WebSVN - Projects - Path Comparison - /Transportables_Koptertool/ Rev 1192 and /Transportables

Ignore whitespace Rev 1192 → Rev 1193

/Transportables_Koptertool/tags/V3.2/displ_val.h
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/Transportables_Koptertool/tags/V3.2/HW_Koptertool3_2/fusebits.txt
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/Transportables_Koptertool/tags/V3.2/HW_Koptertool3_2/GPL_PKT_V3_3_4_FC084_HW3_2.hex
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/Transportables_Koptertool/tags/V3.2/HW_Koptertool3_2/koptertool_CB015062011V2_2062_V3_2.brd
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/Transportables_Koptertool/tags/V3.2/HW_Koptertool3_2/Bootloader644P_uart1.hex
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/Transportables_Koptertool/tags/V3.2/HW_Koptertool3_2/koptertool_CB015062011V2_2062_V3_2.pdf
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/Transportables_Koptertool/tags/V3.2/HW_Koptertool3_2/GPL_PKT_V3_x_FC084_HW3_2.hex
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/Transportables_Koptertool/tags/V3.2/HW_Koptertool3_2/koptertool_CB015062011V2_2062_V3_2.sch
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/Transportables_Koptertool/tags/V3.2/main.c
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/Transportables_Koptertool/tags/V3.2/osd.c
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/Transportables_Koptertool/tags/V3.2/timer.h
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/Transportables_Koptertool/tags/V3.2/main.h
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/Transportables_Koptertool/tags/V3.2/osd.h
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/Transportables_Koptertool/tags/V3.2/Bootlader/fusebits.txt
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/Transportables_Koptertool/tags/V3.2/Bootlader/mega32.h
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/Transportables_Koptertool/tags/V3.2/Bootlader/main.c
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/Transportables_Koptertool/tags/V3.2/Bootlader/mega16.h
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/Transportables_Koptertool/tags/V3.2/Bootlader/mega324p.h
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/Transportables_Koptertool/tags/V3.2/Bootlader/mega64.h
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/Transportables_Koptertool/tags/V3.2/Bootlader/avrprog_boot.pnproj
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/Transportables_Koptertool/tags/V3.2/Bootlader/readme.txt
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/Transportables_Koptertool/tags/V3.2/Bootlader/mega128can.h
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/Transportables_Koptertool/tags/V3.2/Bootlader/mega644p.h
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/Transportables_Koptertool/tags/V3.2/Bootlader/makefile
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/Transportables_Koptertool/tags/V3.2/Bootlader/testapp/Makefile
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/Transportables_Koptertool/tags/V3.2/Bootlader/testapp/testapp.c
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/Transportables_Koptertool/tags/V3.2/Bootlader/Release/Bootloader644_uart0.hex
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/Transportables_Koptertool/tags/V3.2/Bootlader/Release/Bootloader644P_uart1.hex
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/Transportables_Koptertool/tags/V3.2/Bootlader/avrprog_boot.pnps
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/Transportables_Koptertool/tags/V3.2/Bootlader/megaxx4p.h
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/Transportables_Koptertool/tags/V3.2/Bootlader/mega8.h
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/Transportables_Koptertool/tags/V3.2/Bootlader/mega162.h
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/Transportables_Koptertool/tags/V3.2/Bootlader/chipdef.h
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/Transportables_Koptertool/tags/V3.2/Bootlader/testavrdude/go.cmd
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/Transportables_Koptertool/tags/V3.2/Bootlader/testavrdude/dummy.hex
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/Transportables_Koptertool/tags/V3.2/Bootlader/mega128.h
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/Transportables_Koptertool/tags/V3.2/Bootlader/mega644.h
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/Transportables_Koptertool/tags/V3.2/Bootlader/mega169.h
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/Transportables_Koptertool/tags/V3.2/jeti.c
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/Transportables_Koptertool/tags/V3.2/25072011_V3.3.4.zip
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/Transportables_Koptertool/tags/V3.2/motortestI2C.c
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/Transportables_Koptertool/tags/V3.2/setup.c
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/Transportables_Koptertool/tags/V3.2/jeti.h
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/Transportables_Koptertool/tags/V3.2/pwm.c
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/Transportables_Koptertool/tags/V3.2/motortestI2C.h
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/Transportables_Koptertool/tags/V3.2/setup.h
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/Transportables_Koptertool/tags/V3.2/display.c
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/Transportables_Koptertool/tags/V3.2/pwm.h
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/Transportables_Koptertool/tags/V3.2/HW_Koptertoo1_2/kt_v1_2.pdf
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/Transportables_Koptertool/tags/V3.2/HW_Koptertoo1_2/best_12.png
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/Transportables_Koptertool/tags/V3.2/HW_Koptertoo1_3/pk_13_bottom.png
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/Transportables_Koptertool/tags/V3.x/25072011_V3.3.4.zip
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 /Transportables_Koptertool/tags/V3.x/Bootlader/Release/Bootloader644P_uart1.hex
 ,0 → 1,94
+:10F800000C943E7C0C94507C0C94507C0C94507C5A
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 /Transportables_Koptertool/tags/V3.x/Bootlader/Release/Bootloader644_uart0.hex
 ,0 → 1,93
+:10F800000C94387C0C944A7C0C944A7C0C944A7C72
+:10F810000C944A7C0C944A7C0C944A7C0C944A7C50
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/Transportables_Koptertool/tags/V3.x/Bootlader/avrprog_boot.pnproj

0,0 → 1,0

 /Transportables_Koptertool/tags/V3.x/Bootlader/chipdef.h
 ,0 → 1,62
+#ifndef CHIPDEF_H
+#define CHIPDEF_H
+#include <avr/io.h>
+#if defined (SPMCSR)
+#define SPM_REG SPMCSR
+#elif defined (SPMCR)
+#define SPM_REG SPMCR
+#else
+#error "AVR processor does not provide bootloader support!"
+#endif
+#define APP_END (FLASHEND - (BOOTSIZE * 2))
+#if (SPM_PAGESIZE > UINT8_MAX)
+typedef uint16_t pagebuf_t;
+#else
+typedef uint8_t pagebuf_t;
+#endif
+#if defined(__AVR_ATmega169__)
+#include "mega169.h"
+#elif defined(__AVR_ATmega16__)
+#include "mega16.h"
+#elif defined(__AVR_ATmega162__)
+#include "mega162.h"
+#elif defined(__AVR_ATmega8__)
+#include "mega8.h"
+#elif defined(__AVR_ATmega32__)
+#include "mega32.h"
+#elif defined(__AVR_ATmega324P__)
+#include "mega324p.h"
+#elif defined(__AVR_ATmega64__)
+#include "mega64.h"
+#elif defined(__AVR_ATmega644__)
+#include "mega644.h"
+#elif defined(__AVR_ATmega644P__)
+#include "mega644p.h"
+#elif defined(__AVR_ATmega128__)
+#include "mega128.h"
+#elif defined(__AVR_AT90CAN128__)
+#include "mega128can.h"
+#else
+#error "no definition for MCU available in chipdef.h"
+#endif
+#endif

