************************************
//
void I2C_WriteByte(int8_t b)
{
TWDR = b;
// clear interrupt flag (TWINT = 1)
// enable i2c bus (TWEN = 1)
// enable interrupt (TWIE = 1)
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);
}
 
//*****************************************************************************
//
void I2C_ReceiveByte(void)
{
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);
}
 
//*****************************************************************************
//
void I2C_ReceiveLastByte(void)
{
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);
}
 
 
//*****************************************************************************
//
ISR (TWI_vect)
{
int8_t mrCurrent;
int8_t mrMaxpwm;
switch (i2c_state++)
{
// TWI Master Transmit
case I2C_STATE_TX_ADDRESS:
I2C_WriteByte(0x52 + (motor_addr * 2) ); // select slave adress in tx mode
break;
 
case I2C_STATE_TX_DATA:
I2C_WriteByte(m);
break;
 
case I2C_STATE_TX_STOP:
if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received
{
// error occured
}
I2C_Stop(I2C_STATE_TX_ADDRESS);
I2C_Start(I2C_STATE_RX_ADDRESS); // Repeated start -> switch slave or switch Master Transmit -> Master Receive
break;
 
// Master Receive Data
case I2C_STATE_RX_ADDRESS:
I2C_WriteByte(0x53 + (motor_addr * 2) ); // select slave adress in rx mode
if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted, if not ACK received
{ // no response from the addressed slave received
I2C_Stop(I2C_STATE_TX_ADDRESS);
}
else
{
I2C_ReceiveByte(); //Transmit 1st byte
}
break;
 
case I2C_STATE_RX_1BYTE: //Read 1st byte and transmit 2nd Byte
mrCurrent = TWDR;
I2C_ReceiveLastByte(); // nack
break;
 
case I2C_STATE_RX_2BYTE:
//Read 2nd byte
mrMaxpwm = TWDR;;
I2C_Stop(I2C_STATE_TX_ADDRESS);
break;
default:
I2C_Stop(I2C_STATE_TX_ADDRESS);
break;
}
}
 
//*****************************************************************************
//
void motor_i2c (void)
{
uint8_t blc = 0;
lcd_cls ();
m = 0;
lcd_printp (PSTR("I2C Motor Test"), 0);
lcd_printpns_at (0, 7, PSTR("dec inc Exit Off"), 0);
lcd_printp (PSTR("BLC #"), 0);
do
{
if ((get_key_press (1 << KEY_PLUS) || get_key_rpt (1 << KEY_PLUS)) && (m < 254))
{
m++;
}
if ((get_key_press (1 << KEY_MINUS) || get_key_rpt (1 << KEY_MINUS)) && (m > 0))
{
lcd_frect (GX, GY, (m * 108) / 255, 10, 0);
m--;
}
if (get_key_press (1 << KEY_ENTER))
{
lcd_frect (GX, GY, (m * 108) / 255, 10, 0);
m = 0;
}
}
while (!get_key_press (1 << KEY_ESC));
// switch all engines off at exit !
}
 
 
//*****************************************************************************
//
void motor (uint8_t m)
{
memset (buffer, m, 16);
#if 0
buffer[0] = m; // 0
buffer[1] = m; // 1
buffer[2] = m; // 2
buffer[3] = m; // 3
buffer[4] = m; // 4
buffer[5] = m; // 5
buffer[6] = m; // 6
buffer[7] = m; // 7
buffer[8] = m; // 8
buffer[9] = m; // 9
buffer[10] = m; // 10
buffer[11] = m; // 11
buffer[12] = m; // 12
buffer[13] = m; // 13
buffer[14] = m; // 14
buffer[15] = m; // 15
#endif
SendOutData('t', ADDRESS_FC, 1, buffer, 16);
// hier könnte man noch eine I2C-Ausgabe einbauen...
lcd_frect (GX, GY, (m * 108) / 255, 10, 1);
write_ndigit_number_u (MX, MY, m, 3, 0);
}
 
//*****************************************************************************
//
void motor_test (void)
{
//uint8_t m;
 
lcd_cls ();
m = 0;
 
lcd_printp (PSTR("Motor Test"), 0);
lcd_printpns_at (0, 7, PSTR("dec inc Exit Off"), 0);
 
if (hardware == NC && current_hardware == NC)
{
SwitchToFC();
}
motor (m);
 
do
{
if ((get_key_press (1 << KEY_PLUS) || get_key_rpt (1 << KEY_PLUS)) && (m < 254))
{
m++;
}
if ((get_key_press (1 << KEY_MINUS) || get_key_rpt (1 << KEY_MINUS)) && (m > 0))
{
lcd_frect (GX, GY, (m * 108) / 255, 10, 0);
m--;
}
if (get_key_press (1 << KEY_ENTER))
{
lcd_frect (GX, GY, (m * 108) / 255, 10, 0);
m = 0;
}
motor (m);
}
while (!get_key_press (1 << KEY_ESC));
 
// switch all engines off at exit !
motor (0);
}
/Transportables_Koptertool/trunk/V-0.1.2/motortest.h
0,0 → 1,35
/*****************************************************************************
* Copyright (C) 2009 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. *
* *
*****************************************************************************/
 
#ifndef _MOTORTEST_H
#define _MOTORTEST_H
 
//*****************************************************************************
//
#define MX 0
#define MY 3
#define GX (MX + 3) * 6 + 1 // 3 for 3 digits
#define GY MY * 8 - 2
#define MAXGX 128 - GX
 
//*****************************************************************************
//
void motor_test (void);
 
#endif
/Transportables_Koptertool/trunk/V-0.1.2/osd.c
0,0 → 1,462
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* based on the C-OSD code from CaScAdE *
* http://www.mylifesucks.de/oss/c-osd/ *
* *
* 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. *
* *
*****************************************************************************/
 
#include <avr/io.h>
#include <inttypes.h>
#include <stdlib.h>
#include <avr/pgmspace.h>
 
#include "main.h"
#include "osd.h"
#include "lcd.h"
#include "timer.h"
#include "usart.h"
 
#include "mk-data-structs.h"
 
#define COSD_WASFLYING 4
 
/* ##########################################################################
* global definitions and global vars
* ##########################################################################*/
NaviData_t *naviData;
 
// stats for after flight
int16_t max_Altimeter = 0;
uint16_t max_GroundSpeed = 0;
int16_t max_Distance = 0;
uint8_t min_UBat = 255;
uint16_t max_FlyingTime = 0;
 
// cache old vars for blinking attribute, checkup is faster than full
// attribute write each time
volatile uint8_t last_UBat = 255;
volatile uint8_t last_RC_Quality = 255;
 
volatile uint16_t ftimer = 0;
 
// store stats description in progmem to save space
const char stats_item_0[] PROGMEM = "max Altitude:";
const char stats_item_1[] PROGMEM = "max Speed :";
const char stats_item_2[] PROGMEM = "max Distance:";
const char stats_item_3[] PROGMEM = "min Voltage :";
const char stats_item_4[] PROGMEM = "max Time :";
const char stats_item_5[] PROGMEM = "Long. :";
const char stats_item_6[] PROGMEM = "Lat. :";
const char *stats_item_pointers[] PROGMEM = {
stats_item_0,
stats_item_1,
stats_item_2,
stats_item_3,
stats_item_4,
stats_item_5,
stats_item_6
};
 
//char* rose = "-+-N-+-O-+-S-+-W-+-N-+-O-+-S-+-W-+-N-+-O-+-S-+-W";
const char rose[48] PROGMEM = {
0x0e, 0x0f, 0x0e, 'N', 0x0e, 0x0f, 0x0e, 'O', 0x0e, 0x0f, 0x0e, 'S',
0x0e, 0x0f, 0x0e, 'W', 0x0e, 0x0f, 0x0e, 'N', 0x0e, 0x0f, 0x0e, 'O',
0x0e, 0x0f, 0x0e, 'S', 0x0e, 0x0f, 0x0e, 'W', 0x0e, 0x0f, 0x0e, 'N',
0x0e, 0x0f, 0x0e, 'O', 0x0e, 0x0f, 0x0e, 'S', 0x0e, 0x0f, 0x0e, 'W'};
// the center is char 19 (north), we add the current heading in 8th
// which would be 22.5 degrees, but float would bloat up the code
// and *10 / 225 would take ages... so we take the uncorrect way
 
 
const char str_NE[] PROGMEM = "NE";
const char str_E[] PROGMEM = "E ";
const char str_SE[] PROGMEM = "SE";
const char str_S[] PROGMEM = "S ";
const char str_SW[] PROGMEM = "SW";
const char str_W[] PROGMEM = "W ";
const char str_NW[] PROGMEM = "NW";
const char str_N[] PROGMEM = "N ";
const char *directions_p[8] PROGMEM = {
str_NE,
str_E,
str_SE,
str_S,
str_SW,
str_W,
str_NW,
str_N
};
 
