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| /***************************************************************************** |
| * Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de * |
| * Copyright (C) 2009-2010 Peter "woggle" Mack, mac@denich.net * |
| * Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.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 <avr/wdt.h> |
| |
| /* Watchdog integrieren und abschalten, wird für Bootloader benötigt*/ |
| void wdt_init(void) __attribute__((naked)) __attribute__((section(".init1"))); |
| |
| void wdt_init(void) |
| { |
| MCUSR = 0; |
| wdt_disable(); |
| |
| return; |
| } |
| |
| #include "main.h" |
| #include "lcd.h" |
| #include "usart.h" |
| #include "uart1.h" |
| #include "mk-data-structs.h" |
| #include "parameter.h" |
| #include "menu.h" |
| #include "display.h" |
| #include "timer.h" |
| #include "eeprom.h" |
| #include "Wi232.h" |
| |
| #if defined HWVERSION3_1 || defined HWVERSION1_3 |
| #include "motortestI2C.h" |
| #endif |
| |
| |
| |
| #define MTEST 1 // Menu Test (skip FC/NC detection) |
| |
| Version_t *version; |
| |
| volatile uint8_t mode = 0; |
| |
| uint8_t hardware = 0; |
| uint8_t current_hardware = 0; |
| //uint8_t no_hardware = 0; |
| |
| mk_param_struct_t *mk_param_struct; |
| |
| |
| int main (void) |
| { |
| uint8_t timeout; |
| uint8_t val =0; |
| |
| // enable pull ups for the 4 keys |
| PORTA |= (1<<PORTA4)|(1<<PORTA5)|(1<<PORTA6)|(1<<PORTA7); |
| |
| |
| #ifdef HWVERSION1_2 |
| DDRC |= (1<<DDC0)|(1<<DDC1); |
| DDRD |= (1<<DDD7); |
| DDRB = 0xFF; |
| #endif |
| #ifdef HWVERSION1_3 |
| DDRC |= (1<<DDC2); |
| DDRD |= (1<<DDD6) |(1<<DDD7); |
| DDRB = 0xFF; |
| #endif |
| |
| #ifdef HWVERSION3_1 |
| |
| DDRD |= (1<<DDD7)|(1<<DDD6); |
| |
| DDRC = 0xFF; |
| DDRB = 0xFF; |
| set_LED1(); |
| set_LED2(); |
| set_LED3(); |
| set_LED4(); |
| set_BEEP(); |
| set_D_LIGHT(); |
| clr_WI232CMD(); |
| _delay_ms(250); |
| |
| clr_LED1(); |
| clr_LED2(); |
| clr_LED3(); |
| clr_LED4(); |
| clr_BEEP(); |
| |
| |
| #endif |
| |
| Display_on = 1; |
| |
| LCD_Init (); |
| USART_Init (UART_BAUD_SELECT(USART_BAUD,F_CPU)); |
| |
| |
| |
| #if defined HWVERSION3_1 || defined HWVERSION1_3 |
| |
| uart1_init (UART_BAUD_SELECT(USART_BAUD,F_CPU)); /* USB*/ |
| uart1_putc('R'); |
| I2C_Init(); |
| #endif |
| |
| |
| TIMER0_Init (); |
| TIMER1_Init (); // pwm |
| |
| sei (); |
| |
| #ifdef HWVERSION3_1 |
| InitWi232(); |
| _delay_ms(2000); |
| hardware = NO; |
| current_hardware = 0; |
| #endif |
| |
| ReadParameter (); |
| |
| // switch to NC |
| USART_putc (0x1b); |
| USART_putc (0x1b); |
| USART_putc (0x55); |
| USART_putc (0xaa); |
| USART_putc (0x00); |
| |
| mode = 'V'; |
| #if MTEST |
| do |
| { |
| timeout = 50; |
| lcd_cls (); |
| lcd_printpns_at (0,0,PSTR("Portables Koptertool"), 0); |
| lcd_printpns_at (0,1,PSTR("for FC V "), 0); |
| lcd_printpns_at (10,1,PSTR(FC_Version),0); |
| lcd_printpns_at (0,2,PSTR("GNU GPL License"), 0); |
| lcd_printpns_at (0,3,PSTR("checking hardware..."), 0); |
| lcd_printpns_at (0, 7, PSTR("Skip FC-Check"), 0); |
| |
| |
| |
| while (!rxd_buffer_locked && timeout) |
| |
| { |
| |
| SendOutData('v', ADDRESS_ANY, 0); |
| timer = 20; |
| while (timer > 0); |
| timeout--; |
| |
| if (get_key_press (1 << KEY_MINUS)) |
| { |
| for (;;) |
| { |
| hardware = NO; |
| main_menu (); |
| } |
| } |
| |
| //#ifdef HWVERSION1_3 |
| // debug1(); |
| //#endif |
| } |
| if(timeout == 0) |
| { |
| lcd_printpns_at (0,4,PSTR("ERROR:"), 0); |
| lcd_printpns_at (0,5,PSTR("no hardware detected"), 0); |
| timer = 90; |
| //#ifdef HWVERSION1_3 |
| // debug1(); |
| //#endif |
| while (timer > 0); |
| } |
| |
| } |
| |
| |
| |
| while(timeout == 0); |
| |
| Decode64 (); |
| version = (Version_t *) pRxData; |
| |
| lcd_cls (); |
| lcd_printp (PSTR("PMK-Tool GNU GPL\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 |
| lcd_cls (); |
| lcd_printp (PSTR("PKT-Test\r\n"), 0); |
| |
| #endif |
| |
| timer = 50; |
| while (timer > 0); |
| SwitchToFC(); |
| //Delay |
| timer = 50; |
| while (timer > 0); |
| #if MTEST |
| // EEprom Version / Struktur prüfen |
| val = load_setting(1); //Parameterset 1 holen |
| if (mk_param_struct->Revision != EEProm_Version) |
| { |
| lcd_cls (); |
| lcd_printp (PSTR("EEPromRev."), 0); |
| lcd_write_number_u (EEProm_Version); |
| lcd_printp (PSTR(" erwartet\r\n"), 0); |
| lcd_printp (PSTR("EEPromRev."), 0); |
| lcd_write_number_u (mk_param_struct->Revision); |
| lcd_printp (PSTR(" gefunden\r\n"), 0); |
| lcd_printp (PSTR("PMK-Tool nur mit\r\n"), 0); |
| lcd_printp (PSTR("FC Software "), 0); |
| lcd_printp (PSTR(FC_Version),0); |
| lcd_printp (PSTR("\r\nkompatibel"), 0); |
| while (mk_param_struct->Revision != EEProm_Version); |
| } |
| |
| #endif |
| mode = 0; |
| rxd_buffer_locked = FALSE; |
| |
| timer = 200; |
| while (timer > 0); |
| for (;;) |
| { |
| main_menu (); |
| } |
| } |