 /Transportables_Koptertool/tags/V3.x/Bootlader/main.c
 ,0 → 1,613
+/*****************************************************************************
+*
+* AVRPROG compatible boot-loader
+* Version  : 0.85 (Dec. 2008)
+* Compiler : avr-gcc 4.1.2 / avr-libc 1.4.6
+* size     : depends on features and startup ( minmal features < 512 words)
+* by       : Martin Thomas, Kaiserslautern, Germany
+*            eversmith@heizung-thomas.de
+*            Additional code and improvements contributed by:
+*           - Uwe Bonnes
+*           - Bjoern Riemer
+*           - Olaf Rempel
+*
+* License  : Copyright (c) 2006-2008 M. Thomas, U. Bonnes, O. Rempel
+*            Free to use. You have to mention the copyright
+*            owners in source-code and documentation of derived
+*            work. No warranty! (Yes, you can insert the BSD
+*            license here)
+*
+* Tested with ATmega8, ATmega16, ATmega162, ATmega32, ATmega324P,
+*             ATmega644, ATmega644P, ATmega128, AT90CAN128
+*
+* - Initial versions have been based on the Butterfly bootloader-code
+*   by Atmel Corporation (Authors: BBrandal, PKastnes, ARodland, LHM)
+*
+****************************************************************************
+*
+*  See the makefile and readme.txt for information on how to adapt
+*  the linker-settings to the selected Boot Size (BOOTSIZE=xxxx) and
+*  the MCU-type. Other configurations futher down in this file.
+*
+*  With BOOT_SIMPLE, minimal features and discarded int-vectors
+*  this bootloader has should fit into a a 512 word (1024, 0x400 bytes)
+*  bootloader-section.
+*
+****************************************************************************/
+/*
+        TODOs:
+        - check lock-bits set
+        - __bad_interrupt still linked even with modified
+          linker-scripts which needs a default-handler,
+          "wasted": 3 words for AVR5 (>8kB), 2 words for AVR4
+        - Check watchdog-disable-function in avr-libc.
+*/
+// tabsize: 4
+// Fuses ATmega 644P D7 DC FC
+/* MCU frequency */
+#ifndef F_CPU
+// #define F_CPU 7372800
+#define F_CPU (20000000)
+#endif
+#define BOOTSIZE 1024
+#define set_LED1()      (PORTC &= ~(1 << PC3))
+#define clr_LED1()      (PORTC |=  (1 << PC3))
+#define set_LED2()      (PORTC &= ~(1 << PC2))
+#define clr_LED2()      (PORTC |=  (1 << PC2))
+#define set_LED3()      (PORTB &= ~(1 << PB1))
+#define clr_LED3()      (PORTB |=  (1 << PB1))
+#define set_LED4()      (PORTB &= ~(1 << PB0))
+#define clr_LED4()      (PORTB |=  (1 << PB0))
+/* UART Baudrate */
+// #define BAUDRATE 9600
+// #define BAUDRATE 19200
+#define BAUDRATE 115200
+/* use "Double Speed Operation" */
+//#define UART_DOUBLESPEED
+/* use second UART on mega128 / can128 / mega162 / mega324p / mega644p */
+#define UART_USE_SECOND
+/* Device-Type:
+   For AVRProg the BOOT-option is prefered
+   which is the "correct" value for a bootloader.
+   avrdude may only detect the part-code for ISP */
+#define DEVTYPE     DEVTYPE_BOOT
+// #define DEVTYPE     DEVTYPE_ISP
+/*
+ * Pin "STARTPIN" on port "STARTPORT" in this port has to grounded
+ * (active low) to start the bootloader
+ */
+#define BLPORT          PORTA
+#define BLDDR           DDRA
+#define BLPIN           PINA
+#define BLPNUM          PINA4
+/*
+ * Define if Watchdog-Timer should be disable at startup
+ */
+#define DISABLE_WDT_AT_STARTUP
+/*
+ * Watchdog-reset is issued at exit
+ * define the timeout-value here (see avr-libc manual)
+ */
+#define EXIT_WDT_TIME   WDTO_250MS
+/*
+ * Select startup-mode
+ * SIMPLE-Mode - Jump to bootloader main BL-loop if key is
+ *   pressed (Pin grounded) "during" reset or jump to the
+ *   application if the pin is not grounded. The internal
+ *   pull-up resistor is enabled during the startup and
+ *   gets disabled before the application is started.
+ * POWERSAVE-Mode - Startup is separated in two loops
+ *   which makes power-saving a little easier if no firmware
+ *   is on the chip. Needs more memory
+ * BOOTICE-Mode - to flash the JTAGICE upgrade.ebn file.
+ *   No startup-sequence in this mode. Jump directly to the
+ *   parser-loop on reset
+ *   F_CPU in BOOTICEMODE must be 7372800 Hz to be compatible
+ *   with the org. JTAGICE-Firmware
+ * WAIT-mode waits 1 sec for the defined character if nothing
+ *    is recived then the user prog is started.
+ */
+#define START_SIMPLE
+//#define START_WAIT
+//#define START_POWERSAVE
+//#define START_BOOTICE
+/* character to start the bootloader in mode START_WAIT */
+#define START_WAIT_UARTCHAR 'S'
+/* wait-time for START_WAIT mode ( t = WAIT_TIME * 10ms ) */
+#define WAIT_VALUE 100 /* here: 100*10ms = 1000ms = 1sec */
+/*
+ * enable/disable readout of fuse and lock-bits
+ * (AVRPROG has to detect the AVR correctly by device-code
+ * to show the correct information).
+ */
+//#define ENABLEREADFUSELOCK
+/* enable/disable write of lock-bits
+ * WARNING: lock-bits can not be reseted by bootloader (as far as I know)
+ * Only protection no unprotection, "chip erase" from bootloader only
+ * clears the flash but does no real "chip erase" (this is not possible
+ * with a bootloader as far as I know)
+ * Keep this undefined!
+ */
+//#define WRITELOCKBITS
+/*
+ * define the following if the bootloader should not output
+ * itself at flash read (will fake an empty boot-section)
+ */
+#define READ_PROTECT_BOOTLOADER
+#define VERSION_HIGH '0'
+#define VERSION_LOW  '8'
+#define GET_LOCK_BITS           0x0001
+#define GET_LOW_FUSE_BITS       0x0000
+#define GET_HIGH_FUSE_BITS      0x0003
+#define GET_EXTENDED_FUSE_BITS  0x0002
+#ifdef UART_DOUBLESPEED
+// #define UART_CALC_BAUDRATE(baudRate) (((F_CPU*10UL) / ((baudRate) *8UL) +5)/10 -1)
+#define UART_CALC_BAUDRATE(baudRate) ((uint32_t)((F_CPU) + ((uint32_t)baudRate * 4UL)) / ((uint32_t)(baudRate) * 8UL) - 1)
+#else
+// #define UART_CALC_BAUDRATE(baudRate) (((F_CPU*10UL) / ((baudRate)*16UL) +5)/10 -1)
+#define UART_CALC_BAUDRATE(baudRate) ((uint32_t)((F_CPU) + ((uint32_t)baudRate * 8UL)) / ((uint32_t)(baudRate) * 16UL) - 1)
+#endif
+#include <stdint.h>
+#include <avr/io.h>
+#include <avr/wdt.h>
+#include <avr/boot.h>
+#include <avr/pgmspace.h>
+#include <avr/eeprom.h>
+#include <avr/interrupt.h>
+#include <util/delay.h>
+#include "chipdef.h"
+//#include "lcd.h"
+uint8_t gBuffer[SPM_PAGESIZE];
+#if defined(BOOTLOADERHASNOVECTORS)
+#warning "This Bootloader does not link interrupt vectors - see makefile"
+/* make the linker happy - it wants to see __vector_default */
+// void __vector_default(void) { ; }
+void __vector_default(void) { ; }
+#endif
+static void sendchar(uint8_t data)
+{
+        while (!(UART_STATUS & (1<<UART_TXREADY)));
+        UART_DATA = data;
+}
+static uint8_t recvchar(void)
+{
+        while (!(UART_STATUS & (1<<UART_RXREADY)));
+        clr_LED1();
+        return UART_DATA;
+}
+static inline void eraseFlash(void)
+{
+        // erase only main section (bootloader protection)
+        uint32_t addr = 0;
+        while (APP_END > addr) {
+                boot_page_erase(addr);          // Perform page erase
+                boot_spm_busy_wait();           // Wait until the memory is erased.
+                addr += SPM_PAGESIZE;
+        }
+        boot_rww_enable();
+}
+static inline void recvBuffer(pagebuf_t size)
+{
+        pagebuf_t cnt;
+        uint8_t *tmp = gBuffer;
+        for (cnt = 0; cnt < sizeof(gBuffer); cnt++) {
+                *tmp++ = (cnt < size) ? recvchar() : 0xFF;
+        }
+}
+static inline uint16_t writeFlashPage(uint16_t waddr, pagebuf_t size)
+{
+        uint32_t pagestart = (uint32_t)waddr<<1;
+        uint32_t baddr = pagestart;
+        uint16_t data;
+        uint8_t *tmp = gBuffer;
+        do {
+                data = *tmp++;
+                data |= *tmp++ << 8;
+                boot_page_fill(baddr, data);    // call asm routine.
+                baddr += 2;                     // Select next word in memory
+                size -= 2;                      // Reduce number of bytes to write by two
+        } while (size);                         // Loop until all bytes written
+        boot_page_write(pagestart);
+        boot_spm_busy_wait();
+        boot_rww_enable();              // Re-enable the RWW section
+        return baddr>>1;
+}
+static inline uint16_t writeEEpromPage(uint16_t address, pagebuf_t size)
+{
+        uint8_t *tmp = gBuffer;
+        do {
+                eeprom_write_byte( (uint8_t*)address, *tmp++ );
+                address++;                      // Select next byte
+                size--;                         // Decreas number of bytes to write
+        } while (size);                         // Loop until all bytes written
+        // eeprom_busy_wait();
+        return address;
+}
+static inline uint16_t readFlashPage(uint16_t waddr, pagebuf_t size)
+{
+        uint32_t baddr = (uint32_t)waddr<<1;
+        uint16_t data;
+        do {
+#ifndef READ_PROTECT_BOOTLOADER
+#warning "Bootloader not read-protected"
+#if defined(RAMPZ)
+                data = pgm_read_word_far(baddr);
+#else
+                data = pgm_read_word_near(baddr);
+#endif
+#else
+                // don't read bootloader
+                if ( baddr < APP_END ) {
+#if defined(RAMPZ)
+                        data = pgm_read_word_far(baddr);
+#else
+                        data = pgm_read_word_near(baddr);
+#endif
+                }
+                else {
+                        data = 0xFFFF; // fake empty
+                }
+#endif
+                sendchar(data);                 // send LSB
+                sendchar((data >> 8));          // send MSB
+                baddr += 2;                     // Select next word in memory
+                size -= 2;                      // Subtract two bytes from number of bytes to read
+        } while (size);                         // Repeat until block has been read
+        return baddr>>1;
+}
+static inline uint16_t readEEpromPage(uint16_t address, pagebuf_t size)
+{
+        do {
+                sendchar( eeprom_read_byte( (uint8_t*)address ) );
+                address++;
+                size--;                         // Decrease number of bytes to read
+        } while (size);                         // Repeat until block has been read
+        return address;
+}
+#if defined(ENABLEREADFUSELOCK)
+static uint8_t read_fuse_lock(uint16_t addr)
+{
+        uint8_t mode = (1<<BLBSET) | (1<<SPMEN);
+        uint8_t retval;
+        asm volatile
+        (
+                "movw r30, %3\n\t"              /* Z to addr */ \
+                "sts %0, %2\n\t"                /* set mode in SPM_REG */ \
+                "lpm\n\t"                       /* load fuse/lock value into r0 */ \
+                "mov %1,r0\n\t"                 /* save return value */ \
+                : "=m" (SPM_REG),
+                  "=r" (retval)
+                : "r" (mode),
+                  "r" (addr)
+                : "r30", "r31", "r0"
+        );
+        return retval;
+}
+#endif
+static void send_boot(void)
+{
+        sendchar('A');
+        sendchar('V');
+        sendchar('R');
+        sendchar('B');
+        sendchar('O');
+        sendchar('O');
+        sendchar('T');
+}
+static void (*jump_to_app)(void) = 0x0000;
+int main(void)
+{
+        uint16_t address = 0;
+        uint8_t device = 0, val;
+        DDRC = 0xFF;
+        PORTC = PORTC | 0xff;
+#ifdef DISABLE_WDT_AT_STARTUP
+#ifdef WDT_OFF_SPECIAL
+#warning "using target specific watchdog_off"
+        bootloader_wdt_off();
+#else
+        cli();
+        wdt_reset();
+        wdt_disable();
+#endif
+#endif
+#ifdef START_POWERSAVE
+        uint8_t OK = 1;
+#endif
+        BLDDR  &= ~(1<<BLPNUM);         // set as Input
+        BLPORT |= (1<<BLPNUM);          // Enable pullup
+        // Set baud rate
+        UART_BAUD_HIGH = (UART_CALC_BAUDRATE(BAUDRATE)>>8) & 0xFF;
+        UART_BAUD_LOW = (UART_CALC_BAUDRATE(BAUDRATE) & 0xFF);
+#ifdef UART_DOUBLESPEED
+        UART_STATUS = ( 1<<UART_DOUBLE );
+#endif
+        UART_CTRL = UART_CTRL_DATA;
+        UART_CTRL2 = UART_CTRL2_DATA;
+#if defined(START_POWERSAVE)
+        /*
+                This is an adoption of the Butterfly Bootloader startup-sequence.
+                It may look a little strange but separating the login-loop from
+                the main parser-loop gives a lot a possibilities (timeout, sleep-modes
+            etc.).
+        */
+        for(;OK;) {
+                if ((BLPIN & (1<<BLPNUM))) {
+                        // jump to main app if pin is not grounded
+                        BLPORT &= ~(1<<BLPNUM); // set to default
+#ifdef UART_DOUBLESPEED
+                        UART_STATUS &= ~( 1<<UART_DOUBLE );
+#endif
+                        jump_to_app();          // Jump to application sector
+                } else {
+                        val = recvchar();
+                        /* ESC */
+                        if (val == 0x1B) {
+                                // AVRPROG connection
+                                // Wait for signon
+                                while (val != 'S')
+                                        val = recvchar();
+                                send_boot();                    // Report signon
+                                OK = 0;
+                        } else {
+                                sendchar('?');
+                        }
+                }
+                // Power-Save code here
+        }
+#elif defined(START_SIMPLE)
+        if ((BLPIN & (1<<BLPNUM))) {
+                // jump to main app if pin is not grounded
+                BLPORT &= ~(1<<BLPNUM);         // set to default
+#ifdef UART_DOUBLESPEED
+                UART_STATUS &= ~( 1<<UART_DOUBLE );
+#endif
+                jump_to_app();                  // Jump to application sector
+        }
+#elif defined(START_WAIT)
+        uint16_t cnt = 0;
+        while (1) {
+                if (UART_STATUS & (1<<UART_RXREADY))
+                        if (UART_DATA == START_WAIT_UARTCHAR)
+                                break;
+                if (cnt++ >= WAIT_VALUE) {
+                        BLPORT &= ~(1<<BLPNUM);         // set to default
+                        jump_to_app();                  // Jump to application sector
+                }
+                _delay_ms(10);
+        }
+        send_boot();
+#elif defined(START_BOOTICE)
+#warning "BOOTICE mode - no startup-condition"
+#else
+#error "Select START_ condition for bootloader in main.c"
+#endif
+        for(;;) {
+                set_LED1();
+                val = recvchar();
+                // Autoincrement?
+                if (val == 'a') {
+                        sendchar('Y');                  // Autoincrement is quicker
+                //write address
+                } else if (val == 'A') {
+                        address = recvchar();           //read address 8 MSB
+                        address = (address<<8) | recvchar();
+                        sendchar('\r');
+                // Buffer load support
+                } else if (val == 'b') {
+                        sendchar('Y');                                  // Report buffer load supported
+                        sendchar((sizeof(gBuffer) >> 8) & 0xFF);        // Report buffer size in bytes
+                        sendchar(sizeof(gBuffer) & 0xFF);
+                // Start buffer load
+                } else if (val == 'B') {
+                        pagebuf_t size;
+                        size = recvchar() << 8;                         // Load high byte of buffersize
+                        size |= recvchar();                             // Load low byte of buffersize
+                        val = recvchar();                               // Load memory type ('E' or 'F')
+                        recvBuffer(size);
+                        if (device == DEVTYPE) {
+                                if (val == 'F') {
+                                        address = writeFlashPage(address, size);
+                                } else if (val == 'E') {
+                                        address = writeEEpromPage(address, size);
+                                }
+                                sendchar('\r');
+                        } else {
+                                sendchar(0);
+                        }
+                // Block read
+                } else if (val == 'g') {
+                        pagebuf_t size;
+                        size = recvchar() << 8;                         // Load high byte of buffersize
+                        size |= recvchar();                             // Load low byte of buffersize
+                        val = recvchar();                               // Get memtype
+                        if (val == 'F') {
+                                address = readFlashPage(address, size);
+                        } else if (val == 'E') {
+                                address = readEEpromPage(address, size);
+                        }
+                // Chip erase
+                } else if (val == 'e') {
+                        if (device == DEVTYPE) {
+                                eraseFlash();
+                        }
+                        sendchar('\r');
+                // Exit upgrade
+                } else if (val == 'E') {
+                        wdt_enable(EXIT_WDT_TIME); // Enable Watchdog Timer to give reset
+                        sendchar('\r');
+#ifdef WRITELOCKBITS
+#warning "Extension 'WriteLockBits' enabled"
+                // TODO: does not work reliably
+                // write lockbits
+                } else if (val == 'l') {
+                        if (device == DEVTYPE) {
+                                // write_lock_bits(recvchar());
+                                boot_lock_bits_set(recvchar()); // boot.h takes care of mask
+                                boot_spm_busy_wait();
+                        }
+                        sendchar('\r');
+#endif
+                // Enter programming mode
+                } else if (val == 'P') {
+                        sendchar('\r');
+                // Leave programming mode
+                } else if (val == 'L') {
+                        sendchar('\r');
+                // return programmer type
+                } else if (val == 'p') {
+                        sendchar('S');          // always serial programmer
+#ifdef ENABLEREADFUSELOCK
+#warning "Extension 'ReadFuseLock' enabled"
+                // read "low" fuse bits
+                } else if (val == 'F') {
+                        sendchar(read_fuse_lock(GET_LOW_FUSE_BITS));
+                // read lock bits
+                } else if (val == 'r') {
+                        sendchar(read_fuse_lock(GET_LOCK_BITS));
+                // read high fuse bits
+                } else if (val == 'N') {
+                        sendchar(read_fuse_lock(GET_HIGH_FUSE_BITS));
+                // read extended fuse bits
+                } else if (val == 'Q') {
+                        sendchar(read_fuse_lock(GET_EXTENDED_FUSE_BITS));
+#endif
+                // Return device type
+                } else if (val == 't') {
+                        sendchar(DEVTYPE);
+                        sendchar(0);
+                // clear and set LED ignored
+                } else if ((val == 'x') || (val == 'y')) {
+                        recvchar();
+                        sendchar('\r');
+                // set device
+                } else if (val == 'T') {
+                        device = recvchar();
+                        sendchar('\r');
+                // Return software identifier
+                } else if (val == 'S') {
+                        send_boot();
+                // Return Software Version
+                } else if (val == 'V') {
+                        sendchar(VERSION_HIGH);
+                        sendchar(VERSION_LOW);
+                // Return Signature Bytes (it seems that
+                // AVRProg expects the "Atmel-byte" 0x1E last
+                // but shows it first in the dialog-window)
+                } else if (val == 's') {
+                        sendchar(SIG_BYTE3);
+                        sendchar(SIG_BYTE2);
+                        sendchar(SIG_BYTE1);
+                /* ESC */
+                } else if(val != 0x1b) {
+                        sendchar('?');
+                }
+        }
+        return 0;
+}