// Flags
uint8_t COSD_FLAGS2 = 0;
 
 
/**
* convert the <heading> gotton from NC into an index
*/
uint8_t heading_conv (uint16_t heading)
{
if (heading > 23 && heading < 68)
{
return 0; //direction = "NE";
}
else if (heading > 67 && heading < 113)
{
return 1; //direction = "E ";
}
else if (heading > 112 && heading < 158)
{
return 2; //direction = "SE";
}
else if (heading > 157 && heading < 203)
{
return 3; //direction = "S ";
}
else if (heading > 202 && heading < 248)
{
return 4; //direction = "SW";
}
else if (heading > 247 && heading < 293)
{
return 5; //direction = "W ";
}
else if (heading > 292 && heading < 338)
{
return 6; //direction = "NW";
}
return 7; //direction = "N ";
}
 
/**
* draw a compass rose at <x>/<y> for <heading>
*/
void draw_compass (uint8_t x, uint8_t y, uint16_t heading)
{
uint8_t front = 19 + (heading / 22);
for (uint8_t i = 0; i < 9; i++)
{
lcd_putc (x++, y, pgm_read_byte(&rose[front - 4 + i]), 0);
}
}
 
/* ##########################################################################
* variometer
* ##########################################################################*/
/**
* draw variometer arrows at <x>/<y> according to <variometer>
*/
void draw_variometer (uint8_t x, uint8_t y, uint8_t width_x, uint8_t width_y, int16_t variometer)
{
lcd_rect (x, y - ((width_y - 1) / 2), width_x, width_y, 1);
lcd_frect (x + 1, y - ((width_y - 1) / 2) + 1, width_x - 2, width_y - 2, 0);
lcd_line (x, y, x + width_x, y, 1);
 
if (variometer > 0)
{ // gain height
switch (variometer / 5)
{
case 0:
lcd_frect (x + 3, y - 1, 3, 1, 1);
break;
case 1:
lcd_frect (x + 2, y - 3, 5, 3, 1);
break;
case 2:
lcd_frect (x + 2, y - 4, 5, 4, 1);
break;
default:
lcd_frect (x + 1, y - 5, 7, 5, 1);
break;
}
}
else
{ // sink
switch (variometer / -5)
{
case 0:
lcd_frect (x + 3, y, 3, 1, 1);
break;
case 1:
lcd_frect (x + 2, y, 5, 3, 1);
break;
case 2:
lcd_frect (x + 2, y, 5, 4, 1);
break;
default:
lcd_frect (x + 1, y, 7, 5, 1);
break;
}
}
}
 
 
#define TIMEOUT 200 // 2 sec
 
void print_statistics (void)
{
uint8_t line = 0;
lcd_cls ();
// max Altitude
lcd_printpns_at (0, line, stats_item_pointers[0], 0);
write_ndigit_number_s (13, line, max_Altimeter / 30, 4, 0);
lcd_putc (17, line, 'm', 0);
// max Speed
lcd_printpns_at (0, ++line, stats_item_pointers[1], 0);
write_ndigit_number_u (14, line, (uint16_t) (((uint32_t) max_GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 3, 0);
lcd_printpns_at(17, line, PSTR("km/h"), 0);
// max Distance
lcd_printpns_at (0, ++line, stats_item_pointers[2], 0);
write_ndigit_number_u (14, line, max_Distance / 10, 3, 0);
lcd_putc (17, line, 'm', 0);
// min voltage
lcd_printpns_at (0, ++line, stats_item_pointers[3], 0);
write_ndigit_number_u_10th (13, line, min_UBat, 3, 0);
lcd_putc (17, line, 'V', 0);
// max time
lcd_printpns_at (0, ++line, stats_item_pointers[4], 0);
write_time (13, line, max_FlyingTime);
// longitude
lcd_printpns_at (0, ++line, stats_item_pointers[5], 0);
write_gps_pos (8, line, naviData->CurrentPosition.Longitude);
// latitude
lcd_printpns_at (0, ++line, stats_item_pointers[6], 0);
write_gps_pos (8, line, naviData->CurrentPosition.Latitude);
while (!get_key_press (1 << KEY_ESC))
timer = TIMEOUT;
COSD_FLAGS2 &= ~COSD_WASFLYING;
get_key_press(KEY_ALL);
lcd_cls();
}
 
void osd (void)
{
uint8_t flag;
uint8_t tmp_dat;
 
// Clear statistics
max_Altimeter = 0;
max_GroundSpeed = 0;
max_Distance = 0;
min_UBat = 255;
max_FlyingTime = 0;
// flags from last round to check for changes
uint8_t old_MKFlags = 0;
 
uint16_t old_hh = 0;
lcd_cls();
 
if (hardware == FC)
{
lcd_printp_at(0, 3, PSTR("Only with NC !"), 0);
timer = 100;
while (timer > 0);
}
 
SwitchToNC();
mode = 'O';
 
// request OSD Data from NC every 100ms
// RS232_request_mk_data (1, 'o', 100);
tmp_dat = 10;
SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
 
// and disable debug...
// RS232_request_mk_data (0, 'd', 0);
tmp_dat = 0;
SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
flag = 0;
timer = TIMEOUT;
do
{
if (rxd_buffer_locked)
{
timer = TIMEOUT;
Decode64 ();
naviData = (NaviData_t *) pRxData;
flag = 1;
if (naviData->MKFlags & FLAG_MOTOR_RUN)
{ // should be engines running
// motors are on, assume we were/are flying
COSD_FLAGS2 |= COSD_WASFLYING;
}
else
{ // stats
if ((COSD_FLAGS2 & COSD_WASFLYING) || (get_key_press (1 << KEY_ENTER)))
{
print_statistics ();
}
}
 
// lcd_printpns_at (0, 3, PSTR("012345678901234567890"), 0);
lcd_ecircle(22, 35, 16, 1);
 
// Ground Speed
write_ndigit_number_u (1, 0, (uint16_t) (((uint32_t) naviData->GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 3, 0);
lcd_printpns_at(4, 0, PSTR("km/h"), 0);
// Compass
write_ndigit_number_u (14, 0, naviData->CompassHeading, 3, 0);
lcd_putc (17, 0, 0x1E, 0); // degree symbol
lcd_printpns_at (18, 0, (const char *) (pgm_read_word ( &(directions_p[heading_conv(naviData->CompassHeading)]))), 0);
 
draw_compass (12, 1, naviData->CompassHeading);
// Altitude
//note:lephisto:according to several sources it's /30
if (naviData->Altimeter > 300 || naviData->Altimeter < -300)
{
// above 10m only write full meters
write_ndigit_number_s (0, 1, naviData->Altimeter / 30, 4, 0);
}
else
{
// up to 10m write meters.dm
write_ndigit_number_s_10th (0, 1, naviData->Altimeter / 3, 3, 0);
}
lcd_putc (4, 1, 'm', 0);
 
draw_variometer (55, 7, 9, 13, naviData->Variometer);
 
// TODO: verify correctness
uint16_t heading_home = (naviData->HomePositionDeviation.Bearing + 360 - naviData->CompassHeading) % 360;
lcd_ecirc_line (22, 35, 15, old_hh, 0);
old_hh = heading_home;
lcd_ecirc_line (22, 35, 15, heading_home, 1);
 
write_ndigit_number_u (7, 3, heading_home, 3, 0);
lcd_putc (10, 3, 0x1e, 0); // degree symbol
 
write_ndigit_number_u (7, 2, naviData->HomePositionDeviation.Distance / 10, 3, 0);
lcd_putc (10, 2, 'm', 0);
 
// Sats in use
lcd_printp_at(10, 4, PSTR("Sats"), 0);
write_ndigit_number_u (8, 4, naviData->SatsInUse, 2, 0);
 
if (naviData->NCFlags & NC_FLAG_MANUAL_CONTROL)
{
lcd_putc (19, 4, 'M', 0); // rc transmitter
}
else
{
lcd_putc (19, 4, ' ', 0); // clear
}
#if 0
lcd_printp_at(11, 5, PSTR("Mode:"), 0);
if (naviData->NCFlags & NC_FLAG_CH)
{
lcd_printpns_at (17, 5, PSTR("CH "), 0);
}
else if (naviData->NCFlags & NC_FLAG_PH)
{
lcd_printpns_at (17, 5, PSTR("PH "), 0);
}
else
{ // (naviData->NCFlags & NC_FLAG_FREE)
lcd_printpns_at (17, 5, PSTR("Free"), 0); // sat2 (free)
}
#endif
if (naviData->NCFlags & NC_FLAG_CH)
{
lcd_printpns_at (10, 5, PSTR("Coming Home"), 0);
}
else if (naviData->NCFlags & NC_FLAG_PH)
{
lcd_printpns_at (10, 5, PSTR("Pos. Hold "), 0);
}
else
{ // (naviData->NCFlags & NC_FLAG_FREE)
lcd_printpns_at (10, 5, PSTR("Free "), 0);
}
// Battery level
write_ndigit_number_u_10th (0, 7, naviData->UBat, 3, 0);
lcd_putc (4, 7, 'V', 0);
 
// Flying time
write_time (7, 7, naviData->FlyingTime);
// lcd_printp_at (7, 6, PSTR("Fly"), 0);
 
// RC
write_ndigit_number_u (15, 7, naviData->RC_Quality, 3, 0);
lcd_putc (18, 7, 0x1F, 0); // RC-transmitter
if (naviData->NCFlags & NC_FLAG_NOSERIALLINK)
{
lcd_printpns_at(19, 7, PSTR(" "), 0); // clear
}
else
{
lcd_printpns_at(19, 7, PSTR("PC"), 0);
}
 
// remember statistics (only when engines running)
if (naviData->MKFlags & FLAG_MOTOR_RUN)
{
if (naviData->Altimeter > max_Altimeter) max_Altimeter = naviData->Altimeter;
if (naviData->GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData->GroundSpeed;
if (naviData->HomePositionDeviation.Distance > max_Distance) max_Distance = naviData->HomePositionDeviation.Distance;
if (naviData->UBat < min_UBat) min_UBat = naviData->UBat;
if (naviData->FlyingTime > max_FlyingTime) max_FlyingTime = naviData->FlyingTime;
}
 
// remember last values
last_RC_Quality = naviData->RC_Quality;
last_UBat = naviData->UBat;
old_MKFlags = naviData->MKFlags;
 
rxd_buffer_locked = FALSE;
}
}
while (!get_key_press (1 << KEY_ESC) && timer);
get_key_press(KEY_ALL);
// disable OSD Data from NC
// RS232_request_mk_data (1, 'o', 0);
tmp_dat = 0;
SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
mode = 0;
rxd_buffer_locked = FALSE;
if (!timer)
{ // timeout occured
if (flag)
{
lcd_cls ();
}
lcd_printp_at (0, 2, PSTR("ERROR: no data"), 0);
timer = 100;
while (timer > 0);
print_statistics ();
}
}
/Transportables_Koptertool/trunk/V-0.1.2/osd.h
0,0 → 1,29
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* based on the C-OSD code from CaScAdE *
* http://www.mylifesucks.de/oss/c-osd/ *
* *
* 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. *
* *
*****************************************************************************/
 
#ifndef _OSD_H
#define _OSD_H
 
//*****************************************************************************
//
void osd (void);
 
#endif
/Transportables_Koptertool/trunk/V-0.1.2/parameter.c
0,0 → 1,687
/*****************************************************************************
* Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de *
* Copyright (C) 2009 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. *
* *
*****************************************************************************/
 
#include <avr/io.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
#include <string.h>
#include <stdlib.h>
 
#include "main.h"
#include "lcd.h"
#include "timer.h"
#include "usart.h"
#include "parameter.h"
#include "menu.h"
 
#include "mk-data-structs.h"
 
#define TIMEOUT 500 // 5 sec
 
mk_param_struct_t *mk_param_struct;
 
uint8_t array[8];
 
prog_uchar p_menus[12][11]=
{
"Config ",
"Channels ",
"Stick ",
"Hight ",
"Gyro ",
"Looping ",
"Camera ",
"Misc. ",
"User ",
"Coupling ",
"Config(2) ",
"Loopingset"
};
 
 
// Diese Tabelle ordnet die eingelesenen Parameter den Menü-Seiten zu
 
prog_uchar p_menu_number[67]=
{
2, 2, 2, 2, 2, 2, 2, 2, // Die ersten 8 Parameter werden auf Menüseite 2 angezeigt (=Kanalzuordnungen)
0, 4, 4, 4, 4, 4, 4, 3,
3, 3, 8, 8, 8, 8, 5, 5,
8,8,8,0,5,9,9,9,
9,7,7,7,7,7,7,6,
6,6,10,10,6,6,5,5,
5,9,9,9,9,0,7,11,
11,11,11,12,12, 12,
12,12,12,12,12
 
};
 
prog_uchar p_limits[199]= // Limits f¸r die Parameter
{
1,8,2, // 2:Nick (3)
1,8,2, // 2:Roll (4)
1,8,2, // 2:Gas (2)
1,8,2, // 2:Gier (1)
1,8,2, // 2:Poti1 (6)
1,8,2, // 2:Poti2 (6)
1,8,2, // 2:Poti3 (7)
1,8,2, // 2:Poti4 (5)
0,0,0, // 1:Config
0,255,4, // 4:Höhe MinGas (30)
0,255,4, // 4:Luftdruck_D (30)
0,255,4, // 4:MaxHöhe (Setpoint?) (Poti4)
0,255,4, // 4:Höhe_P (10)
0,50,4, // 4:Höhe Verst‰rkung (3)
0,255,4, // 4:Höhe Z-acc (30)
0,6,3, // 3:Nick/Roll P (3)
0,64,3, // 3:Nick/Roll D (4)
0,20,3, // 3:Gier_P (6)
0,32,8, // 8:Min.Gas (15)
33,250,8, // 8:Max.Gas (250)
0,50,8, // 5:Gyro-Acc Faktor (30)
0,255,8, // 8:Kompass-Wirkung (128)
0,0,5, // 5:Gyro-P (80)
0,0,5, // 5:Gyro-I (120)
0,250,8, // 8:Unterspannung (94)
0,250,8, // 8:Not-Gas Zeit (20)
0,250,8, // 8:Not-Gas (35)
0,1,0, // Ufo-Ausrichtung (X +)
0,255,5, // I-Faktor (32)
0,255,9, // 9:User1 (80)
0,255,9, // 9:User2 (0)
0,255,9, // 9:User3
0,255,9, // 9:User4
0,255,7, // 7:Servo Nick Control (100)
0,250,7, // 7:Servo Nick Compensation (40)
0,250,7, // 7:Servo Nick min (50)
0,250,7, // 7:Servo Nick max (150)
0,25,7, // 7:Servo Nick refrsh (5)
0,255,6, // 6:Loop Gas Limit (50)
0,250,6, // 6:Loop Ansprechschwelle (90)
0,250,6, // 6:Loop Hysterese (50)
0,255,10, // 10:Achskopplung (90)
0,255,10, // 10:Achsgegenkopplung (5)
0,250,6, // 6:Turnover Nick (100)
0,250,6, // 6:Turnover Roll (100)
0,250,5, // 5: Gyro-Abgleich (Comp.) (32)
0,250,5, // 5: Drift (4)
0,255,5, // 5: Dynamic stability (75)
0,255,9, // 9:User5
0,255,9, // 9:User6
0,255,9, // 9:User7
0,255,9, // 9:User8 (0)
 
0,0,1, // 6:Loop Config (0)
0,1,7 // 7:Servo Nick Compensation Invert (0)
};
 
prog_char bin_parameter[12][16] = // Die bin‰r kodierten Parametern werden getrennt behandelt.
{
"Loop up ",
"Loop down ",
"Loop left ",
"Loop right ",
"Höhenregler ", // 8
"Höhenschalter ",
"Headhold ",
"Kompass ",
"KompassFix ",
"GPS ",
"Achsenkopplung ",
"Drehrate "
};
 
prog_char parameter[54][16]=
{
"Nick ", // 0 (3)
"Roll ", // 1 (4)
"Gas ", // (2)
"Gier ", // (1)
"Poti1 ", // (6)
"Poti2 ", // (6)
"Poti3 ", // (7)
"Poti4 ", // 7 (5)
"Config ", // 8
"Höhe_MinGas ", // 9 (30)
"Luftdruck_D ", // 10 Wert : 0-250 (30)
"MaxHöhe ", // 11 Wert : 0-250 251 -> Poti1 (Poti4)
"Höhe_P ", // 12 Wert : 0-32 (10)
"Höhe_Verstaerk", // 13 Wert : 0-50
"Höhe_ACC_Wirk.", // 14 Wert : 0-250 (30)
"Stick_P ", // 15 Wert : 1-6
"Stick_D ", // 16 Wert : 0-64
"Gier_P ", // 17 Wert : 1-20 POTI(?)
"Gas_Min ", // 17 Wert : 0-32
"Gas_Max ", // 18 Wert : 33-250
"GyroAccFaktor ", // 19 Wert : 1-64
"KompassWirkung ", // 20 Wert : 0-250
"Gyro_P ", // 21 Wert : 0-250
"Gyro_I ", // 22 Wert : 0-250
"Unterspannung ", // 23 Wert : 0-250
"NotGas ", // 24 Wert : 0-250 // Gaswert bei Empangsverlust
"NotGasZeit ", // 25 Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
"UfoAusrichtung ", // 26 X oder + Formation
"I_Faktor ", // 27 = 32;
"UserParam1 ", // 28 = 32 * 4; //zur freien Verwendung
"UserParam2 ", // 29 zur freien Verwendung
"UserParam3 ", // 30 zur freien Verwendung
"UserParam4 ", // 31 zur freien Verwendung
"ServoNickCtrl ", // 32 Wert : 0-250 // Stellung des Servos
"ServoNickComp ", // 33 Wert : 0-250 // Einfluss Gyro/Servo
"ServoNickMin ", // 34 Wert : 0-250 // Anschlag
"ServoNickMax ", // 35 Wert : 0-250 // Anschlag
"ServoNickRefrsh", // 36
"LoopGasLimit ", // 37
"LoopThreshold ", // 38 Wert: 0-250 Schwelle f¸r Stickausschlag
"LoopHysterese ", // 39
"AchsKopplung ", // 40
"AchsGegenKoppl.", // 41
"WinklUmschlNick", // 42
"WinklUmschlRoll", // 43
"GyroAccAbgleich", // 44 1/k
"Driftkomp ", // 45
"DynamicStabilit", // 47
"UserParam5 ", // 48 zur freien Verwendung
"UserParam6 ", // 49 zur freien Verwendung
"UserParam7 ", // 50 zur freien Verwendung
"UserParam8 ", // 51 zur freien Verwendung
"LoopConfig ", // 52 Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
"ServoNickCompIn" // 53 Wert : 0-250 // Richtung Einfluss Gyro/Servo
// "Name " // 54
};
 