 /Transportables_Koptertool/tags/V3.x/Bootlader/makefile
 ,0 → 1,669
+# Hey Emacs, this is a -*- makefile -*-
+#
+# Makefile for the AVRProg-compatible Bootloader
+#
+# based on the
+# WinAVR Sample makefile written by Eric B. Weddington, Jörg Wunsch, et al.
+# Released to the Public Domain
+# Please read the make user manual!
+#
+# Additional material for this makefile was submitted by:
+#  Tim Henigan
+#  Peter Fleury
+#  Reiner Patommel
+#  Sander Pool
+#  Frederik Rouleau
+#  Markus Pfaff
+#
+# On command line:
+#
+# make all = Make software.
+#
+# make clean = Clean out built project files.
+#
+# make coff = Convert ELF to AVR COFF (for use with AVR Studio 3.x or VMLAB).
+#
+# make extcoff = Convert ELF to AVR Extended COFF (for use with AVR Studio
+#                4.07 or greater).
+#
+# make program = Download the hex file to the device, using avrdude.  Please
+#                customize the avrdude settings below first!
+#
+# make filename.s = Just compile filename.c into the assembler code only
+#
+# To rebuild project do "make clean" then "make all".
+#
+# user defined values
+# MCU name
+## MCU = atmega8
+## MCU = atmega16
+## MCU = atmega162
+## MCU = atmega169
+## MCU = atmega32
+## MCU = atmega324p
+## MCU = atmega64
+## MCU = atmega644
+MCU = atmega644p
+## MCU = atmega128
+## MCU = at90can128
+################## BOOTLOADER ######################
+#  mt: Boot loader support. So far not done with a separate section
+#  to get the interrupt vector into the bootloader area (for BOOTINTVEC=yes).
+#  Bootloader address in datasheet and stk500 is given as
+#  "word", gcc toolchain needs "byte"-address
+#  (see LDFLAGS further down)
+#/* Select Boot Size in Words (select one, comment out the others) */
+## NO! BOOTSIZE=128
+## NO! BOOTSIZE=256
+## BOOTSIZE=512
+BOOTSIZE=1024
+## BOOTSIZE=2048
+# /* Select if bootloader should include the inverrupt-vectors
+# when selecting 'no' here, the bootloader must not use
+# any interrupts and the modified linker-scripts are used. */
+##BOOTINTVEC=yes
+BOOTINTVEC=no
+##
+ifeq ($(MCU), atmega8)
+BFD_MACH=avr4
+ifeq ($(BOOTSIZE), 128)
+        MT_BOOTLOADER_ADDRESS = 0x1F00
+endif
+ifeq ($(BOOTSIZE), 256)
+        MT_BOOTLOADER_ADDRESS = 0x1E00
+endif
+ifeq ($(BOOTSIZE), 512)
+        MT_BOOTLOADER_ADDRESS = 0x1C00
+endif
+ifeq ($(BOOTSIZE), 1024)
+        MT_BOOTLOADER_ADDRESS = 0x1800
+endif
+endif
+##
+ifeq ($(MCU), atmega16)
+BFD_MACH=avr5
+ifeq ($(BOOTSIZE), 128)
+        MT_BOOTLOADER_ADDRESS = 0x3F00
+endif
+ifeq ($(BOOTSIZE), 256)
+        MT_BOOTLOADER_ADDRESS = 0x3E00
+endif
+ifeq ($(BOOTSIZE), 512)
+        MT_BOOTLOADER_ADDRESS = 0x3C00
+endif
+ifeq ($(BOOTSIZE), 1024)
+        MT_BOOTLOADER_ADDRESS = 0x3800
+endif
+endif
+##
+ifeq ($(MCU), atmega162)
+BFD_MACH=avr5
+ifeq ($(BOOTSIZE), 128)
+        MT_BOOTLOADER_ADDRESS = 0x3F00
+endif
+ifeq ($(BOOTSIZE), 256)
+        MT_BOOTLOADER_ADDRESS = 0x3E00
+endif
+ifeq ($(BOOTSIZE), 512)
+        MT_BOOTLOADER_ADDRESS = 0x3C00
+endif
+ifeq ($(BOOTSIZE), 1024)
+        MT_BOOTLOADER_ADDRESS = 0x3800
+endif
+endif
+##
+ifeq ($(MCU), atmega169)
+BFD_MACH=avr5
+ifeq ($(BOOTSIZE), 128)
+        MT_BOOTLOADER_ADDRESS = 0x3F00
+endif
+ifeq ($(BOOTSIZE), 256)
+        MT_BOOTLOADER_ADDRESS = 0x3E00
+endif
+ifeq ($(BOOTSIZE), 512)
+        MT_BOOTLOADER_ADDRESS = 0x3C00
+endif
+ifeq ($(BOOTSIZE), 1024)
+        MT_BOOTLOADER_ADDRESS = 0x3800
+endif
+endif
+##
+ifeq ($(MCU), atmega32)
+BFD_MACH=avr5
+ifeq ($(BOOTSIZE), 256)
+        MT_BOOTLOADER_ADDRESS = 0x7E00
+endif
+ifeq ($(BOOTSIZE), 512)
+        MT_BOOTLOADER_ADDRESS = 0x7C00
+endif
+ifeq ($(BOOTSIZE), 1024)
+        MT_BOOTLOADER_ADDRESS = 0x7800
+endif
+ifeq ($(BOOTSIZE), 2048)
+        MT_BOOTLOADER_ADDRESS = 0x7000
+endif
+endif
+##
+ifeq ($(MCU), atmega324p)
+BFD_MACH=avr5
+ifeq ($(BOOTSIZE), 256)
+        MT_BOOTLOADER_ADDRESS = 0x7E00
+endif
+ifeq ($(BOOTSIZE), 512)
+        MT_BOOTLOADER_ADDRESS = 0x7C00
+endif
+ifeq ($(BOOTSIZE), 1024)
+        MT_BOOTLOADER_ADDRESS = 0x7800
+endif
+ifeq ($(BOOTSIZE), 2048)
+        MT_BOOTLOADER_ADDRESS = 0x7000
+endif
+endif
+##
+ifeq ($(MCU), atmega64)
+BFD_MACH=avr5
+ifeq ($(BOOTSIZE), 512)
+        MT_BOOTLOADER_ADDRESS = 0xFC00
+endif
+ifeq ($(BOOTSIZE), 1024)
+        MT_BOOTLOADER_ADDRESS = 0xF800
+endif
+ifeq ($(BOOTSIZE), 2048)
+        MT_BOOTLOADER_ADDRESS = 0xF000
+endif
+ifeq ($(BOOTSIZE), 4096)
+        MT_BOOTLOADER_ADDRESS = 0xE000
+endif
+endif
+##
+ifeq ($(MCU), atmega644)
+BFD_MACH=avr5
+ifeq ($(BOOTSIZE), 512)
+        MT_BOOTLOADER_ADDRESS = 0xFC00
+endif
+ifeq ($(BOOTSIZE), 1024)
+        MT_BOOTLOADER_ADDRESS = 0xF800
+endif
+ifeq ($(BOOTSIZE), 2048)
+        MT_BOOTLOADER_ADDRESS = 0xF000
+endif
+ifeq ($(BOOTSIZE), 4096)
+        MT_BOOTLOADER_ADDRESS = 0xE000
+endif
+endif
+##
+ifeq ($(MCU), atmega644p)
+BFD_MACH=avr5
+ifeq ($(BOOTSIZE), 512)
+        MT_BOOTLOADER_ADDRESS = 0xFC00
+endif
+ifeq ($(BOOTSIZE), 1024)
+        MT_BOOTLOADER_ADDRESS = 0xF800
+endif
+ifeq ($(BOOTSIZE), 2048)
+        MT_BOOTLOADER_ADDRESS = 0xF000
+endif
+ifeq ($(BOOTSIZE), 4096)
+        MT_BOOTLOADER_ADDRESS = 0xE000
+endif
+endif
+##
+ifeq ($(MCU), atmega128)
+BFD_MACH=avr5
+ifeq ($(BOOTSIZE), 512)
+        MT_BOOTLOADER_ADDRESS = 0x1FC00
+endif
+ifeq ($(BOOTSIZE), 1024)
+        MT_BOOTLOADER_ADDRESS = 0x1F800
+endif
+ifeq ($(BOOTSIZE), 2048)
+        MT_BOOTLOADER_ADDRESS = 0x1F000
+endif
+ifeq ($(BOOTSIZE), 4096)
+        MT_BOOTLOADER_ADDRESS = 0x1E000
+endif
+endif
+##
+ifeq ($(MCU), at90can128)
+BFD_MACH=avr5
+ifeq ($(BOOTSIZE), 512)
+        MT_BOOTLOADER_ADDRESS = 0x1FC00
+endif
+ifeq ($(BOOTSIZE), 1024)
+        MT_BOOTLOADER_ADDRESS = 0x1F800
+endif
+ifeq ($(BOOTSIZE), 2048)
+        MT_BOOTLOADER_ADDRESS = 0x1F000
+endif
+ifeq ($(BOOTSIZE), 4096)
+        MT_BOOTLOADER_ADDRESS = 0x1E000
+endif
+endif
+# Output format. (can be srec, ihex, binary)
+FORMAT = ihex
+#FORMAT = srec
+# Target file name (without extension).
+TARGET = main
+# List C source files here. (C dependencies are automatically generated.)
+SRC = $(TARGET).c
+# List Assembler source files here.
+# Make them always end in a capital .S.  Files ending in a lowercase .s
+# will not be considered source files but generated files (assembler
+# output from the compiler), and will be deleted upon "make clean"!
+# Even though the DOS/Win* filesystem matches both .s and .S the same,
+# it will preserve the spelling of the filenames, and gcc itself does
+# care about how the name is spelled on its command-line.
+ASRC =
+# Optimization level, can be [0, 1, 2, 3, s].
+# 0 = turn off optimization. s = optimize for size.
+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+OPT = s
+# Debugging format.
+# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
+# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
+DEBUG = stabs
+# List any extra directories to look for include files here.
+#     Each directory must be seperated by a space.
+EXTRAINCDIRS =
+# Compiler flag to set the C Standard level.
+# c89   - "ANSI" C
+# gnu89 - c89 plus GCC extensions
+# c99   - ISO C99 standard (not yet fully implemented)
+# gnu99 - c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+# Place -D or -U options here
+CDEFS = -DBOOTSIZE=$(BOOTSIZE)
+# Place -I options here
+CINCS =
+# Compiler flags.
+#  -g*:          generate debugging information
+#  -O*:          optimization level
+#  -f...:        tuning, see GCC manual and avr-libc documentation
+#  -Wall...:     warning level
+#  -Wa,...:      tell GCC to pass this to the assembler.
+#    -adhlns...: create assembler listing
+CFLAGS = -g$(DEBUG)
+CFLAGS += $(CDEFS) $(CINCS)
+CFLAGS += -O$(OPT)
+CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+CFLAGS += -Wall -Wstrict-prototypes
+CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+CFLAGS += $(CSTANDARD)
+# Assembler flags.
+#  -Wa,...:   tell GCC to pass this to the assembler.
+#  -ahlms:    create listing
+#  -gstabs:   have the assembler create line number information; note that
+#             for use in COFF files, additional information about filenames
+#             and function names needs to be present in the assembler source
+#             files -- see avr-libc docs [FIXME: not yet described there]
+ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
+#Additional libraries.
+# Minimalistic printf version
+PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
+# Floating point printf version (requires MATH_LIB = -lm below)
+PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
+PRINTF_LIB =
+# Minimalistic scanf version
+SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
+# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
+SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
+SCANF_LIB =
+MATH_LIB = -lm
+# External memory options
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# used for variables (.data/.bss) and heap (malloc()).
+#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# only used for heap (malloc()).
+#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
+EXTMEMOPTS =
+# 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
+LDFLAGS += $(EXTMEMOPTS)
+LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
+################## BOOTLOADER ######################
+# MT_BOOTLOADER_ADDRESS (=Start of Boot Loader section
+# in bytes - not words) as defined above.
+LDFLAGS += -Wl,--section-start=.text=$(MT_BOOTLOADER_ADDRESS)
+# check if linker-scripts without interrupt-vectors should
+# be used and set linker-option, announce to C-code by define
+ifeq ($(BOOTINTVEC), no)
+LDFLAGS += -T./ldscripts_no_vector/$(BFD_MACH).x
+CFLAGS  += -DBOOTLOADERHASNOVECTORS
+endif
+# Programming support using avrdude. Settings and variables.
+# Programming hardware: alf avr910 avrisp bascom bsd
+# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
+#
+# Type: avrdude -c ?
+# to get a full listing.
+#
+AVRDUDE_PROGRAMMER = stk500v2
+# com1 = serial port. Use lpt1 to connect to parallel port.
+AVRDUDE_PORT = com1    # programmer connected to serial device
+#AVRDUDE_PORT = /dev/ttyS0    # programmer connected to serial device
+AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
+#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
+# 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_COUNTER = -y
+# Uncomment the following if you do /not/ wish a verification to be
+# performed after programming the device.
+#AVRDUDE_NO_VERIFY = -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_VERBOSE = -v -v
+AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
+AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
+AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
+AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
+# ---------------------------------------------------------------------------
+# Define directories, if needed.
+#DIRAVR = c:/winavr
+#DIRAVRBIN = $(DIRAVR)/bin
+#DIRAVRUTILS = $(DIRAVR)/utils/bin
+#DIRINC = .
+#DIRLIB = $(DIRAVR)/avr/lib
+# Define programs and commands.
+#SHELL = $(DIRAVRUTILS)/sh
+#NM = $(DIRAVRBIN)/avr-nm
+#CC = $(DIRAVRBIN)/avr-gcc
+#OBJCOPY = $(DIRAVRBIN)/avr-objcopy
+#OBJDUMP= $(DIRAVRBIN)/avr-objdump
+#SIZE = $(DIRAVRBIN)/avr-size
+#AVRDUDE = $(DIRAVRBIN)/avrdude.sh
+#REMOVE = rm -f
+#COPY = cp
+# Define programs and commands.
+SHELL = sh
+CC = avr-gcc
+OBJCOPY = avr-objcopy
+OBJDUMP = avr-objdump
+SIZE = avr-size
+NM = avr-nm
+AVRDUDE = avrdude
+REMOVE = rm -f
+COPY = cp
+WINSHELL = cmd
+# 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 = $(ASRC:.S=.lst) $(SRC:.c=.lst)
+# Compiler flags to generate dependency files.
+### GENDEPFLAGS = -Wp,-M,-MP,-MT,$(*F).o,-MF,.dep/$(@F).d
+GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
+# Combine all necessary flags and optional flags.
+# Add target processor to flags.
+ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
+ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
+# Default target.
+all: begin gccversion sizebefore build sizeafter finished end
+build: elf hex eep lss sym
+elf: $(TARGET).elf
+hex: $(TARGET).hex
+eep: $(TARGET).eep
+lss: $(TARGET).lss
+sym: $(TARGET).sym
+# 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.
+HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
+ELFSIZE = $(SIZE) -x -A $(TARGET).elf
+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
+# Program the device.
+program: $(TARGET).hex $(TARGET).eep
+        $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
+# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
+COFFCONVERT=$(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
+# 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) $@
+        $(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)
+        $(REMOVE) .dep/*
+# Include the dependency files.
+-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
+# Listing of phony targets.
+.PHONY : all begin finish end sizebefore sizeafter gccversion \
+build elf hex eep lss sym coff extcoff \
+clean clean_list program

 /Transportables_Koptertool/tags/V3.x/Bootlader/mega128.h
 ,0 → 1,39
+#ifndef _MEGA128_H_
+#define _MEGA128_H_
+/* Part-Code ISP */
+#define DEVTYPE_ISP     0x43
+/* Part-Code Boot */
+#define DEVTYPE_BOOT    0x44
+#define SIG_BYTE1       0x1E
+#define SIG_BYTE2       0x97
+#define SIG_BYTE3       0x02
+#ifndef UART_USE_SECOND
+#define UART_BAUD_HIGH  UBRR0H
+#define UART_BAUD_LOW   UBRR0L
+#define UART_STATUS     UCSR0A
+#define UART_TXREADY    UDRE0
+#define UART_RXREADY    RXC0
+#define UART_DOUBLE     U2X0
+#define UART_CTRL       UCSR0B
+#define UART_CTRL_DATA  ((1<<TXEN0) | (1<<RXEN0))
+#define UART_CTRL2      UCSR0C
+#define UART_CTRL2_DATA ((1<<UCSZ01) | (1<<UCSZ00))
+#define UART_DATA       UDR0
+#else
+#define UART_BAUD_HIGH  UBRR1H
+#define UART_BAUD_LOW   UBRR1L
+#define UART_STATUS     UCSR1A
+#define UART_TXREADY    UDRE1
+#define UART_RXREADY    RXC1
+#define UART_DOUBLE     U2X1
+#define UART_CTRL       UCSR1B
+#define UART_CTRL_DATA  ((1<<TXEN1) | (1<<RXEN1))
+#define UART_CTRL2      UCSR1C
+#define UART_CTRL2_DATA ((1<<UCSZ11) | (1<<UCSZ10))
+#define UART_DATA       UDR1
+#endif
+#endif // #ifndef _MEGA128_H_

 /Transportables_Koptertool/tags/V3.x/Bootlader/mega128can.h
 ,0 → 1,42
+#ifndef _MEGA128CAN_H_
+#define _MEGA128CAN_H_
+/* Dummy: use ATmega128 device-code for now,
+   must be same as used in avrdude.conf */
+/* Part-Code ISP */
+#define DEVTYPE_ISP     0x43
+/* Part-Code Boot */
+#define DEVTYPE_BOOT    0x44
+#define SIG_BYTE1       0x1E
+#define SIG_BYTE2       0x97
+#define SIG_BYTE3       0x81
+#ifndef UART_USE_SECOND
+#define UART_BAUD_HIGH  UBRR0H
+#define UART_BAUD_LOW   UBRR0L
+#define UART_STATUS     UCSR0A
+#define UART_TXREADY    UDRE0
+#define UART_RXREADY    RXC0
+#define UART_DOUBLE     U2X0
+#define UART_CTRL       UCSR0B
+#define UART_CTRL_DATA  ((1<<TXEN0) | (1<<RXEN0))
+#define UART_CTRL2      UCSR0C
+#define UART_CTRL2_DATA ((1<<UCSZ01) | (1<<UCSZ00))
+#define UART_DATA       UDR0
+#else
+#define UART_BAUD_HIGH  UBRR1H
+#define UART_BAUD_LOW   UBRR1L
+#define UART_STATUS     UCSR1A
+#define UART_TXREADY    UDRE1
+#define UART_RXREADY    RXC1
+#define UART_DOUBLE     U2X1
+#define UART_CTRL       UCSR1B
+#define UART_CTRL_DATA  ((1<<TXEN1) | (1<<RXEN1))
+#define UART_CTRL2      UCSR1C
+#define UART_CTRL2_DATA ((1<<UCSZ11) | (1<<UCSZ10))
+#define UART_DATA       UDR1
+#endif
+#endif // #ifndef _MEGA128CAN_H_

 /Transportables_Koptertool/tags/V3.x/Bootlader/mega16.h
 ,0 → 1,25
+#ifndef _MEGA16_H_
+#define _MEGA16_H_
+/* Part-Code ISP */
+#define DEVTYPE_ISP     0x74
+/* Part-Code Boot */
+#define DEVTYPE_BOOT    0x75
+#define SIG_BYTE1       0x1E
+#define SIG_BYTE2       0x94
+#define SIG_BYTE3       0x03
+#define UART_BAUD_HIGH  UBRRH
+#define UART_BAUD_LOW   UBRRL
+#define UART_STATUS     UCSRA
+#define UART_TXREADY    UDRE
+#define UART_RXREADY    RXC
+#define UART_DOUBLE     U2X
+#define UART_CTRL       UCSRB
+#define UART_CTRL_DATA  ((1<<TXEN) | (1<<RXEN))
+#define UART_CTRL2      UCSRC
+#define UART_CTRL2_DATA ((1<<URSEL) | (1<<UCSZ1) | (1<<UCSZ0))
+#define UART_DATA       UDR
+#endif // #ifndef _MEGA16_H_

 /Transportables_Koptertool/tags/V3.x/Bootlader/mega162.h
 ,0 → 1,45
+#ifndef _MEGA162_H_
+#define _MEGA162_H_
+/* Part-Code ISP */
+// documented code (AVR109 AppNote) but not supported by AVRProg 1.40
+// #define DEVTYPE_ISP     0x62
+// fake ATmega16 instead:
+#define DEVTYPE_ISP     0x74
+/* Part-Code Boot */
+// documented code but not supported by AVRProg 1.40
+// #define DEVTYPE_BOOT    0x63
+// fake ATmega16:
+#define DEVTYPE_BOOT    0x75
+#define SIG_BYTE1       0x1E
+#define SIG_BYTE2       0x94
+#define SIG_BYTE3       0x04
+#ifndef UART_USE_SECOND
+#define UART_BAUD_HIGH     UBRR0H
+#define UART_BAUD_LOW      UBRR0L
+#define UART_STATUS        UCSR0A
+#define UART_TXREADY       UDRE0
+#define UART_RXREADY       RXC0
+#define UART_DOUBLE        U2X0
+#define UART_CTRL          UCSR0B
+#define UART_CTRL_DATA     ((1<<TXEN0) | (1<<RXEN0))
+#define UART_CTRL2         UCSR0C
+#define UART_CTRL2_DATA    ((1<<URSEL0) | (1<<UCSZ01) | (1<<UCSZ00))
+#define UART_DATA          UDR0
+#else
+#define UART_BAUD_HIGH  UBRR1H
+#define UART_BAUD_LOW   UBRR1L
+#define UART_STATUS     UCSR1A
+#define UART_TXREADY    UDRE1
+#define UART_RXREADY    RXC1
+#define UART_DOUBLE     U2X1
+#define UART_CTRL       UCSR1B
+#define UART_CTRL_DATA  ((1<<TXEN1) | (1<<RXEN1))
+#define UART_CTRL2      UCSR1C
+#define UART_CTRL2_DATA ( (1<<URSEL1) | (1<<UCSZ11) | (1<<UCSZ10))
+#define UART_DATA       UDR1
+#endif
+#endif // #ifndef _MEGA162_H_

 /Transportables_Koptertool/tags/V3.x/Bootlader/mega169.h
 ,0 → 1,23
+#ifndef _MEGA169_H_
+#define _MEGA169_H_
+#define DEVTYPE_ISP  0x78
+#define DEVTYPE_BOOT 0x79
+#define SIG_BYTE3       0x1E
+#define SIG_BYTE2       0x94
+#define SIG_BYTE1       0x05
+#define UART_BAUD_HIGH  UBRRH
+#define UART_BAUD_LOW   UBRRL
+#define UART_STATUS     UCSRA
+#define UART_TXREADY    UDRE
+#define UART_RXREADY    RXC
+#define UART_DOUBLE     U2X
+#define UART_CTRL       UCSRB
+#define UART_CTRL_DATA  ((1<<TXEN) | (1<<RXEN))
+#define UART_CTRL2      UCSRC
+#define UART_CTRL2_DATA ((1<<UCSZ1) | (1<<UCSZ0))
+#define UART_DATA       UDR
+#endif // #ifndef _MEGA169_H_