 
 
 
void binary (uint8_t data, uint8_t *feld) // Wandelt eine 8-Bit Zahl in eine Bin‰rzahl um (Array mit 8 Elementen)
{ // Wird f¸r die Flags (Loop + Grundkonfiguration) benˆtigt
uint8_t i;
i=0;
for (i = 0; i < 8; i++)
{
if ((1 << i) & data)
feld[i] = 1;
else
feld[i] = 0;
}
}
 
uint8_t bindec (uint8_t *feld) // wandelt eine Bin‰rzahl (im Array) in eine 8-Bit Zahl
{ // Wird f¸r die Flags (Loop + Grundkonfiguration) benˆtigt
uint8_t i;
uint8_t result;
result = 0;
for (i = 0; i < 8; i++)
{
if (feld[i] == 1)
result += 1 << i;
}
return result;
}
 
 
 
 
void decimal (uint8_t data, uint8_t *text) // wandelt Wert in rechtsbündigen Text um
{ // (schneller/kleiner als printf())
text[0] = data/100;
data -= (text[0] * 100);
text[1] = data/10;
data -= (text[1] *10);
text[2] = data + 0x30;
text[0] += 0x30;
text[1] += 0x30;
 
if (text[0] == 0x30)
{
text[0] = 0x20;
if (text[1] == 0x30)
text[1] = 0x20;
}
text[3] = 0x00;
}
 
uint8_t show_parameter (uint8_t number) // Zeigt eine Parameter-Seite an und gibt die ausgew‰hlte Zeile zur¸ck
{
#if 0
uint8_t i;
uint8_t line;
uint8_t text[25];
uint8_t bin[8];
line = 0;
if (number > 1)
{
for (i = 0; i<66; i++)
{
if (pgm_read_byte(p_limits+i*3+2) == number)
{
array[line] = i;
decimal(buffer[i],text);
lcd_print_at(0,line,text,0);
lcd_printp_at (5,line,parameter[i],0);
if (line <= 7)
line++;
}
}
}
else
{ // Sonderf‰lle: Bin‰re Eingabe
if (number == 1)
{
binary(buffer[52],bin); // Loop-Config
text[1] = 0x00;
for (i = 0; i < 4; i++)
{
text[0] = bin[i] + 0x30;
lcd_print_at (0, i, text, 0);
lcd_printp_at (5, i, bin_parameter[i], 0);
}
}
if (number == 0)
{
binary (buffer[8], bin); // Config
text[1] = 0x00;
for (i = 0; i < 8; i++)
{
text[0] = bin[i] + 0x30;
lcd_print_at (0, i, text, 0);
lcd_printp_at (5, i, bin_parameter[i + 4], 0);
}
}
 
}
return line;
#endif
}
 
void edit_parameter2 (uint8_t page, uint8_t lines) // ƒndern der Parameter einer Seite
{
#if 0
uint8_t line;
uint8_t par;
uint8_t min;
uint8_t max;
uint8_t text[10];
uint8_t bin[8];
if (page > 1) // "normale" Parameter-Seiten
{
line = menu_choose(0,lines-1,4);
if (line != 255) // Wenn line == 255, wurde Escape gedr¸ckt
{
par = buffer[array[line]];
min = pgm_read_byte(p_limits + par * 3);
max = pgm_read_byte(p_limits + par * 3 + 1);
lcd_printp_at(4,line,PSTR("-"),0);
while (key != key_nokey);
do
{
if (key == key_minus)
{
//if (par > min) // ‹berpr¸fung der Parameter auf Bereichs¸berschreitung derzeit deaktiviert
par --;
}
if (key == key_plus)
{
//if (par < max)
par ++;
}
decimal(par,text);
lcd_print_at(0,line,text,0);
timer = 20;
while (timer > 0);
}
while ((key != 0x04) && (key != 0x08));
if (key == 0x08)
buffer[array[line]] = par;
}
}
if (page == 1) // Spezialfall: Loop-Config (einzelne Bits setzen / lˆschen)
{
binary(buffer[52],bin);
text[1] = 0x00;
 
line = menu_choose(0,3,4);
if (line != 255) // Wenn line == 255, wurde Escape gedr¸ckt
{
par = bin[line];
lcd_printp_at(4,line,PSTR("-"),0);
do
{
if (key == key_minus)
{
par = 0x00;
}
if (key == key_plus)
{
par = 0x01;
}
text[0] = par+0x30;
lcd_print_at(0,line,text,0);
timer = 20;
while (timer > 0);
}
while ((key != key_enter) && (key != key_esc));
if (key == key_enter)
{
bin[line] = par;
buffer[52] = bindec(bin);
}
lcd_cls();
decimal(buffer[52],text);
lcd_print(text,0);
timer = 200;
while(timer > 0);
}
}
if (page == 0) // Spezialfall: Allgemeine Konfiguration (einzelne Bits setzen/lˆschen)
{
binary(buffer[8],bin);
text[1] = 0x00;
 
line = menu_choose(0,7,4);
if (line != 255) // Wenn line == 255, wurde Escape gedr¸ckt
{
par = bin[line];
lcd_printp_at(4,line,PSTR("-"),0);
do
{
if (key == key_minus)
{
par = 0x00;
}
if (key == key_plus)
{
par = 0x01;
}
text[0] = par+0x30;
lcd_print_at(0,line,text,0);
timer = 20;
while (timer > 0);
}
while ((key != key_enter) && (key != key_esc));
if (key == key_enter)
{
bin[line] = par;
buffer[8] = bindec(bin);
}
lcd_cls();
decimal(buffer[8],text);
lcd_print(text,0);
timer = 200;
while(timer > 0);
}
}
#endif
}
 
 
void edit_parameter1 (void)
{
uint8_t cmd;
uint8_t setting = 0xff;
mode = 'P'; // Settings
 
lcd_cls ();
 
//mode = 'Q'; // Settings
_delay_ms (50);
rxd_buffer_locked = FALSE;
timer = TIMEOUT;
LED2_ON;
//SendOutData ('q', ADDRESS_FC, 1, &setting, 1);
SendOutData ('p', ADDRESS_FC, 1);
while (!rxd_buffer_locked && timer);
if (timer)
{
LED3_ON;
Decode64 ();
#if 0
mk_param_struct = (mk_param_struct_t *) pRxData + 2;
 
lcd_printp (PSTR("Current Setting: "), 0);
lcd_write_number_u (*pRxData);
lcd_printp (PSTR("Setting Version: "), 0);
lcd_write_number_u (*pRxData+1);
#endif
LED3_OFF;
}
else
{ // timeout occured
lcd_printp_at (0, 2, PSTR("ERROR: no data"), 0);
timer = 100;
while (timer > 0);
return;
}
LED2_OFF;
 
// after all work is done...
rxd_buffer_locked = FALSE;
 
#if 0
uint8_t page; // 12 Pages
uint8_t text[15];
uint8_t lines;
uint8_t parameter;
lcd_cls ();
lcd_printp (PSTR("Load Setting\r\n"), 0);
lcd_printp (PSTR(" 1:\r\n"), 0);
lcd_printp (PSTR(" 2:\r\n"), 0);
lcd_printp (PSTR(" 3:\r\n"), 0);
lcd_printp (PSTR(" 4:\r\n"), 0);
lcd_printp (PSTR(" 5:\r\n"), 0);
parameter = menu_choose (1, 5, 0);
 
page = 2;
if (read_parameter (parameter) == 1)
{
lcd_printp_at (0, 6, PSTR("Timeout"), 0);
}
else
{
do
{
lcd_cls ();
utoa (page, text, 10);
lcd_print (text, 0);
timer = 50;
while (timer > 0);
lcd_cls ();
lines = show_parameter (page);
while (key == key_nokey);
if (key == key_plus)
page++;
if (key == key_minus)
page--;
if (page == 255)
page = 12;
if (page > 12)
page = 0;
if (key == key_enter)
edit_parameter2 (page, lines);
}
while (key != key_esc);
lcd_cls ();
lcd_printp (PSTR("Parameter speichern?\r\n ja\r\n nein"), 0);
lines = menu_choose (1, 2, 0);
if (lines == 1 )
{
lcd_printp (PSTR("\r\n--->"), 0);
write_parameter (5); // Sicherheitshalber wird derzeit ausschliefllich auf Parametersatz 5 gesichert.
lcd_printp (PSTR("\r\nParameter gespeichert"), 0);
}
else
{
lcd_printp (PSTR("\r\nNicht gespeichert"), 0);
}
}
timer = 100;
while (timer > 0);
#endif
}
 
void display_page (uint8_t page)
{
lcd_cls ();
 
switch (page)
{
case 0:
lcd_printp (PSTR("Current Setting: "), 0);
lcd_write_number_u (*pRxData);
lcd_printp (PSTR("\r\nSetting Version: "), 0);
lcd_write_number_u (*(pRxData + 1));
#if 0
lcd_printp (PSTR("\r\nRxDataLen: "), 0);
lcd_write_number_u (RxDataLen);
lcd_printp (PSTR("\r\nRxBytes: "), 0);
lcd_write_number_u (ReceivedBytes);
#endif
break;
 
case 1:
lcd_printp (PSTR("Pitch: "), 0);
lcd_write_number_u (mk_param_struct->Kanalbelegung[0]);
 
lcd_printp (PSTR("Yaw : "), 0);
lcd_write_number_u (mk_param_struct->Kanalbelegung[1]);
lcd_printp (PSTR("Nick : "), 0);
lcd_write_number_u (mk_param_struct->Kanalbelegung[2]);
lcd_printp (PSTR("Roll : "), 0);
lcd_write_number_u (mk_param_struct->Kanalbelegung[3]);
lcd_printp (PSTR("Poti1: "), 0);
lcd_write_number_u (mk_param_struct->Kanalbelegung[4]);
lcd_printp (PSTR("Poti2: "), 0);
lcd_write_number_u (mk_param_struct->Kanalbelegung[5]);
lcd_printp (PSTR("Poti3: "), 0);
lcd_write_number_u (mk_param_struct->Kanalbelegung[6]);
lcd_printp (PSTR("Poti4: "), 0);
lcd_write_number_u (mk_param_struct->Kanalbelegung[7]);
break;
}
}
 
 
void edit_parameter (void)
{
uint8_t cmd;
uint8_t sett = 0xff; // current active parameter set
uint8_t page = 0;
SwitchToFC();
mode = 'Q'; // Settings
lcd_cls ();
 
_delay_ms (50);
rxd_buffer_locked = FALSE;
timer = TIMEOUT;
SendOutData ('q', ADDRESS_FC, 1, &sett, 1);
while (!rxd_buffer_locked && timer);
if (timer)
{
Decode64 ();
mk_param_struct = (mk_param_struct_t *) pRxData + 2;
display_page (page);
if (get_key_press (1 << KEY_MINUS))
{
page--;
}
else if (get_key_press (1 << KEY_PLUS))
{
page++;
}
 
}
else
{ // timeout occured
lcd_printp_at (0, 2, PSTR("ERROR: no data"), 0);
timer = 100;
while (timer > 0);
return;
}
// after all work is done...
//rxd_buffer_locked = FALSE;
while (!get_key_press (1 << KEY_ESC)); // ESC
 
mode = 0;
rxd_buffer_locked = FALSE;
}
/Transportables_Koptertool/trunk/V-0.1.2/parameter.h
0,0 → 1,29
/*****************************************************************************
* Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de *
* Copyright (C) 2009 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. *
* *
*****************************************************************************/
 
#ifndef _PARAMETER_H
#define _PARAMETER_H
 
//*****************************************************************************
//
void edit_parameter (void);
void decimal (uint8_t data, uint8_t *text);
 
#endif
/Transportables_Koptertool/trunk/V-0.1.2/servo.c
0,0 → 1,128
/*****************************************************************************
* Copyright (C) 2009 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. *
* *
*****************************************************************************/
 
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
 
#include "lcd.h"
#include "timer.h" // Keys
#include "servo.h"
 
#define SERVO_MIN 313 // 1.0 ms (Servo min)
#define SERVO_MAX 625 // 2.0 ms (Servo max)
#define SERVO_CENTER 469 // 1.5 ms
 
#define SERVO_PULSE 6250 // 20 ms
 
//*****************************************************************************
//
ISR(TIMER1_COMPA_vect)
{
PORTD |= (1 << PD7);
}
 
//*****************************************************************************
//
ISR(TIMER1_COMPB_vect)
{
PORTD &= ~(1 << PD7);
}
 
//*****************************************************************************
//
void servo_test (void)
{
uint8_t chg = 0;
uint8_t step = 10;
DDRD |= (1 << DDD7); // PD7 output
 
TCCR1B = (1 << WGM12) | (1 << CS11) | (1 << CS10); // Prescaler 1/64, CTC mode
// 1 step = 3,2 µs (@ 20 MHz)
 
OCR1A = SERVO_PULSE;
 
OCR1B = SERVO_CENTER;
 
TIMSK1 = (1 << OCIE1A) | (1 << OCIE1B);
 
lcd_cls ();
lcd_printp (PSTR("Servo Tester"), 0);
//lcd_printpns_at (0, 7, PSTR("-1 +1 Exit \x1d\x7c\x1c"), 0);
lcd_printpns_at (0, 7, PSTR("-10 +10 Exit \x1d\x7c\x1c"), 0);
lcd_frect (SGX, SGY, ((OCR1B - SERVO_MIN) * SMAXGX) / (SERVO_MAX - SERVO_MIN), 10, 1);
//write_ndigit_number_u (SMX, SMY, ((OCR1B - SERVO_MIN) * 100) / (SERVO_MAX - SERVO_MIN), 3, 0); // Pulse width in %
write_ndigit_number_u_100th(SMX, SMY, (OCR1B * 64) / 200 , 3, 0); // Pulse width in ms
 
do
{
if ((get_key_press (1 << KEY_PLUS) || get_key_rpt (1 << KEY_PLUS)) && (OCR1B < SERVO_MAX))
{
OCR1B += step;
if (OCR1B > SERVO_MAX)
{
OCR1B = SERVO_MAX;
}
chg++;
}
else if ((get_key_press (1 << KEY_MINUS) || get_key_rpt (1 << KEY_MINUS)) && (OCR1B > SERVO_MIN))
{
lcd_frect (SGX, SGY, ((OCR1B - SERVO_MIN) * SMAXGX) / (SERVO_MAX - SERVO_MIN), 10, 0);
OCR1B -= step;
if (OCR1B < SERVO_MIN)
{
OCR1B = SERVO_MIN;
}
chg++;
}
else if (get_key_short (1 << KEY_ENTER))
{
lcd_frect (SGX, SGY, ((OCR1B - SERVO_MIN) * SMAXGX) / (SERVO_MAX - SERVO_MIN), 10, 0);
OCR1B = SERVO_CENTER;
chg++;
}
else if (get_key_long (1 << KEY_ENTER))
{
if (step == 1)
{
step = 10;
lcd_printpns_at (0, 7, PSTR("-10 +10 Exit \x1d\x7c\x1c"), 0);
}
else
{
step = 1;
lcd_printpns_at (0, 7, PSTR("-1 +1 Exit \x1d\x7c\x1c"), 0);
}
}
if (chg)
{
chg = 0;
lcd_frect (SGX, SGY, ((OCR1B - SERVO_MIN) * SMAXGX) / (SERVO_MAX - SERVO_MIN), 10, 1);
//write_ndigit_number_u (SMX, SMY, ((OCR1B - SERVO_MIN) * 100) / (SERVO_MAX - SERVO_MIN), 3, 0); // Pulse width in %
write_ndigit_number_u_100th(SMX, SMY, (OCR1B * 64) / 200 , 3, 0); // Pulse width in ms
}
}
while (!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
 
TIMSK1 = 0;
}
/Transportables_Koptertool/trunk/V-0.1.2/servo.h
0,0 → 1,41
/*****************************************************************************
* 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. *
* *
*****************************************************************************/
 
#ifndef _SERVO_H
#define _SERVO_H
 
//*****************************************************************************
//
 
// text position
#define SMX 0
#define SMY 3
 
// graphics position
//#define SGX ((SMX + 3) * 6 + 1) // 3 for 3 digits
#define SGX ((SMX + 4) * 6 + 1) // 4 for 4 digits
#define SGY (SMY * 8 - 2)
 