 /Transportables_Koptertool/tags/V3.x/Bootlader/mega32.h
 ,0 → 1,25
+#ifndef _MEGA32_H_
+#define _MEGA32_H_
+/* Part-Code ISP */
+#define DEVTYPE_ISP     0x72
+/* Part-Code Boot */
+#define DEVTYPE_BOOT    0x73
+#define SIG_BYTE1       0x1E
+#define SIG_BYTE2       0x95
+#define SIG_BYTE3       0x02
+#define UART_BAUD_HIGH  UBRRH
+#define UART_BAUD_LOW   UBRRL
+#define UART_STATUS     UCSRA
+#define UART_TXREADY    UDRE
+#define UART_RXREADY    RXC
+#define UART_DOUBLE     U2X
+#define UART_CTRL       UCSRB
+#define UART_CTRL_DATA  ((1<<TXEN) | (1<<RXEN))
+#define UART_CTRL2      UCSRC
+#define UART_CTRL2_DATA ((1<<URSEL) | (1<<UCSZ1) | (1<<UCSZ0))
+#define UART_DATA       UDR
+#endif // #ifndef _MEGA32_H_

 /Transportables_Koptertool/tags/V3.x/Bootlader/mega324p.h
 ,0 → 1,17
+#ifndef _MEGA324P_H_
+#define _MEGA324P_H_
+/* I (M. Thomas) could not find an official Boot-ID
+   for the ATmega324P so pretend it's an ATmega32 */
+/* Part-Code ISP */
+#define DEVTYPE_ISP     0x72
+/* Part-Code Boot */
+#define DEVTYPE_BOOT    0x73
+#define SIG_BYTE1       0x1E
+#define SIG_BYTE2       0x95
+#define SIG_BYTE3       0x08
+#include "megaxx4p.h"
+#endif // #ifndef _MEGA324P_H_

 /Transportables_Koptertool/tags/V3.x/Bootlader/mega64.h
 ,0 → 1,39
+#ifndef _MEGA64_H_
+#define _MEGA64_H_
+/* Part-Code ISP */
+#define DEVTYPE_ISP     0x45
+/* Part-Code Boot */
+#define DEVTYPE_BOOT    0x46
+#define SIG_BYTE1       0x1E
+#define SIG_BYTE2       0x96
+#define SIG_BYTE3       0x02
+#ifndef UART_USE_SECOND
+#define UART_BAUD_HIGH  UBRR0H
+#define UART_BAUD_LOW   UBRR0L
+#define UART_STATUS     UCSR0A
+#define UART_TXREADY    UDRE0
+#define UART_RXREADY    RXC0
+#define UART_DOUBLE     U2X0
+#define UART_CTRL       UCSR0B
+#define UART_CTRL_DATA  ((1<<TXEN0) | (1<<RXEN0))
+#define UART_CTRL2      UCSR0C
+#define UART_CTRL2_DATA ((1<<UCSZ01) | (1<<UCSZ00))
+#define UART_DATA       UDR0
+#else
+#define UART_BAUD_HIGH  UBRR1H
+#define UART_BAUD_LOW   UBRR1L
+#define UART_STATUS     UCSR1A
+#define UART_TXREADY    UDRE1
+#define UART_RXREADY    RXC1
+#define UART_DOUBLE     U2X1
+#define UART_CTRL       UCSR1B
+#define UART_CTRL_DATA  ((1<<TXEN1) | (1<<RXEN1))
+#define UART_CTRL2      UCSR1C
+#define UART_CTRL2_DATA ((1<<UCSZ11) | (1<<UCSZ10))
+#define UART_DATA       UDR1
+#endif
+#endif // #ifndef _MEGA64_H_

 /Transportables_Koptertool/tags/V3.x/Bootlader/mega644.h
 ,0 → 1,42
+#ifndef _MEGA644_H_
+#define _MEGA644_H_
+/* I (M. Thomas) could not find an official Boot-ID
+   for the ATmega644 so pretend it's an ATmega64 */
+/* Part-Code ISP */
+#define DEVTYPE_ISP     0x45
+/* Part-Code Boot */
+#define DEVTYPE_BOOT    0x46
+#define SIG_BYTE1       0x1E
+#define SIG_BYTE2       0x96
+#define SIG_BYTE3       0x09
+#define UART_BAUD_HIGH  UBRR0H
+#define UART_BAUD_LOW   UBRR0L
+#define UART_STATUS         UCSR0A
+#define UART_TXREADY    UDRE0
+#define UART_RXREADY    RXC0
+#define UART_DOUBLE         U2X0
+#define UART_CTRL           UCSR0B
+#define UART_CTRL_DATA  ((1<<TXEN0) | (1<<RXEN0))
+#define UART_CTRL2          UCSR0C
+#define UART_CTRL2_DATA ( (1<<UCSZ01) | (1<<UCSZ00))
+#define UART_DATA           UDR0
+#define WDT_OFF_SPECIAL
+static inline void bootloader_wdt_off(void)
+{
+        cli();
+        wdt_reset();
+        /* Clear WDRF in MCUSR */
+        MCUSR &= ~(1<<WDRF);
+        /* Write logical one to WDCE and WDE */
+        /* Keep old prescaler setting to prevent unintentional time-out */
+        WDTCSR |= (1<<WDCE) | (1<<WDE);
+        /* Turn off WDT */
+        WDTCSR = 0x00;
+}
+#endif // #ifndef _MEGA644_H_

 /Transportables_Koptertool/tags/V3.x/Bootlader/mega644p.h
 ,0 → 1,17
+#ifndef _MEGA644P_H_
+#define _MEGA644P_H_
+/* I (M. Thomas) could not find an official Boot-ID
+   for the ATmega644P so pretend it's an ATmega64 */
+/* Part-Code ISP */
+#define DEVTYPE_ISP     0x45
+/* Part-Code Boot */
+#define DEVTYPE_BOOT    0x46
+#define SIG_BYTE1       0x1E
+#define SIG_BYTE2       0x96
+#define SIG_BYTE3       0x0A
+#include "megaxx4p.h"
+#endif // #ifndef _MEGA644P_H_

 /Transportables_Koptertool/tags/V3.x/Bootlader/mega8.h
 ,0 → 1,25
+#ifndef _MEGA8_H_
+#define _MEGA8_H_
+/* Part-Code ISP */
+#define DEVTYPE_ISP     0x76
+/* Part-Code BOOT */
+#define DEVTYPE_BOOT    0x77
+#define SIG_BYTE1       0x1E
+#define SIG_BYTE2       0x93
+#define SIG_BYTE3       0x07
+#define UART_BAUD_HIGH  UBRRH
+#define UART_BAUD_LOW   UBRRL
+#define UART_STATUS     UCSRA
+#define UART_TXREADY    UDRE
+#define UART_RXREADY    RXC
+#define UART_DOUBLE     U2X
+#define UART_CTRL       UCSRB
+#define UART_CTRL_DATA  ((1<<TXEN) | (1<<RXEN))
+#define UART_CTRL2      UCSRC
+#define UART_CTRL2_DATA ((1<<URSEL) | (1<<UCSZ1) | (1<<UCSZ0))
+#define UART_DATA       UDR
+#endif // #ifndef _MEGA8_H_

 /Transportables_Koptertool/tags/V3.x/Bootlader/megaxx4p.h
 ,0 → 1,47
+#ifndef _MEGAxx4_H_
+#define _MEGAxx4_H_
+#ifndef UART_USE_SECOND
+/* UART 0 */
+#define UART_BAUD_HIGH  UBRR0H
+#define UART_BAUD_LOW   UBRR0L
+#define UART_STATUS         UCSR0A
+#define UART_TXREADY    UDRE0
+#define UART_RXREADY    RXC0
+#define UART_DOUBLE         U2X0
+#define UART_CTRL           UCSR0B
+#define UART_CTRL_DATA  ((1<<TXEN0) | (1<<RXEN0))
+#define UART_CTRL2          UCSR0C
+#define UART_CTRL2_DATA ( (1<<UCSZ01) | (1<<UCSZ00))
+#define UART_DATA           UDR0
+#else
+/* UART 1 */
+#define UART_BAUD_HIGH  UBRR1H
+#define UART_BAUD_LOW   UBRR1L
+#define UART_STATUS         UCSR1A
+#define UART_TXREADY    UDRE1
+#define UART_RXREADY    RXC1
+#define UART_DOUBLE         U2X1
+#define UART_CTRL           UCSR1B
+#define UART_CTRL_DATA  ((1<<TXEN1) | (1<<RXEN1))
+#define UART_CTRL2          UCSR1C
+#define UART_CTRL2_DATA ( (1<<UCSZ11) | (1<<UCSZ10))
+#define UART_DATA           UDR1
+#endif
+#define WDT_OFF_SPECIAL
+static inline void bootloader_wdt_off(void)
+{
+        cli();
+        wdt_reset();
+        /* Clear WDRF in MCUSR */
+        MCUSR &= ~(1<<WDRF);
+        /* Write logical one to WDCE and WDE */
+        /* Keep old prescaler setting to prevent unintentional time-out */
+        WDTCSR |= (1<<WDCE) | (1<<WDE);
+        /* Turn off WDT */
+        WDTCSR = 0x00;
+}
+#endif // #ifndef _MEGA644_H_

 /Transportables_Koptertool/tags/V3.x/Bootlader/readme.txt
 ,0 → 1,267
+======================================================
+  ATMEL AVR UART Bootloader for AVR-GCC/avr-libc
+  by Martin Thomas, Kaiserslautern, Germany
+  mthomas@rhrk.uni-kl.de
+  eversmith@heizung-thomas.de
+  http://www.siwawi.arubi.uni-kl.de/avr_projects
+  **  Addtional code and improvements contributed   **
+  **  by Uwe Bonnes, Bjoern Riemer and Olaf Rempel. **
+  Eearly versions of this bootloader-code have been
+  based on the AVR Butterfly bootloader-source REV02
+  which has been available from atmel.com.
+======================================================
+Programming-Software (on the "PC-Side"):
+* AVRProg (included in AVRStudio) available at www.atmel.com.
+  MS-Windows only. AVRProg can be used as stand-alone application.
+  (avrprog.exe)
+* avrdude available at http://savannah.nongnu.org/projects/avrdude/
+  "Multiplattform"
+* Installation instructions at the end of this file.
+. Dec. 2008 - Version 0.85
+* disable U2X before jump to app as suggested be Alexander Döller
+* moved UBRR-macros to main.c and changed them. Inspired by code from avr-libc setbaud.
+  (macros which are commented out (//) are from Pavel Fertser)
+. Nov. 2008 - Version 0.84
+* Added definitions for ATmega64 provided by Pavel Fertser - Thanks.
+. Apr. 2008 - Version 0.83
+* Added definitions for ATmega644P and ATmega324P
+* Tested with ATmega324P, gcc 4.2.2, avr-libc 1.4.6
+* Added testapp to verify "exit bootloader" with
+  watchdog (n.b.: watchdog-disable called early in testapp)
+. Jan. 2007 - Version 0.82
+* Added definitions for ATmega644.
+* Using avr-lib's eeprom-functions (old "direct-access"-code
+  has not been compatible with ATmega644).
+* Watchdog-disable at startup (configurable): avoids problems with
+  repeated login to bootloader. Not needed if the bootloader is
+  never re-entered again between an "exit programming" and
+  a system-reset/power-toogle.
+* Additional watchdog disable-function for ATmega644.
+* Made watchdog-enable time at exit-programming a configuration-value
+  (define).
+* Bootloader read-protection: if enabled the bootloader fakes
+  an empty boot-section (configurable by define)
+Since more of the avr-libc functions's are used this version
+should be more portable for other AVRs but the size of the
+binary increases a little bit.
+Make sure to disable the watchdog early in the user-application
+esp. when using a "modern" AVR (i.e. ATmega48/88/168/644/324P/644P).
+. Dec. 2006 - Version 0.81
+* Added definitions for ATmega162.
+* Fixed init for double-speed (bitmask). Thanks to Bernhard Roth
+. May 2006 - Version 0.8beta3
+* Supports discarding of interrupt-vectors which saves some space
+  if no interrupts are needed in the bootloader. Added option
+  in makefile to enable this feature, modified LDFLAGS,
+  additional code in main.c for a pseudo default_interrupt ISR.
+  The modified linker-scripts have been contributed by
+  Olaf Rempel (basicly just the .vector-section is not linked).
+* Reverted the order of signatur-byte-numbers in part-
+  configurations to the usual order in the datasheet,
+  also reverted in main.c for sending the signature.
+* Definitions for lock/fuse-readout.
+* Updated installation-instruction at the end of this file.
+* Added DEVTYPE_ISP/DEVTYPE_BOOT to part-configurations,
+  added configuration-option for this in main.c.
+* A remark about the DEVTYPE: Usualy there are two
+  Part-Codes/Device-Codes. One is for ISP: AVRProg shows
+  the type of the AVR. The other code is for bootloading:
+  AVRprog shows the type plus "BOOT". When a boot-device-code
+  gets detected by AVRprog it "knows" how do handle the
+  limited functionality of bootloaders. (When receiving the
+  ISP-code AVRProg expects an AVR910-type programmer.)
+  The offset between the codes is usualy 0x01 where the
+  ISP-code is the smaller value, i.e. ATmega32 ISP-code
+  is 0x72->"ATmega32" and boot-code is 0x73->"ATmega32 BOOT".
+  When using avrdude the bootloader's device-code must match
+  the device-code in the avrdude.conf. Check the avrdude-
+  code to see if both codes (AVR910 and AVR109) are supported.
+  -- I have got some e-mails from users which have been
+  confused by this. Hopefully this explanation is good enough.
+* This bootloader lets the watchdog do a reset when the
+  user selects "Exit programmer" (i.e. in AVRProg) after an
+  update. Make sure to disable or reset the watchdog early in
+  your application.
+. May 2006 - Version 0.8beta2
+* More very well done improvements contributed by Olaf Rempel.
+* Olaf Rempel also modified the STARTUP_WAIT method.
+. May 2006 - Version 0.8beta
+* Version contributed by Olaf Rempel. He has done a lot of modifications.
+  -> "cleaner code", smaller binaries.
+. Feb. 2006 - Version 0.75
+* additional STARTUP_WAIT support contributed by Bjoern Riemer
+. Aug. 2005 - Version 0.74
+* AT90CAN128 support contributed by Uwe Bonnes
+* Makefile modifications contributed by Uwe Bonnes
+. Feb. 2005 - Version 0.7
+* (Version 0.6 has never been available on the web-page)
+* ATmega128 support
+* code cleanup
+* This version has been tested with ATmega8, ATmega32 and
+  ATmega128
+. Apr. 2004 - Version 0.5
+* added different startup-methods
+* compatible with ATmega8 now
+* included makefile adapted to ATmega8 now
+  (ATmega16 options still available)
+* fixed jump to application which did not work
+  reliably before
+* tested with ATmega8
+* minimal options and startup-code result in
+  bootloader-size < 512 words
+. Apr. 2004 - Version 0.4
+* Buffered read of chars from UART during programming
+since eeprom-write is too slow for unbuffered
+operation. So EEPROM-upload does work now.
+* Added BOOTICE-mode to flash JTAGICE-compatible
+hardware (ATmega16@7,3Mhz) (if you know about BOOTICE,
+you may unterstand why this has been added, if not
+just keep the option disabled)
+* small changes in (my)boot.h (lock-bit-mask) found
+out during the development of the STK-500-compatible
+bootloader. But setting lock-bits still does not
+work with this bootloader.
+* read of the low-fuse byte works (high byte still TODO)
+* read of the lock-byte works (write still TODO)
+. Mar 2004 - Version 0.3
+Felt that as much functions from avr-libc's boot.h
+as possible should be used without modifications.
+Latest CVS-version of boot.h is included.
+Only the read-routine is still "self-made" based
+on ATMELs assembler-code.
+EEPROM write on Mega16 does not work (and did not
+work with V0.2 too). May be caused by my old Mega16
+chip. Needs testing. Flash read/write and EEPROM
+read works. Still only tested with ATmega16.
+This version may not work with the ATmega169 any
+more.
+. Mar 2004 - Version 0.2
+During the development of a data-logger application
+with the AVR-Butterfly there was a need to make
+some changes in the bootloader. The same problem
+again: no IAR compiler. The same way to solve the
+problem: a port of the code to avr-gcc/avr-libc.
+So this code is based on the ATMEL Butterfly
+bootloader source code Rev 0.2 for IAR.
+The bootloader-port for the Butterfly which mimics
+the complete functionality of the original
+BF-bootloader is availabe at:
+www.siwawi.arubi.uni-kl.de/avr_projects
+Atmel used a separate "lib" written in "pure"
+assembly to access the low-level functions
+for flash read/write. Well, so far I
+don't know how to use "mixed language sources"
+with the avr-gcc toolchain, so the low-level
+routines have been implemented as inline assembler.
+The avr-libc boot.h module written by Eric
+Weddington served as a template  Three of the four
+low-level routines found in lowlevel.c come from
+boot.h with minimal changes. The read routine has
+been developed based on the ATMEL assembler code.
+Ignore the fuse and lock-bit readout. Read and Set is
+not enabled (TODO).
+--------------- Installation -----------------
+- Change the MCU type in the makefile.
+- Change the boot(loader)-size in Makefile. The needed
+  space depends on the features selected in main.c
+- Set baudrate in main.c, a doublespeed configuration-option
+  is available too.
+- Change the F_CPU in main.c to the clock-frequency
+  of your board. See the datasheet for frequencies
+  with minimum error at the selected baudrate.
+- Select the start-condition in main.c.
+- Please use at least avr-gcc 3.3.1/avr-libc 1.0
+  or WINAVR Sept. 2003 or later to compile and link
+  this bootloader.
+- Upload the hex-File to the AVR (STK500, STK200, SP12
+  evertool, AVR910 etc.)
+- Program the "Boot Flash section size" (BOOTSZ fuses)
+  according to the boot-size selected in the makefile
+  i.e. BOOTSZ=00 for boot-size 1024 words (2048 bytes)
+  on ATmega16
+- enable the BOOT Reset Vector fuse (BOOTRST=0)
+- Set the lock bits to protect the bootloader from
+  SPM-writes (Boot Loader Protection Mode 2 in STK500-
+  plugin) so that it can not overwrite itself.
+- Connect the AVR UART Pins via level-shifter/inverter
+  (i.e. MAX232) to your PCs COM-Port.
+- Reset the AVR while fullfilling the bootloader start-
+  condition. (Default: selected pin connected to GND).
+  The condition must be "true" until you see the
+  AVRPROG dialog or avrdude connects.
+- Start AVRPROG (AVRStudio/Tools or stand-alone avrprog.exe)
+  AVRDUDE is supported too, check it's manual
+  for command-line options. Read the text above for
+  information about Device-Types and AVRDUDE
+- AVRPROG or AVRDUDE should detect the bootloader.
+- see AVRStudio's online-help for more information how
+  to use AVRPROG
+- make sure to EXIT from AVRPROG (button) to start
+  your main-application or toogle power/reset.
+Feedback welcome, Good luck.
+Martin