#define SMAXGX (128 - SGX)
 
//*****************************************************************************
//
void servo_test (void);
 
#endif
/Transportables_Koptertool/trunk/V-0.1.2/settings.c
0,0 → 1,142
/*****************************************************************************
* 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. *
* *
*****************************************************************************/
 
#include <avr/io.h>
#include <avr/pgmspace.h>
#include <avr/interrupt.h>
 
#include "main.h"
#include "menu.h"
#include "lcd.h"
#include "settings.h"
#include "timer.h"
#include "lipo.h"
#include "eeprom.h"
 
 
//*****************************************************************************
//
void set_toggledisplay(void)
{
cli();
 
if (LCD_ORIENTATION == 0)
LCD_ORIENTATION = 4;
else
LCD_ORIENTATION = 0;
 
WriteParameter ();
LCD_Init();
 
sei();
}
 
//*****************************************************************************
//
void set_viewfont(void)
{
uint8_t page;
page = 0;
lcd_view_font (page);
do
{
if (get_key_press (1 << KEY_PLUS) && (page < 1))
{
page++;
lcd_view_font (page);
}
if (get_key_press (1 << KEY_MINUS) && (page > 0))
{
page--;
lcd_view_font (page);
}
}
while (!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
}
 
//*****************************************************************************
//
void set_lipo(void)
{
lcd_cls();
lcd_printp_at(0, 0, PSTR("LiPo Under Voltage:"), 0);
lcd_printp_at(0, 2, PSTR("Warn Voltage: "), 0);
lcd_printpns_at (0, 7, PSTR(" - + Ok"), 0);
do
{
write_ndigit_number_u_10th(14, 2, AD_WarnLevel, 3, 0);
if (get_key_press (1 << KEY_PLUS) && (AD_WarnLevel < 40))
{
AD_WarnLevel++;
}
else if (get_key_press (1 << KEY_MINUS) && (AD_WarnLevel > 20))
{
AD_WarnLevel--;
}
}
while (!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
WriteParameter ();
}
 
 
// Not really usefull :-)
// testing....
 
//*****************************************************************************
//
void set_line(void)
{
lcd_cls ();
#if 1
lcd_line (10, 20, 100, 50, 1); // draw a line
#else
lcd_ecircle(22, 35, 18, 1);
uint16_t old_d = 0;
for (uint16_t i = 0; i < 360; i += 10)
{
lcd_ecirc_line (22, 35, 17, old_d, 0);
old_d = i;
lcd_ecirc_line (22, 35, 17, i, 1);
while (!get_key_press (1 << KEY_ENTER));
}
#endif
while (!get_key_press (1 << KEY_ESC));
}
 
//*****************************************************************************
//
void set_rect(void)
{
lcd_cls ();
//lcd_rect (10, 20, 100, 40, 1); // draw a rect
//lcd_ellipse(60, 30, 23, 20, 1);
lcd_frect(10, 10, 20, -5, 1);
write_ndigit_number_s (10, 1, -10, 2, 0);
write_ndigit_number_s (10, 2, -10, 3, 0);
write_ndigit_number_s (10, 3, -10, 4, 0);
write_ndigit_number_s (10, 4, -10, 5, 0);
while (!get_key_press (1 << KEY_ESC));
}
/Transportables_Koptertool/trunk/V-0.1.2/settings.h
0,0 → 1,34
/*****************************************************************************
* 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. *
* *
*****************************************************************************/
 
#ifndef _SETTINGS_H
#define _SETTINGS_H
 
//*****************************************************************************
//
void set_toggledisplay(void);
void set_viewfont(void);
 
void set_line(void);
void set_rect(void);
 
void set_lipo(void);
 
#endif
/Transportables_Koptertool/trunk/V-0.1.2/status.c
0,0 → 1,65
/*****************************************************************************
* Copyright (C) 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. *
* *
*****************************************************************************/
 
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
 
#include "lcd.h"
#include "timer.h" // Keys
#include "usart.h"
#include "status.h"
#include "debug.h"
 
 
//*****************************************************************************
//
void status (void)
{
uint8_t line = 1;
 
lcd_cls ();
lcd_printp (PSTR("Status:"), 0);
lcd_printpns_at (0, 7, PSTR(" Back "), 0);
lcd_printp_at(0, line, PSTR("MMB Version: "), 0);
lcd_write_number_u (VERSION_MAJOR);
lcd_printp(PSTR("."), 0);
lcd_write_number_u (VERSION_MINOR);
line++;
lcd_printp_at(0, line, PSTR("UART CRC ERR: "), 0);
write_ndigit_number_u(15, line, stat_crc_error, 5, 0);
line++;
lcd_printp_at(0, line, PSTR("UART OVEFLOW: "), 0);
write_ndigit_number_u(15, line, stat_overflow_error, 5, 0);
line++;
lcd_printp_at(0, line, PSTR("Names NC: "), 0);
write_ndigit_number_u(15, line, AnalogNamesRead[0], 5, 0);
line++;
 
lcd_printp_at(0, line, PSTR("AN FC: "), 0);
write_ndigit_number_u(15, line, AnalogNamesRead[1], 5, 0);
line++;
 
while (!get_key_press (1 << KEY_ESC));
}
/Transportables_Koptertool/trunk/V-0.1.2/status.h
0,0 → 1,30
/*****************************************************************************
* Copyright (C) 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. *
* *
*****************************************************************************/
 
#ifndef _STATUS_H
#define _STATUS_H
 
//*****************************************************************************
//
 
//*****************************************************************************
//
void status (void);
 
#endif
/Transportables_Koptertool/trunk/V-0.1.2/timer.c
0,0 → 1,169
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* based on the key handling by Peter Dannegger *
* see www.mikrocontroller.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. *
* *
*****************************************************************************/
 
#include <avr/io.h>
#include <avr/interrupt.h>
#include "main.h"
#include "timer.h"
 
volatile uint16_t timer;
 
uint8_t key_state = 0; // debounced and inverted key state:
// bit = 1: key pressed
uint8_t key_press = 0; // key press detect
uint8_t key_rpt; // key long press and repeat
 
 
//*****************************************************************************
//
#if defined (__AVR_ATmega32__)
ISR(TIMER0_COMP_vect) // Timer-Interrupt (100 Hz)
#else
ISR(TIMER0_COMPA_vect) // Timer-Interrupt (100 Hz)
#endif
{
static uint8_t ct0 = 0;
static uint8_t ct1 = 0;
static uint8_t rpt = 0;
uint8_t i;
// Key handling by Peter Dannegger
// see www.mikrocontroller.net
i = key_state ^ ~KEY_PIN; // key changed ?
ct0 = ~(ct0 & i); // reset or count ct0
ct1 = ct0 ^ (ct1 & i); // reset or count ct1
i &= (ct0 & ct1); // count until roll over ?
key_state ^= i; // then toggle debounced state
key_press |= (key_state & i); // 0->1: key press detect
if ((key_state & REPEAT_MASK) == 0) // check repeat function
{
rpt = REPEAT_START; // start delay
}
if (--rpt == 0)
{
rpt = REPEAT_NEXT; // repeat delay
key_rpt |= (key_state & REPEAT_MASK);
}
 
if (timer > 0)
timer --;
}
 
 
//*****************************************************************************
//
void TIMER0_Init (void)
{
timer = 0;
#if defined (__AVR_ATmega32__)
TCCR0 = (1 << CS02) | (1 << CS00) | (1 << WGM01); // Prescaler 1024
OCR0 = (F_CPU / (100L * 1024L)) ;
 
TIMSK |= (1 << OCIE0); // enable interrupt for OCR
#else
TCCR0A = (1 << WGM01);
TCCR0B = (1 << CS02) | (1 << CS00);
OCR0A = (F_CPU / (100L * 1024L)) ;
 
TIMSK0 |= (1 << OCIE0A); // enable interrupt for OCR
#endif
}
 
 
//*****************************************************************************
//
uint8_t get_key_press (uint8_t key_mask)
{
uint8_t sreg = SREG;
// disable all interrupts
cli();
key_mask &= key_press; // read key(s)
key_press ^= key_mask; // clear key(s)
SREG = sreg; // restore status register
return key_mask;
}
 
 
//*****************************************************************************
//
uint8_t get_key_rpt (uint8_t key_mask)
{
uint8_t sreg = SREG;
 
// disable all interrupts
cli();
key_mask &= key_rpt; // read key(s)
key_rpt ^= key_mask; // clear key(s)
SREG = sreg; // restore status register
return key_mask;
}
 
 
//*****************************************************************************
//
uint8_t get_key_short (uint8_t key_mask)
{
uint8_t ret;
uint8_t sreg = SREG;
// disable all interrupts
cli();
ret = get_key_press (~key_state & key_mask);
SREG = sreg; // restore status register
return ret;
}
 
 
//*****************************************************************************
//
uint8_t get_key_long (uint8_t key_mask)
{
return get_key_press (get_key_rpt (key_mask));
}
 