 /Transportables_Koptertool/tags/V3.x/Bootlader/testapp/Makefile
 ,0 → 1,619
+# Hey Emacs, this is a -*- makefile -*-
+#----------------------------------------------------------------------------
+# WinAVR Makefile Template written by Eric B. Weddington, Jörg Wunsch, et al.
+#
+# Released to the Public Domain
+#
+# Additional material for this makefile was written by:
+# Peter Fleury
+# Tim Henigan
+# Colin O'Flynn
+# Reiner Patommel
+# Markus Pfaff
+# Sander Pool
+# Frederik Rouleau
+# Carlos Lamas
+#
+#----------------------------------------------------------------------------
+# On command line:
+#
+# make all = Make software.
+#
+# make clean = Clean out built project files.
+#
+# make coff = Convert ELF to AVR COFF.
+#
+# make extcoff = Convert ELF to AVR Extended COFF.
+#
+# make program = Download the hex file to the device, using avrdude.
+#                Please customize the avrdude settings below first!
+#
+# make debug = Start either simulavr or avarice as specified for debugging,
+#              with avr-gdb or avr-insight as the front end for debugging.
+#
+# make filename.s = Just compile filename.c into the assembler code only.
+#
+# make filename.i = Create a preprocessed source file for use in submitting
+#                   bug reports to the GCC project.
+#
+# To rebuild project do "make clean" then "make all".
+#----------------------------------------------------------------------------
+# MCU name
+MCU = atmega324p
+# Processor frequency.
+#     This will define a symbol, F_CPU, in all source code files equal to the
+#     processor frequency. You can then use this symbol in your source code to
+#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
+#     automatically to create a 32-bit value in your source code.
+#     Typical values are:
+#         F_CPU =  1000000
+#         F_CPU =  1843200
+#         F_CPU =  2000000
+#         F_CPU =  3686400
+#         F_CPU =  4000000
+#         F_CPU =  7372800
+#         F_CPU =  8000000
+#         F_CPU = 11059200
+#         F_CPU = 14745600
+#         F_CPU = 16000000
+#         F_CPU = 18432000
+#         F_CPU = 20000000
+F_CPU = 3686400
+# Output format. (can be srec, ihex, binary)
+FORMAT = ihex
+# Target file name (without extension).
+TARGET = testapp
+# Object files directory
+#     To put object files in current directory, use a dot (.), do NOT make
+#     this an empty or blank macro!
+OBJDIR = .
+# List C source files here. (C dependencies are automatically generated.)
+SRC = $(TARGET).c
+# List C++ source files here. (C dependencies are automatically generated.)
+CPPSRC =
+# List Assembler source files here.
+#     Make them always end in a capital .S.  Files ending in a lowercase .s
+#     will not be considered source files but generated files (assembler
+#     output from the compiler), and will be deleted upon "make clean"!
+#     Even though the DOS/Win* filesystem matches both .s and .S the same,
+#     it will preserve the spelling of the filenames, and gcc itself does
+#     care about how the name is spelled on its command-line.
+ASRC =
+# Optimization level, can be [0, 1, 2, 3, s].
+#     0 = turn off optimization. s = optimize for size.
+#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+OPT = s
+# Debugging format.
+#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
+#     AVR Studio 4.10 requires dwarf-2.
+#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
+DEBUG = dwarf-2
+# List any extra directories to look for include files here.
+#     Each directory must be seperated by a space.
+#     Use forward slashes for directory separators.
+#     For a directory that has spaces, enclose it in quotes.
+EXTRAINCDIRS =
+# Compiler flag to set the C Standard level.
+#     c89   = "ANSI" C
+#     gnu89 = c89 plus GCC extensions
+#     c99   = ISO C99 standard (not yet fully implemented)
+#     gnu99 = c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+# Place -D or -U options here for C sources
+CDEFS = -DF_CPU=$(F_CPU)UL
+# Place -D or -U options here for ASM sources
+ADEFS = -DF_CPU=$(F_CPU)
+# Place -D or -U options here for C++ sources
+CPPDEFS = -DF_CPU=$(F_CPU)UL
+#CPPDEFS += -D__STDC_LIMIT_MACROS
+#CPPDEFS += -D__STDC_CONSTANT_MACROS
+#---------------- Compiler Options C ----------------
+#  -g*:          generate debugging information
+#  -O*:          optimization level
+#  -f...:        tuning, see GCC manual and avr-libc documentation
+#  -Wall...:     warning level
+#  -Wa,...:      tell GCC to pass this to the assembler.
+#    -adhlns...: create assembler listing
+CFLAGS = -g$(DEBUG)
+CFLAGS += $(CDEFS)
+CFLAGS += -O$(OPT)
+CFLAGS += -funsigned-char
+CFLAGS += -funsigned-bitfields
+CFLAGS += -fpack-struct
+CFLAGS += -fshort-enums
+CFLAGS += -Wall
+CFLAGS += -Wstrict-prototypes
+#CFLAGS += -mshort-calls
+#CFLAGS += -fno-unit-at-a-time
+#CFLAGS += -Wundef
+#CFLAGS += -Wunreachable-code
+#CFLAGS += -Wsign-compare
+CFLAGS += -Wa,-adhlns=$(<:%.c=$(OBJDIR)/%.lst)
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+CFLAGS += $(CSTANDARD)
+#---------------- Compiler Options C++ ----------------
+#  -g*:          generate debugging information
+#  -O*:          optimization level
+#  -f...:        tuning, see GCC manual and avr-libc documentation
+#  -Wall...:     warning level
+#  -Wa,...:      tell GCC to pass this to the assembler.
+#    -adhlns...: create assembler listing
+CPPFLAGS = -g$(DEBUG)
+CPPFLAGS += $(CPPDEFS)
+CPPFLAGS += -O$(OPT)
+CPPFLAGS += -funsigned-char
+CPPFLAGS += -funsigned-bitfields
+CPPFLAGS += -fpack-struct
+CPPFLAGS += -fshort-enums
+CPPFLAGS += -fno-exceptions
+CPPFLAGS += -Wall
+CFLAGS += -Wundef
+#CPPFLAGS += -mshort-calls
+#CPPFLAGS += -fno-unit-at-a-time
+#CPPFLAGS += -Wstrict-prototypes
+#CPPFLAGS += -Wunreachable-code
+#CPPFLAGS += -Wsign-compare
+CPPFLAGS += -Wa,-adhlns=$(<:%.cpp=$(OBJDIR)/%.lst)
+CPPFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+#CPPFLAGS += $(CSTANDARD)
+#---------------- Assembler Options ----------------
+#  -Wa,...:   tell GCC to pass this to the assembler.
+#  -adhlns:   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]
+#  -listing-cont-lines: Sets the maximum number of continuation lines of hex
+#       dump that will be displayed for a given single line of source input.
+ASFLAGS = $(ADEFS) -Wa,-adhlns=$(<:%.S=$(OBJDIR)/%.lst),-gstabs,--listing-cont-lines=100
+#---------------- Library Options ----------------
+# Minimalistic printf version
+PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
+# Floating point printf version (requires MATH_LIB = -lm below)
+PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
+# If this is left blank, then it will use the Standard printf version.
+PRINTF_LIB =
+#PRINTF_LIB = $(PRINTF_LIB_MIN)
+#PRINTF_LIB = $(PRINTF_LIB_FLOAT)
+# Minimalistic scanf version
+SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
+# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
+SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
+# If this is left blank, then it will use the Standard scanf version.
+SCANF_LIB =
+#SCANF_LIB = $(SCANF_LIB_MIN)
+#SCANF_LIB = $(SCANF_LIB_FLOAT)
+MATH_LIB = -lm
+# List any extra directories to look for libraries here.
+#     Each directory must be seperated by a space.
+#     Use forward slashes for directory separators.
+#     For a directory that has spaces, enclose it in quotes.
+EXTRALIBDIRS =
+#---------------- External Memory Options ----------------
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# used for variables (.data/.bss) and heap (malloc()).
+#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# only used for heap (malloc()).
+#EXTMEMOPTS = -Wl,--section-start,.data=0x801100,--defsym=__heap_end=0x80ffff
+EXTMEMOPTS =
+#---------------- Linker Options ----------------
+#  -Wl,...:     tell GCC to pass this to linker.
+#    -Map:      create map file
+#    --cref:    add cross reference to  map file
+LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
+LDFLAGS += $(EXTMEMOPTS)
+LDFLAGS += $(patsubst %,-L%,$(EXTRALIBDIRS))
+LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
+#LDFLAGS += -T linker_script.x
+#---------------- Programming Options (avrdude) ----------------
+# Programming hardware: alf avr910 avrisp bascom bsd
+# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
+#
+# Type: avrdude -c ?
+# to get a full listing.
+#
+AVRDUDE_PROGRAMMER = stk500
+# com1 = serial port. Use lpt1 to connect to parallel port.
+AVRDUDE_PORT = com1    # programmer connected to serial device
+AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
+#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
+# 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_COUNTER = -y
+# Uncomment the following if you do /not/ wish a verification to be
+# performed after programming the device.
+#AVRDUDE_NO_VERIFY = -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_VERBOSE = -v -v
+AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
+AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
+AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
+AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
+#---------------- Debugging Options ----------------
+# For simulavr only - target MCU frequency.
+DEBUG_MFREQ = $(F_CPU)
+# Set the DEBUG_UI to either gdb or insight.
+# DEBUG_UI = gdb
+DEBUG_UI = insight
+# Set the debugging back-end to either avarice, simulavr.
+DEBUG_BACKEND = avarice
+#DEBUG_BACKEND = simulavr
+# GDB Init Filename.
+GDBINIT_FILE = __avr_gdbinit
+# When using avarice settings for the JTAG
+JTAG_DEV = /dev/com1
+# Debugging port used to communicate between GDB / avarice / simulavr.
+DEBUG_PORT = 4242
+# Debugging host used to communicate between GDB / avarice / simulavr, normally
+#     just set to localhost unless doing some sort of crazy debugging when
+#     avarice is running on a different computer.
+DEBUG_HOST = localhost
+#============================================================================
+# Define programs and commands.
+SHELL = sh
+CC = avr-gcc
+OBJCOPY = avr-objcopy
+OBJDUMP = avr-objdump
+SIZE = avr-size
+AR = avr-ar rcs
+NM = avr-nm
+AVRDUDE = avrdude
+REMOVE = rm -f
+REMOVEDIR = rm -rf
+COPY = cp
+WINSHELL = cmd
+# 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 C:
+MSG_COMPILING_CPP = Compiling C++:
+MSG_ASSEMBLING = Assembling:
+MSG_CLEANING = Cleaning project:
+MSG_CREATING_LIBRARY = Creating library:
+# Define all object files.
+OBJ = $(SRC:%.c=$(OBJDIR)/%.o) $(CPPSRC:%.cpp=$(OBJDIR)/%.o) $(ASRC:%.S=$(OBJDIR)/%.o)
+# Define all listing files.
+LST = $(SRC:%.c=$(OBJDIR)/%.lst) $(CPPSRC:%.cpp=$(OBJDIR)/%.lst) $(ASRC:%.S=$(OBJDIR)/%.lst)
+# Compiler flags to generate dependency files.
+GENDEPFLAGS = -MMD -MP -MF .dep/$(@F).d
+# Combine all necessary flags and optional flags.
+# Add target processor to flags.
+ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
+ALL_CPPFLAGS = -mmcu=$(MCU) -I. -x c++ $(CPPFLAGS) $(GENDEPFLAGS)
+ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
+# Default target.
+all: begin gccversion sizebefore build sizeafter end
+# Change the build target to build a HEX file or a library.
+build: elf hex eep lss sym
+#build: lib
+elf: $(TARGET).elf
+hex: $(TARGET).hex
+eep: $(TARGET).eep
+lss: $(TARGET).lss
+sym: $(TARGET).sym
+LIBNAME=lib$(TARGET).a
+lib: $(LIBNAME)
+# 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)
+end:
+        @echo $(MSG_END)
+        @echo
+# Display size of file.
+HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
+ELFSIZE = $(SIZE) --mcu=$(MCU) --format=avr $(TARGET).elf
+sizebefore:
+        @if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
+>/dev/null; echo; fi
+sizeafter:
+        @if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
+>/dev/null; echo; fi
+# Display compiler version information.
+gccversion :
+        @$(CC) --version
+# Program the device.
+program: $(TARGET).hex $(TARGET).eep
+        $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
+# Generate avr-gdb config/init file which does the following:
+#     define the reset signal, load the target file, connect to target, and set
+#     a breakpoint at main().
+gdb-config:
+        @$(REMOVE) $(GDBINIT_FILE)
+        @echo define reset >> $(GDBINIT_FILE)
+        @echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
+        @echo end >> $(GDBINIT_FILE)
+        @echo file $(TARGET).elf >> $(GDBINIT_FILE)
+        @echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
+ifeq ($(DEBUG_BACKEND),simulavr)
+        @echo load  >> $(GDBINIT_FILE)
+endif
+        @echo break main >> $(GDBINIT_FILE)
+debug: gdb-config $(TARGET).elf
+ifeq ($(DEBUG_BACKEND), avarice)
+        @echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
+        @$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
+        $(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
+        @$(WINSHELL) /c pause
+else
+        @$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
+        $(DEBUG_MFREQ) --port $(DEBUG_PORT)
+endif
+        @$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
+# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
+COFFCONVERT = $(OBJCOPY) --debugging
+COFFCONVERT += --change-section-address .data-0x800000
+COFFCONVERT += --change-section-address .bss-0x800000
+COFFCONVERT += --change-section-address .noinit-0x800000
+COFFCONVERT += --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
+# 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 --no-change-warnings -O $(FORMAT) $< $@ || exit 0
+# 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) $@
+        $(NM) -n $< > $@
+# Create library from object files.
+.SECONDARY : $(TARGET).a
+.PRECIOUS : $(OBJ)
+%.a: $(OBJ)
+        @echo
+        @echo $(MSG_CREATING_LIBRARY) $@
+        $(AR) $@ $(OBJ)
+# Link: create ELF output file from object files.
+.SECONDARY : $(TARGET).elf
+.PRECIOUS : $(OBJ)
+%.elf: $(OBJ)
+        @echo
+        @echo $(MSG_LINKING) $@
+        $(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
+# Compile: create object files from C source files.
+$(OBJDIR)/%.o : %.c
+        @echo
+        @echo $(MSG_COMPILING) $<
+        $(CC) -c $(ALL_CFLAGS) $< -o $@
+# Compile: create object files from C++ source files.
+$(OBJDIR)/%.o : %.cpp
+        @echo
+        @echo $(MSG_COMPILING_CPP) $<
+        $(CC) -c $(ALL_CPPFLAGS) $< -o $@
+# Compile: create assembler files from C source files.
+%.s : %.c
+        $(CC) -S $(ALL_CFLAGS) $< -o $@
+# Compile: create assembler files from C++ source files.
+%.s : %.cpp
+        $(CC) -S $(ALL_CPPFLAGS) $< -o $@
+# Assemble: create object files from assembler source files.
+$(OBJDIR)/%.o : %.S
+        @echo
+        @echo $(MSG_ASSEMBLING) $<
+        $(CC) -c $(ALL_ASFLAGS) $< -o $@
+# Create preprocessed source for use in sending a bug report.
+%.i : %.c
+        $(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
+# Target: clean project.
+clean: begin clean_list end
+clean_list :
+        @echo
+        @echo $(MSG_CLEANING)
+        $(REMOVE) $(TARGET).hex
+        $(REMOVE) $(TARGET).eep
+        $(REMOVE) $(TARGET).cof
+        $(REMOVE) $(TARGET).elf
+        $(REMOVE) $(TARGET).map
+        $(REMOVE) $(TARGET).sym
+        $(REMOVE) $(TARGET).lss
+        $(REMOVE) $(SRC:%.c=$(OBJDIR)/%.o)
+        $(REMOVE) $(SRC:%.c=$(OBJDIR)/%.lst)
+        $(REMOVE) $(SRC:.c=.s)
+        $(REMOVE) $(SRC:.c=.d)
+        $(REMOVE) $(SRC:.c=.i)
+        $(REMOVEDIR) .dep
+# Create object files directory
+$(shell mkdir $(OBJDIR) 2>/dev/null)
+# Include the dependency files.
+-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
+# Listing of phony targets.
+.PHONY : all begin finish end sizebefore sizeafter gccversion \
+build elf hex eep lss sym coff extcoff \
+clean clean_list program debug gdb-config

 /Transportables_Koptertool/tags/V3.x/Bootlader/testapp/testapp.c
 ,0 → 1,62
+// Martin Thomas 4/2008
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/wdt.h>
+#include <util/delay.h>
+#define LED_PORT   PORTB
+#define LED_DDR    DDRB
+#define LED_BIT    PB2
+#define BT_PORT    PORTC
+#define BT_DDR     DDRC
+#define BT_PIN     PINC
+#define BT_BIT     PC7
+static inline void my_wdt_off(void)
+{
+        cli();
+        wdt_reset();
+        /* Clear WDRF in MCUSR */
+        MCUSR &= ~(1<<WDRF);
+        /* Write logical one to WDCE and WDE */
+        /* Keep old prescaler setting to prevent unintentional time-out */
+        WDTCSR |= (1<<WDCE) | (1<<WDE);
+        /* Turn off WDT */
+        WDTCSR = 0x00;
+}
+static void my_delay( void )
+{
+        int i;
+        for ( i=0; i<500; i++ ) {
+                _delay_ms(1);
+        }
+}
+int main( void )
+{
+        my_wdt_off();
+        LED_PORT |=  ( 1<<LED_BIT );
+        LED_DDR  |=  ( 1<<LED_BIT );
+        BT_DDR   &= ~( 1<<BT_BIT );
+        BT_PORT  |=  ( 1<<BT_BIT );
+        while ( 1 ) {
+                LED_PORT &= ~( 1<<LED_BIT );
+                my_delay();
+                LED_PORT |=  ( 1<<LED_BIT );
+                my_delay();
+                if ( !( BT_PIN & ( 1<<BT_BIT ) ) ) {
+                        /* start bootloader */
+                        wdt_enable( WDTO_250MS );
+                        while (1) { ; }
+                }
+        }
+        return 0; /* never reached */
+}

 /Transportables_Koptertool/tags/V3.x/Bootlader/testavrdude/dummy.hex
 ,0 → 1,117
+:103800000C942A1C0C94451C0C94451C0C94451CCF
+:103810000C94451C0C94451C0C94451C0C94451CA4
+:103820000C94451C0C94451C0C94451C0C94451C94
+:103830000C94451C0C94451C0C94451C0C94451C84
+:103840000C94451C0C94451C0C94451C0C94451C74
+:103850000C94451C11241FBECFE5D4E0DEBFCDBFC4
+:1038600010E0A0E6B0E0EEE2FFE302C005900D92AA
+:10387000A036B107D9F710E0A0E6B0E001C01D9274
+:10388000A53EB107E1F70C94871D0C94001C8F9A9C
+:1038900084E083BD89E185BD089581E40E94E21E34
+:1038A00086E50E94E21E82E50E94E21E82E40E94FA
+:1038B000E21E8FE40E94E21E8FE40E94E21E84E575
+:1038C0000E94E21E08958F929F92AF92BF92CF9274
+:1038D000DF92EF92FF920F931F93CF93DF936C01D0
+:1038E000962EEE24FF2487010E591F4FE7012196E3
+:1038F000EC14FD0418F40E94E61E01C08FEFF801DD
+:1039000080837E01C038D10570F3EE24FF248091BE
+:10391000E400853721F08B3311F0C7018CC0A090F3
+:10392000E200B090E300E199FECF8FB6F89426E470
+:10393000921609F07DC08091E40087010E591F4F57
+:10394000E7012196EEEFFFEFCE0EDF1E8537F1F493
+:10395000F8018081282F3327FE01EE59FF4F808127
+:103960009927982F8827282B392B7E010894E11C52
+:10397000F11C41E08091E2009091E3000901FC011B
+:1039800040935700E8951124029628C080E40E94D5
+:103990004B1F8091E3000E944B1F8091E2000E9428
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+:103EE000351F08950E94511F8CEA0E944B1F80E8E5
+:103EF0000E944B1F80E00E944B1F80E00E944B1FDE
+:103F00000E946D1F0895AA1BBB1B51E107C0AA1F89
+:103F1000BB1FA617B70710F0A61BB70B881F991F6A
+:0E3F20005A95A9F780959095BC01CD010895A2
+:0400000300003800C1
+:00000001FF

 /Transportables_Koptertool/tags/V3.x/Bootlader/testavrdude/go.cmd
 ,0 → 1,20
+@echo off
+rem Use avrdude as programming-software with the AVRProg compatible bootloader
+rem Martin Thomas, 2006
+rem Verfiy that the bootloader is configured with #define DEVTYPE DEVTYPE_ISP
+rem since it seems that avrdude does not work with "Boot" device-types and needs
+rem ISP device-types (at least in version 5.1 as in WinAVR 4/06)
+set HEXFILE=cansniffer.hex
+set PROGRAMMER=avr109
+set PORT=com2
+set BAUD=19200
+set PART=atmega32
+rem * disable safemode - bootloader can not "restore" fuses anyway
+set DIS_SAVE=-u
+avrdude %DIS_SAVE% -p %PART% -P %PORT% -c %PROGRAMMER% -b %BAUD% -v -U flash:w:%HEXFILE%
+rem pause

 /Transportables_Koptertool/tags/V3.x/HW_Koptertoo1_2/Bootloader644_uart0.hex
 ,0 → 1,93
+:10F800000C94387C0C944A7C0C944A7C0C944A7C72
+:10F810000C944A7C0C944A7C0C944A7C0C944A7C50
+:10F820000C944A7C0C944A7C0C944A7C0C944A7C40
+:10F830000C944A7C0C944A7C0C944A7C0C944A7C30
+:10F840000C944A7C0C944A7C0C944A7C0C944A7C20
+:10F850000C944A7C0C944A7C0C944A7C0C944A7C10
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/Transportables_Koptertool/tags/V3.x/HW_Koptertoo1_3/pk_13_bottom.png
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Property changes:
Added: svn:mime-type
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\ No newline at end of property

 /Transportables_Koptertool/tags/V3.x/HW_Koptertool3_2/Bootloader644P_uart1.hex
 ,0 → 1,94
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 /Transportables_Koptertool/tags/V3.x/HW_Koptertool3_2/GPL_PKT_V3_3_4_FC084_HW3_2.hex
 ,0 → 1,3312
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+                    GNU GENERAL PUBLIC LICENSE
+                       Version 2, June 1991
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+Temple Place, Suite 330, Boston, MA  02111-1307  USA
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+                    GNU GENERAL PUBLIC LICENSE
+   TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
+. This License applies to any program or other work which contains
+a notice placed by the copyright holder saying it may be distributed
+under the terms of this General Public License.  The "Program", below,
+refers to any such program or work, and a "work based on the Program"
+means either the Program or any derivative work under copyright law:
+that is to say, a work containing the Program or a portion of it,
+either verbatim or with modifications and/or translated into another
+language.  (Hereinafter, translation is included without limitation in
+the term "modification".)  Each licensee is addressed as "you".
+Activities other than copying, distribution and modification are not
+covered by this License; they are outside its scope.  The act of
+running the Program is not restricted, and the output from the Program
+is covered only if its contents constitute a work based on the
+Program (independent of having been made by running the Program).
+Whether that is true depends on what the Program does.
+. You may copy and distribute verbatim copies of the Program's
+source code as you receive it, in any medium, provided that you
+conspicuously and appropriately publish on each copy an appropriate
+copyright notice and disclaimer of warranty; keep intact all the
+notices that refer to this License and to the absence of any warranty;
+and give any other recipients of the Program a copy of this License
+along with the Program.
+You may charge a fee for the physical act of transferring a copy, and
+you may at your option offer warranty protection in exchange for a fee.
+. You may modify your copy or copies of the Program or any portion
+of it, thus forming a work based on the Program, and copy and
+distribute such modifications or work under the terms of Section 1
+above, provided that you also meet all of these conditions:
+    a) You must cause the modified files to carry prominent notices
+    stating that you changed the files and the date of any change.
+    b) You must cause any work that you distribute or publish, that in
+    whole or in part contains or is derived from the Program or any
+    part thereof, to be licensed as a whole at no charge to all third
+    parties under the terms of this License.
+    c) If the modified program normally reads commands interactively
+    when run, you must cause it, when started running for such
+    interactive use in the most ordinary way, to print or display an
+    announcement including an appropriate copyright notice and a
+    notice that there is no warranty (or else, saying that you provide
+    a warranty) and that users may redistribute the program under
+    these conditions, and telling the user how to view a copy of this
+    License.  (Exception: if the Program itself is interactive but
+    does not normally print such an announcement, your work based on
+    the Program is not required to print an announcement.)
+These requirements apply to the modified work as a whole.  If
+identifiable sections of that work are not derived from the Program,
+and can be reasonably considered independent and separate works in
+themselves, then this License, and its terms, do not apply to those
+sections when you distribute them as separate works.  But when you
+distribute the same sections as part of a whole which is a work based
+on the Program, the distribution of the whole must be on the terms of
+this License, whose permissions for other licensees extend to the
+entire whole, and thus to each and every part regardless of who wrote it.
+Thus, it is not the intent of this section to claim rights or contest
+your rights to work written entirely by you; rather, the intent is to
+exercise the right to control the distribution of derivative or
+collective works based on the Program.
+In addition, mere aggregation of another work not based on the Program
+with the Program (or with a work based on the Program) on a volume of
+a storage or distribution medium does not bring the other work under
+the scope of this License.
+. You may copy and distribute the Program (or a work based on it,
+under Section 2) in object code or executable form under the terms of
+Sections 1 and 2 above provided that you also do one of the following:
+    a) Accompany it with the complete corresponding machine-readable
+    source code, which must be distributed under the terms of Sections
+and 2 above on a medium customarily used for software interchange; or,
+    b) Accompany it with a written offer, valid for at least three
+    years, to give any third party, for a charge no more than your
+    cost of physically performing source distribution, a complete
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+    c) Accompany it with the information you received as to the offer
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+    allowed only for noncommercial distribution and only if you
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+The source code for a work means the preferred form of the work for
+making modifications to it.  For an executable work, complete source
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+If distribution of executable or object code is made by offering
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+access to copy the source code from the same place counts as
+distribution of the source code, even though third parties are not
+compelled to copy the source along with the object code.
+. You may not copy, modify, sublicense, or distribute the Program
+except as expressly provided under this License.  Any attempt
+otherwise to copy, modify, sublicense or distribute the Program is
+void, and will automatically terminate your rights under this License.
+However, parties who have received copies, or rights, from you under
+this License will not have their licenses terminated so long as such
+parties remain in full compliance.
+. You are not required to accept this License, since you have not
+signed it.  However, nothing else grants you permission to modify or
+distribute the Program or its derivative works.  These actions are
+prohibited by law if you do not accept this License.  Therefore, by
+modifying or distributing the Program (or any work based on the
+Program), you indicate your acceptance of this License to do so, and
+all its terms and conditions for copying, distributing or modifying
+the Program or works based on it.
+. Each time you redistribute the Program (or any work based on the
+Program), the recipient automatically receives a license from the
+original licensor to copy, distribute or modify the Program subject to
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+restrictions on the recipients' exercise of the rights granted herein.
+You are not responsible for enforcing compliance by third parties to
+this License.
+. If, as a consequence of a court judgment or allegation of patent
+infringement or for any other reason (not limited to patent issues),
+conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
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+distribute so as to satisfy simultaneously your obligations under this
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+may not distribute the Program at all.  For example, if a patent
+license would not permit royalty-free redistribution of the Program by
+all those who receive copies directly or indirectly through you, then
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+If any portion of this section is held invalid or unenforceable under
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+It is not the purpose of this section to induce you to infringe any
+patents or other property right claims or to contest validity of any
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+integrity of the free software distribution system, which is
+implemented by public license practices.  Many people have made
+generous contributions to the wide range of software distributed
+through that system in reliance on consistent application of that
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+to distribute software through any other system and a licensee cannot
+impose that choice.
+This section is intended to make thoroughly clear what is believed to
+be a consequence of the rest of this License.
+. If the distribution and/or use of the Program is restricted in
+certain countries either by patents or by copyrighted interfaces, the
+original copyright holder who places the Program under this License
+may add an explicit geographical distribution limitation excluding
+those countries, so that distribution is permitted only in or among
+countries not thus excluded.  In such case, this License incorporates
+the limitation as if written in the body of this License.
+. The Free Software Foundation may publish revised and/or new versions
+of the General Public License from time to time.  Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+Each version is given a distinguishing version number.  If the Program
+specifies a version number of this License which applies to it and "any
+later version", you have the option of following the terms and conditions
+either of that version or of any later version published by the Free
+Software Foundation.  If the Program does not specify a version number of
+this License, you may choose any version ever published by the Free Software
+Foundation.
+. If you wish to incorporate parts of the Program into other free
+programs whose distribution conditions are different, write to the author
+to ask for permission.  For software which is copyrighted by the Free
+Software Foundation, write to the Free Software Foundation; we sometimes
+make exceptions for this.  Our decision will be guided by the two goals
+of preserving the free status of all derivatives of our free software and
+of promoting the sharing and reuse of software generally.
+                            NO WARRANTY
+. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
+FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW.  EXCEPT WHEN
+OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
+PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
+OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.  THE ENTIRE RISK AS
+TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU.  SHOULD THE
+PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
+REPAIR OR CORRECTION.
+. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
+REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
+INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
+OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
+TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
+YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
+PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGES.
+                     END OF TERMS AND CONDITIONS
+            How to Apply These Terms to Your New Programs
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+convey the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+    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, or
+    (at your option) any later version.
+    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
+Also add information on how to contact you by electronic and paper mail.
+If the program is interactive, make it output a short notice like this
+when it starts in an interactive mode:
+    Gnomovision version 69, Copyright (C) year name of author
+    Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, the commands you use may
+be called something other than `show w' and `show c'; they could even be
+mouse-clicks or menu items--whatever suits your program.
+You should also get your employer (if you work as a programmer) or your
+school, if any, to sign a "copyright disclaimer" for the program, if
+necessary.  Here is a sample; alter the names:
+  Yoyodyne, Inc., hereby disclaims all copyright interest in the program
+  `Gnomovision' (which makes passes at compilers) written by James Hacker.
+  <signature of Ty Coon>, 1 April 1989
+  Ty Coon, President of Vice
+This General Public License does not permit incorporating your program into
+proprietary programs.  If your program is a subroutine library, you may
+consider it more useful to permit linking proprietary applications with the
+library.  If this is what you want to do, use the GNU Library General
+Public License instead of this License.