 
//*****************************************************************************
//
uint8_t get_key_long2 (uint8_t key_mask)
{
return get_key_press (get_key_rpt (key_press^key_mask));
}
 
 
//*****************************************************************************
//
uint8_t get_key_long_rpt (uint8_t key_mask)
{
return get_key_rpt (~key_press^key_mask);
}
/Transportables_Koptertool/trunk/V-0.1.2/timer.h
0,0 → 1,47
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* based on the key handling by Peter Dannegger *
* see www.mikrocontroller.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. *
* *
*****************************************************************************/
 
#ifndef _TIMER_H
#define _TIMER_H
 
#define KEY_PIN PINA
#define KEY_ENTER PA7
#define KEY_ESC PA6
#define KEY_PLUS PA5
#define KEY_MINUS PA4
#define KEY_ALL ((1 << KEY_PLUS) | (1 << KEY_MINUS) | (1 << KEY_ENTER) | (1 << KEY_ESC))
#define REPEAT_MASK ((1 << KEY_PLUS) | (1 << KEY_MINUS) | (1 << KEY_ENTER) | (1 << KEY_ESC)) // repeat: MODE
 
#define REPEAT_START 50 // after 500ms
#define REPEAT_NEXT 10 // every 100ms
 
extern volatile uint16_t timer;
 
void TIMER0_Init (void);
 
uint8_t get_key_press (uint8_t key_mask);
uint8_t get_key_rpt (uint8_t key_mask);
uint8_t get_key_short (uint8_t key_mask);
uint8_t get_key_long (uint8_t key_mask);
uint8_t get_key_long2 (uint8_t key_mask);
uint8_t get_key_long_rpt (uint8_t key_mask);
 
#endif
/Transportables_Koptertool/trunk/V-0.1.2/usart.c
0,0 → 1,515
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* taken some ideas from the C-OSD code from CaScAdE *
* the MK communication routines are taken from the MK source *
* (killagreg version) *
* *
* 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. *
* *
*****************************************************************************/
 
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <avr/wdt.h>
#include <util/delay.h>
#include <stdarg.h>
 
#include "main.h"
#include "usart.h"
#include "lcd.h"
 
uint8_t buffer[30];
 
volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
volatile uint8_t txd_complete = TRUE;
volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
volatile uint8_t rxd_buffer_locked = FALSE;
volatile uint8_t ReceivedBytes = 0;
volatile uint8_t *pRxData = 0;
volatile uint8_t RxDataLen = 0;
 
volatile uint16_t stat_crc_error = 0;
volatile uint16_t stat_overflow_error = 0;
 
#ifdef DEBUG_UART
//*****************************************************************************
// USART1 transmitter ISR
ISR (USART1_TXC_vect)
{
static uint16_t ptr_txd_buffer = 0;
uint8_t tmp_tx;
if(!txd_complete) // transmission not completed
{
ptr_txd_buffer++; // [0] was already sent
tmp_tx = txd_buffer[ptr_txd_buffer];
// if terminating character or end of txd buffer was reached
if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN))
{
ptr_txd_buffer = 0; // reset txd pointer
txd_complete = TRUE; // stop transmission
}
UDR1 = tmp_tx; // send current byte will trigger this ISR again
}
// transmission completed
else ptr_txd_buffer = 0;
}
 
//*****************************************************************************
//
void USART1_Init (void)
{
// set clock divider
#undef BAUD
#define BAUD USART_BAUD
#include <util/setbaud.h>
UBRR1H = UBRRH_VALUE;
UBRR1L = UBRRL_VALUE;
#if USE_2X
UCSR1A |= (1 << U2X1); // enable double speed operation
#else
UCSR1A &= ~(1 << U2X1); // disable double speed operation
#endif
// set 8N1
UCSR1C = (1 << UCSZ11) | (1 << UCSZ10);
UCSR1B &= ~(1 << UCSZ12);
// flush receive buffer
while ( UCSR1A & (1 << RXC1) ) UDR1;
// UCSR1B |= (1 << RXEN1) | (1 << TXEN1);
// UCSR1B |= (1 << RXCIE1) | (1 << TXCIE1);
UCSR1B |= (1 << RXEN1) | (1 << TXEN1);
UCSR1B |= (1 << TXCIE1);
}
 
void debug ()
{
sprintf (txd_buffer, "test\r");
txd_complete = FALSE;
UDR1 = txd_buffer[0];
}
#endif
 
#ifdef USART_INT
//*****************************************************************************
// USART0 transmitter ISR
ISR (USART_TXC_vect)
{
static uint16_t ptr_txd_buffer = 0;
uint8_t tmp_tx;
 
if(!txd_complete) // transmission not completed
{
ptr_txd_buffer++; // [0] was already sent
tmp_tx = txd_buffer[ptr_txd_buffer];
// if terminating character or end of txd buffer was reached
if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN))
{
ptr_txd_buffer = 0; // reset txd pointer
txd_complete = TRUE; // stop transmission
}
UDR = tmp_tx; // send current byte will trigger this ISR again
}
// transmission completed
else ptr_txd_buffer = 0;
}
#endif
 
//*****************************************************************************
//
ISR (USART_RXC_vect)
{
static uint16_t crc;
static uint8_t ptr_rxd_buffer = 0;
uint8_t crc1, crc2;
uint8_t c;
c = UDR; // catch the received byte
 
if (rxd_buffer_locked)
{
return; // if rxd buffer is locked immediately return
}
 
// the rxd buffer is unlocked
if ((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received
{
LED6_OFF;
rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
crc = c; // init crc
}
else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes
{
if(c != '\r') // no termination character
{
rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
crc += c; // update crc
}
else // termination character was received
{
// the last 2 bytes are no subject for checksum calculation
// they are the checksum itself
crc -= rxd_buffer[ptr_rxd_buffer-2];
crc -= rxd_buffer[ptr_rxd_buffer-1];
// calculate checksum from transmitted data
crc %= 4096;
crc1 = '=' + crc / 64;
crc2 = '=' + crc % 64;
// compare checksum to transmitted checksum bytes
if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))
{ // checksum valid
rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes
if (mode == rxd_buffer[2])
{
rxd_buffer_locked = TRUE; // lock the rxd buffer
LED6_ON;
// if 2nd byte is an 'R' enable watchdog that will result in an reset
if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando
}
}
else
{ // checksum invalid
stat_crc_error++;
rxd_buffer_locked = FALSE; // unlock rxd buffer
//LED5_TOGGLE;
//lcd_putc(0, 6, rxd_buffer[2], 0);
}
ptr_rxd_buffer = 0; // reset rxd buffer pointer
}
}
else // rxd buffer overrun
{
//LED4_TOGGLE;
stat_overflow_error++;
ptr_rxd_buffer = 0; // reset rxd buffer
rxd_buffer_locked = FALSE; // unlock rxd buffer
}
}
 
//*****************************************************************************
//
void USART_Init (void)
{
// set clock divider
#undef BAUD
#define BAUD USART_BAUD
#include <util/setbaud.h>
UBRRH = UBRRH_VALUE;
UBRRL = UBRRL_VALUE;
#if USE_2X
UCSRA |= (1 << U2X); // enable double speed operation
#else
UCSRA &= ~(1 << U2X); // disable double speed operation
#endif
// set 8N1
#if defined (__AVR_ATmega8__) || defined (__AVR_ATmega32__)
UCSRC = (1 << URSEL) | (1 << UCSZ1) | (1 << UCSZ0);
#else
UCSRC = (1 << UCSZ1) | (1 << UCSZ0);
#endif
UCSRB &= ~(1 << UCSZ2);
 
// flush receive buffer
while ( UCSRA & (1 << RXC) ) UDR;
 
UCSRB |= (1 << RXEN) | (1 << TXEN);
#ifdef USART_INT
UCSRB |= (1 << RXCIE) | (1 << TXCIE);
#else
UCSRB |= (1 << RXCIE);
#endif
}
 
//*****************************************************************************
// disable the txd pin of usart
void USART_DisableTXD (void)
{
#ifdef USART_INT
UCSRB &= ~(1 << TXCIE); // disable TX-Interrupt
#endif
UCSRB &= ~(1 << TXEN); // disable TX in USART
DDRB &= ~(1 << DDB3); // set TXD pin as input
PORTB &= ~(1 << PORTB3); // disable pullup on TXD pin
}
 
//*****************************************************************************
// enable the txd pin of usart
void USART_EnableTXD (void)
{
DDRB |= (1 << DDB3); // set TXD pin as output
PORTB &= ~(1 << PORTB3); // disable pullup on TXD pin
UCSRB |= (1 << TXEN); // enable TX in USART
#ifdef USART_INT
UCSRB |= (1 << TXCIE); // enable TX-Interrupt
#endif
}
 