 /Transportables_Koptertool/tags/V3.x/Makefile_old
 ,0 → 1,401
+#
+# v1_2 = all versions below 1.3
+# v1_3 = differend LED Pins, 2nd Uart
+#
+LANGUAGE = de
+HWVERSION = v1_2
+#HWVERSION = v1_3
+ifeq ($(HWVERSION), v1_2)
+        MCU = atmega644
+        TARGET = MKTOOL_1_2_$(LANGUAGE)
+endif
+ifeq ($(HWVERSION), v1_3)
+        MCU = atmega644p
+        TARGET = MKTOOL_1_3_$(LANGUAGE)
+endif
+F_CPU = 20000000
+FUSE_SETTINGS = -U lfuse:w:0xe6:m -U hfuse:w:0xd9:m -U efuse:w:0xff:m
+# Output format. (can be srec, ihex, binary)
+FORMAT = ihex
+# 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 = 2
+##########################################################################################################
+# List C source files here. (C dependencies are automatically generated.)
+SRC     = main.c menu.c pwm.c timer.c lcd.c font8X6.c usart.c settings.c motortest.c display.c gps.c osd.c debug.c parameter.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=$(F_CPU)
+ifeq ($(HWVERSION), v1_2)
+        CFLAGS += -DHWVERSION1_2
+endif
+ifeq ($(HWVERSION), v1_3)
+        CFLAGS += -DHWVERSION1_3
+endif
+ifeq ($(LANGUAGE), de)
+        CFLAGS += -DLANGUAGE_DE
+endif
+ifeq ($(LANGUAGE), en)
+        CFLAGS += -DLANGUAGE_EN
+endif
+ifeq ($(LANGUAGE), fr)
+        CFLAGS += -DLANGUAGE_FR
+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 = STK500v2
+#falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden
+AVRDUDE_PORT = /dev/cu.SLAB_USBtoUART    # 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/tags/V3.x/Wi232.c
 ,0 → 1,450
+/*****************************************************************************
+ *   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.               *
+ *                                                                           *
+ *****************************************************************************/
+/*
+ * Wi232.c
+ * Funktionen für den Zugriff auf Radiotronix Wi.232EUR Modul
+ *  Created on: 11.06.2011
+ *      Author: cebra
+ */
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+#include <util/delay.h>
+#include <stdlib.h>
+#include <string.h>
+#include "lcd.h"
+#include "usart.h"
+#include "uart1.h"
+#include "main.h"
+#include "Wi232.h"
+#include "timer.h"
+#include "eeprom.h"
+uint8_t Wi232_hardware = 0;
+/*************************************************************************
+Function: discoverWI232()
+Purpose:  check if Wi232 available
+Returns:  Version or 0 = timeout
+**************************************************************************/
+void discoverWi232(void)
+{
+        int16_t RegisterWi232;
+    set_WI232CMD();
+    _delay_ms(100);
+    set_LED4();
+        SwitchToWi232();        /* Serielle Kanäle Wi232 mit USB verbinden*/
+        USART_Init( UART_BAUD_SELECT(57600,F_CPU) );            /* erstmal mit 57600 versuchen*/
+    lcd_printpns_at (0, 0, PSTR("search Wi.232 Modul"),0);
+    lcd_printpns_at (0, 1, PSTR("with 57600 Baud"),0);
+    RegisterWi232 = readWi232(regDiscover);
+    Wi232_hardware = 1;
+    if (RegisterWi232 == 0)
+        {
+        USART_Init( UART_BAUD_SELECT(2400,F_CPU) );    /* neues Modul mit 2400 suchen*/
+        lcd_printpns_at (0, 1, PSTR("with 2400 Baud "),0);
+        RegisterWi232 = readWi232(regDiscover);
+        Wi232_hardware = 2;
+        }
+    if (RegisterWi232 == 0)
+     {
+       lcd_cls();
+       lcd_printpns_at (0, 0, PSTR("no Wi.232 found"),0);
+       Wi232_hardware = 0;
+     }
+    if (RegisterWi232 == 0xFF)
+        {
+          lcd_cls();
+          lcd_printpns_at (0, 0, PSTR("Wi.232 Sytaxerror"),0);
+        }
+    if (RegisterWi232 != 0)
+        {
+          lcd_cls();
+          if (Wi232_hardware ==1)
+          lcd_printpns_at (0, 0, PSTR("Wi.232 found 57600"),0);
+          if (Wi232_hardware ==2)
+          {
+          lcd_printpns_at (0, 0, PSTR("Wi.232 found 2400"),0);
+           if (WriteWi232(regNVDATARATE,Wi232_57600)!=0) /* NV-Ram auf 57600 setzen*/
+           {
+                  lcd_printpns_at (0, 1, PSTR("Error set NV-RAM"),0);
+           }
+           else
+           {
+                _delay_ms(1000);
+                lcd_printpns_at (0, 1, PSTR("NV-RAM set to 57600"),0);
+                _delay_ms(2000);
+                lcd_printpns_at (0, 1, PSTR("ok                 "),0);
+           }
+          }
+          lcd_printpns_at (0, 1, PSTR("Version:"),0);
+          lcd_print_hex_at(9,1,RegisterWi232,0);
+        }
+    clr_WI232CMD();
+        clr_LED4();
+}
+/*************************************************************************
+Function: InitWI232()
+Purpose:  set Wi232Register for Mikrokopter
+Returns:  0 = ACK, FF = NAK
+**************************************************************************/
+void InitWi232(void)
+{
+uint8_t InitErr=0;
+        discoverWi232(); /*Check if Wi232 available*/
+    if (Wi232_hardware !=0)
+    {
+          lcd_printpns_at (0, 2, PSTR("Init Wi232 wait...."),0);
+          set_WI232CMD();
+      _delay_ms(10);
+      set_LED4();
+          SwitchToWi232();      /* Serielle Kanäle Wi232 mit USB verbinden*/
+         if  (WriteWi232(regTXCHANNEL,WiTXRXChannel)!=0) /*TX Channel*/
+                        InitErr =1;
+         if  (WriteWi232(regRXCHANNEL,WiTXRXChannel)!=0) /* RX Channel*/
+                        InitErr =2;
+         if  (WriteWi232(regSLPMODE ,Sleep_Awake)!=0) /* Sleepmode*/
+                        InitErr =3;
+         if  (WriteWi232(regPWRMODE,WbModeP13)!=0) /* Transceiver Mode/Powermode */
+                        InitErr =4;
+         if  (WriteWi232(regTXTO,TWaitTime16)!=0) /* UART Timeout */
+                        InitErr =5;
+         if  (WriteWi232(regUARTMTU,UartMTU64)!=0) /* UART Buffer*/
+                        InitErr =6;
+         if  (WriteWi232(regNETGRP,WiNetworkGroup)!=0) /* Networkgroup */
+                        InitErr =7;
+         if  (WriteWi232(regNETMODE,WiNetworkMode)!=0) /* Networkmode*/
+                        InitErr =8;
+         if  (WriteWi232(regUSECRC ,CRC_Enable)!=0) /* CRC*/
+                        InitErr =9;
+         if  (WriteWi232(regCSMAMODE,CSMA_En)!=0) /* CSMA*/
+                        InitErr =10;
+         if  (WriteWi232(regDATARATE,Wi232_57600)!=0) /* Baudrate*/
+                        InitErr =11;
+         if (InitErr !=0)
+         {
+                 lcd_printpns_at (0, 2, PSTR("Wi232 InitError  "),0);
+                 lcd_print_hex(InitErr,0);
+         }
+         else
+                 lcd_printpns_at (0, 2, PSTR("Wi232 Init ok...."),0);
+          USART_Init (UART_BAUD_SELECT(57600,F_CPU));
+      clr_WI232CMD();
+      _delay_ms(2000);
+          clr_LED4();
+    }
+}
+/*************************************************************************
+Function: WriteWI232()
+Purpose:  set Register to Wi232, Register, Value
+Returns:  0 = ACK, FF = NAK
+ACHTUNG nur für Value <0x80
+**************************************************************************/
+int16_t WriteWi232(uint8_t Wi232Register, uint8_t RegisterValue)
+{
+        uint8_t timeout=10;
+        uint8_t tc=0;
+        unsigned int v;
+        USART_putc(0xff);
+        USART_putc(0x02);
+        USART_putc(Wi232Register);
+        USART_putc(RegisterValue);
+    do
+        {
+     v = USART_getc(); /*ACK erwartet*/
+     _delay_ms(100);
+     tc ++;
+    }
+    while (v==0 && tc!=timeout);
+//    lcd_print_hex(v,0);
+        if (v != 0x06)
+        {
+          lcd_printpns_at (0, 2, PSTR("Wi.232 NAK"),0);
+          return 0xFF;
+        }
+        if (v==0x06)
+        return 0;
+        return 0xFF;
+}
+/*************************************************************************
+Function: readWI232()
+Purpose:  send Readcommand to Wi232,
+Returns:  Registervalue, 0 = timeout 0xFF = Syntaxerror
+**************************************************************************/
+int16_t readWi232(uint16_t Wi232Register)
+{
+        uint8_t timeout=10;
+        uint8_t tc=0;
+        unsigned int v;
+        v = USART_getc(); /*Zeichen löschen*/
+        USART_putc(0xff);
+        USART_putc(0x02);
+        USART_putc(0xfe);
+        USART_putc(Wi232Register);
+    _delay_ms(50);
+//    lcd_printpns_at (0, 2, PSTR("read Wi232"),0);
+    do
+        {
+     v = USART_getc(); /*ACK erwartet*/
+     _delay_ms(100);
+     tc ++;
+    }
+    while (v==0 && tc!=timeout);
+    if (tc == timeout)  return 0; /* Timeout*/
+        if (v != 0x06) return 0xFF; /* Syntaxerror*/
+    lcd_print_hex(v,0);
+    v = USART_getc(); /*Register*/
+    lcd_print_hex(v,0);
+    v = USART_getc(); /*Value*/
+    lcd_print_hex(v,0);
+    return v;
+}
+/*************************************************************************
+Function: EscapeString()
+Purpose:
+Returns:
+Quelle: Radiotronix Wi.232 Manual
+**************************************************************************/
+int EscapeString(char *src, char src_len, char *dest)
+{
+// The following function copies and encodes the first
+// src_len characters from *src into *dest. This
+// encoding is necessary for Wi.232 command formats.
+// The resulting string is null terminated. The size
+// of this string is the function return value.
+// ---------------------------------------------------
+uint8_t src_idx, dest_idx;
+// Save space for the command header and size bytes
+// ------------------------------------------------
+dest_idx = 2;
+// Loop through source string and copy/encode
+// ------------------------------------------
+for (src_idx = 0; src_idx < src_len; src_idx++)
+{
+if (src[src_idx] > 127)
+{
+dest[dest_idx++] = 0xFE;
+}/*if*/
+dest[dest_idx++] = (src[src_idx] & 0x7F);
+}/*for*/
+// Add null terminator
+// -------------------
+dest[dest_idx] = 0;
+// Add command header
+// ------------------
+dest[0] = 0xFF;
+dest[1] = dest_idx-2;
+// Return escape string size
+// -------------------------
+return dest_idx;
+}
+#if defined HWVERSION3_1 || defined HWVERSION1_3
+/*************************************************************************
+Function: Wi232USB()
+Purpose:  Connect Wi232 Programmmode to PKT USB,
+Returns:
+**************************************************************************/
+void Wi232_USB(void)
+{
+        unsigned int c0,c1;
+        if (Wi232_hardware==1)
+        {
+//              USART_Init (UART_BAUD_SELECT(57600,F_CPU));
+//          uart1_init( UART_BAUD_SELECT(57600,F_CPU) );
+//              USART_Init (UART_BAUD_SELECT(2400,F_CPU));
+//          uart1_init( UART_BAUD_SELECT(2400,F_CPU) );
+        }
+        if (Wi232_hardware==2)
+                {
+                        USART_Init (UART_BAUD_SELECT(2400,F_CPU));
+                    uart1_init( UART_BAUD_SELECT(2400,F_CPU) );
+                }
+        lcd_cls ();
+//      SwitchToWi232();        /* Serielle Kanäle Wi232 mit USB verbinden*/
+    set_WI232CMD();
+    set_LED4();
+    lcd_printpns_at (0, 0, PSTR("Wi.232 Konfiguration "),0);
+    lcd_printpns_at (0, 1, PSTR("PC mit USB verbinden"),0);
+    lcd_printpns_at (0, 2, PSTR("Wi.232"),0);
+    lcd_printpns_at (0, 3, PSTR("Programm starten"),0);
+    lcd_printpns_at (17, 7, PSTR("Exit"),0);
+    c1 = 0;
+         for(;;)
+            {
+                c0 = uart1_getc(); /* from USB*/
+                if ( c0 & UART_NO_DATA )
+                {
+                {
+                 c1 = USART_getc();
+                 if (c1 == 0)
+                        {}
+                else
+                {
+//                      lcd_print_hex(c1,0);
+                        uart1_putc (c1);          /*to USB*/;
+                }
+             }
+                }
+                else
+                {
+                 USART_putc(c0 ); /* to Wi232*/
+//               lcd_print_hex(c0,0);
+//               _delay_ms(1);
+                }
+                if ((get_key_press (1 << KEY_ENTER)))
+                         {
+                          clr_WI232CMD();
+                      clr_LED4();
+//                    uart1_init( UART_BAUD_SELECT(57600,F_CPU) );
+//                    USART_Init( UART_BAUD_SELECT(57600,F_CPU) );
+//                SwitchToFC();
+                      return;
+                         }
+            }
+}
+/*************************************************************************
+Function: Wi232_FC()
+Purpose:  Connect Wi232 to PKT USB, Transparent
+Returns:
+**************************************************************************/
+void Wi232_FC(void)
+{
+        unsigned int c0,c1;
+        USART_Init (UART_BAUD_SELECT(57600,F_CPU));
+    uart1_init( UART_BAUD_SELECT(57600,F_CPU) );
+//      USART_Init (UART_BAUD_SELECT(2400,F_CPU));
+ //   uart1_init( UART_BAUD_SELECT(2400,F_CPU) );
+        lcd_cls ();
+//      SwitchToWi232();        /* Serielle Kanäle Wi232 mit USB verbinden*/
+    lcd_printpns_at (0, 0, PSTR("Wi.232 to FC "),0);
+    lcd_printpns_at (0, 1, PSTR("PC mit USB verbinden"),0);
+    lcd_printpns_at (0, 2, PSTR("und Mikrokoptertool"),0);
+    lcd_printpns_at (0, 3, PSTR("starten"),0);
+    lcd_printpns_at (17, 7, PSTR("Exit"),0);
+    c1 = 0;
+         for(;;)
+            {
+                c0 = uart1_getc(); /* from USB*/
+                if ( c0 & UART_NO_DATA )
+                {
+                {
+                 c1 = USART_getc();
+                 if (c1 == 0)
+                        {}
+                else
+              {
+//                      lcd_print_hex(c1,0);
+                        uart1_putc (c1);          /*to USB*/;
+                }
+             }
+                }
+                else
+                {
+                 USART_putc(c0 ); /* to Wi232*/
+//               lcd_print_hex(c0,0);
+//               _delay_ms(1);
+                }
+                if ((get_key_press (1 << KEY_ENTER)))
+                         {
+                      return;
+                         }
+            }
+}
+#endif