//*****************************************************************************
// short script to directly send a request thorugh usart including en- and disabling it
// where <address> is the address of the receipient, <label> is which data set to request
// and <ms> represents the milliseconds delay between data
void USART_request_mk_data (uint8_t cmd, uint8_t addr, uint8_t ms)
{
USART_EnableTXD (); // re-enable TXD pin
unsigned char mstenth = ms/10;
SendOutData(cmd, addr, 1, &mstenth, 1);
// wait until command transmitted
while (txd_complete == FALSE);
USART_DisableTXD (); // disable TXD pin again
}
 
//*****************************************************************************
//
void USART_putc (char c)
{
#ifdef USART_INT
#else
loop_until_bit_is_set(UCSRA, UDRE);
UDR = c;
#endif
}
 
//*****************************************************************************
//
void USART_puts (char *s)
{
#ifdef USART_INT
#else
while (*s)
{
USART_putc (*s);
s++;
}
#endif
}
 
//*****************************************************************************
//
void USART_puts_p (const char *s)
{
#ifdef USART_INT
#else
while (pgm_read_byte(s))
{
USART_putc (pgm_read_byte(s));
s++;
}
#endif
}
 
//*****************************************************************************
//
void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ...
{
va_list ap;
uint16_t pt = 0;
uint8_t a,b,c;
uint8_t ptr = 0;
uint16_t tmpCRC = 0;
uint8_t *pdata = 0;
int len = 0;
txd_buffer[pt++] = '#'; // Start character
txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...)
txd_buffer[pt++] = cmd; // Command
va_start(ap, numofbuffers);
if(numofbuffers)
{
pdata = va_arg (ap, uint8_t*);
len = va_arg (ap, int);
ptr = 0;
numofbuffers--;
}
while(len)
{
if(len)
{
a = pdata[ptr++];
len--;
if((!len) && numofbuffers)
{
pdata = va_arg(ap, uint8_t*);
len = va_arg(ap, int);
ptr = 0;
numofbuffers--;
}
}
else a = 0;
if(len)
{
b = pdata[ptr++];
len--;
if((!len) && numofbuffers)
{
pdata = va_arg(ap, uint8_t*);
len = va_arg(ap, int);
ptr = 0;
numofbuffers--;
}
}
else b = 0;
if(len)
{
c = pdata[ptr++];
len--;
if((!len) && numofbuffers)
{
pdata = va_arg(ap, uint8_t*);
len = va_arg(ap, int);
ptr = 0;
numofbuffers--;
}
}
else c = 0;
txd_buffer[pt++] = '=' + (a >> 2);
txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
txd_buffer[pt++] = '=' + ( c & 0x3f);
}
va_end(ap);
for(a = 0; a < pt; a++)
{
tmpCRC += txd_buffer[a];
}
tmpCRC %= 4096;
txd_buffer[pt++] = '=' + tmpCRC / 64;
txd_buffer[pt++] = '=' + tmpCRC % 64;
txd_buffer[pt++] = '\r';
txd_complete = FALSE;
#ifdef USART_INT
UDR = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)
#else
for(a = 0; a < pt; a++)
{
loop_until_bit_is_set(UCSRA, UDRE);
UDR = txd_buffer[a];
}
txd_complete = TRUE;
#endif
}
 
//*****************************************************************************
//
void Decode64 (void)
{
uint8_t a,b,c,d;
uint8_t ptrIn = 3;
uint8_t ptrOut = 3;
uint8_t len = ReceivedBytes - 6;
while (len)
{
a = rxd_buffer[ptrIn++] - '=';
b = rxd_buffer[ptrIn++] - '=';
c = rxd_buffer[ptrIn++] - '=';
d = rxd_buffer[ptrIn++] - '=';
//if(ptrIn > ReceivedBytes - 3) break;
if (len--)
rxd_buffer[ptrOut++] = (a << 2) | (b >> 4);
else
break;
if (len--)
rxd_buffer[ptrOut++] = ((b & 0x0f) << 4) | (c >> 2);
else
break;
if (len--)
rxd_buffer[ptrOut++] = ((c & 0x03) << 6) | d;
else
break;
}
pRxData = &rxd_buffer[3];
RxDataLen = ptrOut - 3;
}
 
 
//*****************************************************************************
//
void SwitchToNC (void)
{
// switch to NC
USART_putc (0x1b);
USART_putc (0x1b);
USART_putc (0x55);
USART_putc (0xaa);
USART_putc (0x00);
current_hardware = NC;
_delay_ms (50);
}
 
//*****************************************************************************
//
void SwitchToFC (void)
{
uint8_t cmd;
 
if (current_hardware == NC)
{
// switch to FC
cmd = 0x00; // 0 = FC, 1 = MK3MAG, 2 = MKGPS
SendOutData('u', ADDRESS_NC, 1, &cmd, 1);
current_hardware = FC;
_delay_ms (50);
}
}
 
//*****************************************************************************
//
void SwitchToMAG (void)
{
uint8_t cmd;
if (current_hardware == NC)
{
// switch to MK3MAG
cmd = 0x01; // 0 = FC, 1 = MK3MAG, 2 = MKGPS
SendOutData('u', ADDRESS_NC, 1, &cmd, 1);
current_hardware = MK3MAG;
_delay_ms (50);
}
}
 
//*****************************************************************************
//
void SwitchToGPS (void)
{
uint8_t cmd;
if (current_hardware == NC)
{
// switch to MKGPS
cmd = 0x02; // 0 = FC, 1 = MK3MAG, 2 = MKGPS
SendOutData('u', ADDRESS_NC, 1, &cmd, 1);
current_hardware = MKGPS;
_delay_ms (50);
}
}
/Transportables_Koptertool/trunk/V-0.1.2/usart.h
0,0 → 1,127
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* taken some ideas from the C-OSD code from CaScAdE *
* the MK communication routines are taken from the MK source *
* (killagreg version) *
* *
* 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. *
* *
*****************************************************************************/
 
#ifndef _USART_H
#define _USART_H
 
//*****************************************************************************
//
#ifndef FALSE
#define FALSE 0
#endif
#ifndef TRUE
#define TRUE 1
#endif
 
// addresses
#define ADDRESS_ANY 0
#define ADDRESS_FC 1
#define ADDRESS_NC 2
#define ADDRESS_MAG 3
 
// must be at least 4('#'+Addr+'CmdID'+'\r')+ (80 * 4)/3 = 111 bytes
#define TXD_BUFFER_LEN 60
#define RXD_BUFFER_LEN 180
 
// Baud rate of the USART
#define USART_BAUD 57600
 
//*****************************************************************************
//
extern uint8_t buffer[30];
 
extern volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
extern volatile uint8_t txd_complete;
extern volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
extern volatile uint8_t rxd_buffer_locked;
extern volatile uint8_t ReceivedBytes;
extern volatile uint8_t *pRxData;
extern volatile uint8_t RxDataLen;
 
extern volatile uint16_t stat_crc_error;
extern volatile uint16_t stat_overflow_error;
 
//*****************************************************************************
//
void USART_Init (void);
 
void USART_DisableTXD (void);
void USART_EnableTXD (void);
void USART_request_mk_data (uint8_t cmd, uint8_t addr, uint8_t ms);
 
void USART_putc (char c);
void USART_puts (char *s);
void USART_puts_p (const char *s);
 
void SendOutData (uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...); // uint8_t *pdata, uint8_t len, ...
//void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, uint8_t *pdata, uint8_t len); // uint8_t *pdata, uint8_t len, ...
void Decode64 (void);
 
void SwitchToNC (void);
void SwitchToFC (void);
void SwitchToMAG (void);
void SwitchToGPS (void);
 
//*****************************************************************************
//Anpassen der seriellen Schnittstellen Register
#if defined (__AVR_ATmega644__) || defined (__AVR_ATmega644P__) || defined (__AVR_ATmega168__)
#define USART_RXC_vect USART0_RX_vect
//-----------------------
#define UCSRA UCSR0A
#define UCSRB UCSR0B
#define UCSRC UCSR0C
#define UDR UDR0
#define UBRRL UBRR0L
#define UBRRH UBRR0H
 
// UCSRA
#define RXC RXC0
#define TXC TXC0
#define UDRE UDRE0
#define FE FE0
#define UPE UPE0
#define U2X U2X0
#define MPCM MPCM0
 
// UCSRB
#define RXCIE RXCIE0
#define TXCIE TXCIE0
#define UDRIE UDRIE0
#define TXEN TXEN0
#define RXEN RXEN0
#define UCSZ2 UCSZ02
#define RXB8 RXB80
#define TXB8 TXB80
 
// UCSRC
#define UMSEL1 UMSEL01
#define UMSEL0 UMSEL00
#define UPM1 UPM01
#define UPM0 UPM00
#define USBS USBS0
#define UCSZ1 UCSZ01
#define UCSZ0 UCSZ00
#define UCPOL UCPOL0
//-----------------------
#endif
 
#endif