 /Transportables_Koptertool/tags/V3.x/Wi232.h
 ,0 → 1,149
+/*
+ * Wi232.h
+ *
+ *  Created on: 11.06.2011
+ *      Author: cebra
+ */
+#ifndef WI232_H_
+#define WI232_H_
+void discoverWi232(void);
+void Wi232_USB(void);
+void Wi232_FC(void);
+void InitWi232(void);
+int16_t WriteWi232(uint8_t Wi232Register, uint8_t RegisterValue);
+int16_t readWi232(uint16_t Wi232Register);
+extern uint8_t Wi232_hardware;
+/*Non-volatile Registers*/
+/*              Name                    Address Description Default*/
+#define regNVTXCHANNEL  0x00    /*Transmit channel setting 0*/
+#define regNVRXCHANNEL  0x01    /*Receive channel setting 0*/
+#define regNVPWRMODE    0x02    /*Operating mode settings +13 dBm widebandmode*/
+#define regNVDATARATE   0x03    /*UART data rate 2400bps*/
+#define regNVNETMODE    0x04    /*Network mode (Normal/Slave) Normal*/
+#define regNVTXTO               0x05    /*Transmit wait timeout ~16ms*/
+#define regNVNETGRP     0x06    /*Network group ID 0x00*/
+#define regNVUSECRC     0x08    /*Enable/Disable CRC Enabled*/
+#define regNVUARTMTU    0x09    /*Minimum transmission unit. 64 bytes*/
+#define regNVSHOWVER    0x0A    /*Enable/Disable start-up message Enabled*/
+#define regNVCSMAMODE   0x0B    /*Enable/Disable CSMA Enabled*/
+#define regNVSLPMODE    0x0D    /*Power state of module Awake*/
+/*Non-volatile Read Only Registers*/
+/*              Name                    Address Description*/
+#define regMAC0                 0x22    /*These registers form the unique 48-bit MAC address.*/
+#define regMAC1                 0x23
+#define regMAC2                 0x24
+#define regOUI0                 0x25
+#define regOUI1                 0x26
+#define regOUI2                 0x27
+/*Volatile Read/Write Registers*/
+/*              Name                    Address Description*/
+#define regTXCHANNEL    0x4B    /* Transmit channel setting*/
+#define regRXCHANNEL    0x4C    /* Receive channel setting*/
+#define regPWRMODE              0x4D    /* Operating mode settings*/
+#define regDATARATE     0x4E    /* UART data rate*/
+#define regNETMODE              0x4F    /* Network mode (Normal or Slave)*/
+#define regTXTO                 0x50    /* Transmit wait timeout*/
+#define regNETGRP               0x51    /* Network group ID*/
+#define regUSECRC               0x53    /* Enable/Disable CRC*/
+#define regUARTMTU              0x54    /* Minimum transmission unit.*/
+#define Reserved                0x55
+#define regCSMAMODE     0x56    /* Enable/disable CSMA*/
+#define regSLPMODE              0x58    /* Power state of module*/
+#define regDiscover             0x78    /* Versionsregister*/
+/*Wideband Channels*/
+/*regNVTXCHAN (0x00) regTXCHAN (0x4B)*/
+/*              Channel                 Number  Frequency*/
+#define wChan0                  0x00    /*868.300 MHz*/
+#define wChan1                  0x01    /*868.95 MHz*/
+/*Narrowband Channels*/
+/*regNVRXCHAN (0x01) regRXCHAN (0x4C)*/
+/*              Channel                 Number  Frequency*/
+#define nChan0                  0x00    /*868.225 MHz*/
+#define nChan1                  0x01    /*868.375 MHz*/
+#define nChan2                  0x02    /*868.850 MHz*/
+#define nChan3                  0x03    /*869.050 MHz*/
+#define nChan4                  0x04    /*869.525 MHz*/
+#define nChan5                  0x05    /*869.850 MHz*/
+/* Power Mode*/
+/*regNVPWRMODE (0x02) regPWRMODE (0x4D)*/
+/*                                                               PM1 PM1 PM0 Mode*/
+#define NbModeN2                0x00    /*0   0   0     Narrowband Mode – -2dBm power setting (typical)*/
+#define WbModeP2                0x01    /*0   0   1     Wideband Mode – +2dBm power setting (typical)*/
+#define WbModeP7                0x02    /*0   1   0     Wideband Mode – +7dBm power setting (typical)*/
+#define WbModeP13               0x03    /*0   1   1     Wideband Mode – +13dBm power setting (typical)*/
+#define WbModeN2                0x04    /*1   0   0     Wideband Mode – -2dBm power setting (typical)*/
+#define NbModeP2                0x05    /*1   0   1     Narrowband Mode – +2dBm power setting (typical)*/
+#define NbModeP7                0x06    /*1   1   0     Narrowband Mode – +7dBm power setting (typical)*/
+#define NbModeP13               0x07    /*1   1   1     Narrowband Mode – +13dBm power setting (typical)*/
+/* Wi232 UART Baudrate*/
+/*regNVDATARATE (0x03) regDATARATE (0x4E)*/
+/*                      Baud Rate                       BR2 BR1 BR0*/
+#define Wi232_2400              0x00    /*0 0 0* (default 2400)*/
+#define Wi232_9600              0x01    /*0 0 1*/
+#define Wi232_19200     0x02    /*0 1 0*/
+#define Wi232_38400     0x03    /*0 1 1*/
+#define Wi232_57600     0x04    /*1 0 0*/
+#define Wi232_115200    0x05    /*1 0 1*/
+#define Wi232_10400     0x06    /*1 1 0*/
+#define Wi232_31250     0x07    /*1 1 1*/
+/* NetworkMode*/
+/*regNVNETMODE (0x04) regNETMODE (0x4F)*/
+#define NetMode_Normal  0x01    /* Normalmode (default)*/
+#define NetMode_Slave   0x00    /* Slavemode*/
+/*Transmit Wait Timeout*/
+/*regNVTXTO (0x05) regTXTO (0x50)*/
+#define TWaitTimeFull   0x00    /* full Buffer required*/
+#define TWaitTime16             0x10    /* 16 ms Delay (default)*/
+/*Network Group*/
+/*regNVNETGRP (0x06) regNETGRP (0x51)*/
+#define NetWorkGroup    0x00    /* default 0, valid 0-127*/
+/*CRC Control*/
+/*regNVUSECRC (0x08) regUSECRC (0x53)*/
+#define CRC_Disable             0x00    /* no CRC check*/
+#define CRC_Enable              0x01    /* CRC check (default)*/
+/*UART minimum transmission unit*/
+/*regNVUARTMTU (0x09) regUARTMTU (0x54)*/
+#define UartMTU64                       64      /* default=64, valid 1-144*/
+/*Verbose mode*/
+/*regNVSHOWVER (0x0A)*/
+#define ShowVers_En             0x01    /* show Startupmessage (default)*/
+#define ShowVers_Dis    0x01    /* do not show Startupmessage*/
+/*CSMA enable*/
+/*regNVCSMAMODE (0x0B) regCSMAMODE (0x56)*/
+#define CSMA_En                 0x01    /* enable CSMA Carrier-sense multiple access (default)*/
+#define CSMA_Dis                0x00    /* disable CSMA */
+/*Sleep control*/
+/*regNVSLPMODE (0x0D) regSLPMODE (0x58)*/
+#define Sleep_Awake             0x00    /* Sleepmode = Awake (default)*/
+#define Sleep                   0x01    /* Sleepmode = Sleep*/
+#define Sleep_Stby              0x02    /* Sleepmode = Standby*/
+#endif /* WI232_H_ */

/Transportables_Koptertool/tags/V3.x/___TODO_22062011
0,0 → 1,4
22.6.2011 Cebra
- I2C Motortest für BL-Controller
- zur Zeit sind durch einen Layoutfehler noch die Tasten vertauscht, in timer.h zu ändern
test

 /Transportables_Koptertool/tags/V3.x/debug.c
 ,0 → 1,315
+/*****************************************************************************
+ *   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);
+        abo_timer = ABO_TIMEOUT;
+        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
+                                {*/
+                                        uint8_t size =0;
+                                        if( DebugData->Analog[i + page * 8] < -9999)
+                                        {
+                                                size = 7;
+                                        }
+                                        else if ( DebugData->Analog[i + page * 8] < -999)
+                                        {
+                                                size = 6;
+                                        }
+                                        else if ( DebugData->Analog[i + page * 8] < -99)
+                                        {
+                                                size = 5;
+                                        }
+                                        else if ( DebugData->Analog[i + page * 8] < 999)
+                                        {
+                                                size = 4;
+                                        }
+                                        else if ( DebugData->Analog[i + page * 8] < 9999)
+                                        {
+                                                size = 5;
+                                        }
+                                        else
+                                        {
+                                                size = 6;
+                                        }
+                                                write_ndigit_number_s (19-size, i, DebugData->Analog[i + page * 8], size, 0);
+                                /*}*/
+                        }
+                        timer = TIMEOUT;
+                        rxd_buffer_locked = FALSE;
+                }
+                if (!abo_timer)
+                {       // renew abo every 3 sec
+                        // request OSD Data from NC every 100ms
+                        //      RS232_request_mk_data (1, 'o', 100);
+                        tmp_dat = 10;
+                        SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
+                        abo_timer = ABO_TIMEOUT;
+                }
+                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);
+        }
+        SwitchToNC();
+}

 /Transportables_Koptertool/tags/V3.x/debug.h
 ,0 → 1,36
+/*****************************************************************************
+ *   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
+//*****************************************************************************
+//
+#if defined (__AVR_ATmega32__)
+extern uint8_t AnalogNamesRead;
+#else
+extern uint8_t AnalogNamesRead[2];
+#endif
+//*****************************************************************************
+//
+void display_debug(void);
+#endif

 /Transportables_Koptertool/tags/V3.x/displ_val.c
 ,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/tags/V3.x/displ_val.h
 ,0 → 1,9
+#ifndef _DISPL_VAL_H
+#define _DISPL_VAL_H
+//*****************************************************************************
+//
+void displ_values(void);
+#endif

 /Transportables_Koptertool/tags/V3.x/display.c
 ,0 → 1,155
+/*****************************************************************************
+ *   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 = 0xfc;     // Home = first page
+        do
+        {
+                SendOutData('h', ADDRESS_ANY, 1, &cmd, 1);
+                cmd = 0xff;
+                //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;
+                                }
+                        }
+#if 0
+                        rxd_buffer[24] = 0;
+                        lcd_print_at (0, rxd_buffer[3] + 1, (uint8_t *) &rxd_buffer[4], 0);
+#else
+                        rxd_buffer[83] = 0;
+                        print_display_at (0, 2, (uint8_t *) &rxd_buffer[3]);
+#endif
+                        rxd_buffer_locked = FALSE;
+                        timer = TIMEOUT;
+                }
+                if (get_key_press (1 << KEY_MINUS))
+                {
+                        cmd = 0xfe;     // next page
+                        //SendOutData('h', ADDRESS_ANY, 1, &cmd, 1);
+                        //cmd = 0;
+                }
+                else if (get_key_press (1 << KEY_PLUS))
+                {
+                        cmd = 0xfd;     // previous page
+                        //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);
+                        }
+                        else
+                        {
+                                SwitchToNC();
+                                //timer = TIMEOUT;
+                                lcd_printpns_at (0, 7, PSTR(" \x1c    \x1d     Exit  FC"), 0);
+                        }
+                        cmd = 0xfc;     // 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);
+        }
+        SwitchToNC();
+}

 /Transportables_Koptertool/tags/V3.x/display.h
 ,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/tags/V3.x/eeprom.c
 ,0 → 1,109
+/*****************************************************************************
+ *   Copyright (C) 2010 seb@exse.net                                                                             *
+ *   Copyright (C) 2011 Christian 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.               *
+ *                                                                           *
+ *****************************************************************************/
+/*14.6.2011 Parameter erweitert Wi232 Cebra */
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+#include <util/delay.h>
+#include <stdlib.h>
+#include <string.h>
+#include <avr/eeprom.h>
+#include "lcd.h"
+#include "main.h"
+#include "timer.h"
+#include "eeprom.h"
+#include "Wi232.h"
+#define EEpromVersion  3
+//*****************************************************************************
+//
+uint8_t EE_LowBat               EEMEM= 137;
+uint8_t EE_DisplayTimeout       EEMEM= 0;
+uint8_t EE_DisplayLanguage      EEMEM= 0;
+uint8_t EE_WiTXRXChannel        EEMEM= 1;
+uint8_t EE_WiNetworkGroup       EEMEM=66;
+uint8_t EE_WiNetworkMode        EEMEM=NetMode_Normal;
+uint8_t EE_PKTVersion           EEMEM=EEpromVersion;
+uint8_t EE_LCD_Orientation  EEMEM=0;
+volatile uint8_t DisplayTimeout;
+volatile uint8_t DisplayLanguage;
+volatile uint8_t WiTXRXChannel;
+volatile uint8_t WiNetworkGroup;
+volatile uint8_t WiNetworkMode;
+//*****************************************************************************
+//
+void ReadParameter (void)
+{
+        MK_LowBat = eeprom_read_byte(&EE_LowBat);
+        DisplayTimeout = eeprom_read_byte(&EE_DisplayTimeout);
+        DisplayLanguage = eeprom_read_byte(&EE_DisplayLanguage);
+        WiTXRXChannel =eeprom_read_byte(&EE_WiTXRXChannel);
+        WiNetworkGroup =eeprom_read_byte(&EE_WiNetworkGroup);
+        WiNetworkMode =eeprom_read_byte(&EE_WiNetworkMode);
+        LCD_ORIENTATION = eeprom_read_byte(&EE_LCD_Orientation);
+        if (eeprom_read_byte(&EE_PKTVersion)!= EEpromVersion)
+        { /* EEPROM auf Default setzen*/
+                MK_LowBat = 137;                                /*13,7V*/
+                DisplayTimeout = 0;                     /* Display immer an */
+                DisplayLanguage = 0;                    /* deutsch*/
+                WiTXRXChannel = 1;                              /* Kanal 1 MK Standard*/
+                WiNetworkGroup = 66;                    /*Gruppe 66  MK Standard*/
+                WiNetworkMode = NetMode_Normal;         /* MK Standard */
+                LCD_ORIENTATION = 0;                    /* normale Ansicht */
+            eeprom_write_byte(&EE_LowBat, MK_LowBat);
+                eeprom_write_byte(&EE_DisplayTimeout, DisplayTimeout);
+                eeprom_write_byte(&EE_DisplayLanguage, DisplayLanguage);
+                eeprom_write_byte(&EE_WiTXRXChannel, WiTXRXChannel);
+                eeprom_write_byte(&EE_WiNetworkGroup, WiNetworkGroup);
+                eeprom_write_byte(&EE_WiNetworkMode, WiNetworkMode);
+                eeprom_write_byte(&EE_PKTVersion,EEpromVersion);
+        eeprom_write_byte(&EE_LCD_Orientation, LCD_ORIENTATION);
+                lcd_cls ();
+                lcd_printp (PSTR("EEPROM Parameter\r\n"), 0);
+                lcd_printp (PSTR("auf Default gesetzt\r\n"), 0);
+                lcd_printp (PSTR("weiter mit ENTER\r\n"), 0);
+                while (!(get_key_press (1 << KEY_ENTER)));
+                return;
+         }
+}
+//*****************************************************************************
+//
+void WriteParameter (void)
+{
+         eeprom_write_byte(&EE_LowBat, MK_LowBat);
+         eeprom_write_byte(&EE_DisplayTimeout, DisplayTimeout);
+         eeprom_write_byte(&EE_DisplayLanguage, DisplayLanguage);
+         eeprom_write_byte(&EE_WiTXRXChannel, WiTXRXChannel);
+         eeprom_write_byte(&EE_WiNetworkGroup, WiNetworkGroup);
+         eeprom_write_byte(&EE_WiNetworkMode, WiNetworkMode);
+         eeprom_write_byte(&EE_LCD_Orientation, LCD_ORIENTATION);
+}

 /Transportables_Koptertool/tags/V3.x/eeprom.h
 ,0 → 1,32
+/*****************************************************************************
+ *   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
+void ReadParameter (void);
+void WriteParameter (void);
+uint8_t MK_LowBat;
+extern volatile uint8_t DisplayTimeout;
+extern volatile uint8_t DisplayLanguage;
+extern volatile uint8_t WiTXRXChannel;
+extern volatile uint8_t WiNetworkGroup;
+extern volatile uint8_t WiNetworkMode;
+#endif

 /Transportables_Koptertool/tags/V3.x/font8X6.c
 ,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/tags/V3.x/font8x6.h
 ,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/tags/V3.x/font8x8.c
 ,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/tags/V3.x/font8x8.h
 ,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/tags/V3.x/gps.c
 ,0 → 1,360
+/*****************************************************************************
+ *   Copyright (C) 2010 Sebastian Boehm, seb@exse.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 "timer.h"
+#include "usart.h"
+#define TIMEOUT 200 // 2 sec
+uint8_t ck_a                   = 0;
+uint8_t ck_b                   = 0;
+uint8_t UBX_class = 0;
+uint8_t UBX_id = 0;
+uint8_t UBX_buffer[250];
+uint8_t UBX_payload_counter  = 0;
+void checksum(uint8_t);
+void UBX_process(void);
+uint32_t join_4_bytes(uint8_t*);
+uint8_t display_mode = 0;
+void gps(void)
+{
+        lcd_cls();
+        display_mode = 2;
+        if (hardware == FC)
+        {
+                lcd_printp_at(0, 3, PSTR("Only with NC !"), 0);
+                timer = 100;
+                while (timer > 0);
+                return;
+        }
+        if(current_hardware != NC) SwitchToNC();
+        SwitchToGPS();
+        uint8_t mode = 0;
+//      SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
+        timer = TIMEOUT;
+        uint8_t data = 0;
+        uint8_t length = 0;
+        uint8_t UBX_ck_a = 0;
+        do
+        {
+        //      if (rxFlag == 1)
+                if (uart_getc_nb(&data))
+                {
+                        //rxFlag = 0;
+                        //data = rx_byte;
+                        timer = TIMEOUT;
+            switch(mode)
+            {
+                case 0: // init 1
+                            if(data == 0xB5)
+                        {
+                                                UBX_payload_counter  = 0;
+                                                UBX_id = 0;
+                                                UBX_class = 0;
+                                                ck_a = 0;
+                                                ck_b = 0;
+                                    mode++;
+                        }
+                        break;
+                case 1: // init 2
+                            if(data == 0x62)
+                        {
+                                    mode++;
+                            }
+                            else
+                            {
+                                mode = 0;
+                            }
+                        break;
+                case 2: //class
+                        if(data != 1)
+                        {
+                                mode = 0;
+                        }
+                        else
+                        {
+                                        checksum(data);
+                                        UBX_class = data;
+                                mode++;
+                        }
+                        break;
+                case 3: // id
+                                if((data != 48)&&(data != 6)&&(data != 18)&&(data != 2))
+                                {
+                                        mode = 0;
+                                }
+                                else
+                                {
+                                        UBX_id = data;
+                                        checksum(data);
+                                mode++;
+                        }
+                        break;
+                case 4: // length lo
+                        if(data > 250)
+                        {
+                                mode = 0;
+                        }
+                        else
+                        {
+                                        checksum(data);
+                                length = data;
+                                mode++;
+                        }
+                        break;
+                case 5: // length hi
+                        if(data != 0)
+                        {
+                                mode = 0;
+                        }
+                        else
+                        {
+                                        checksum(data);
+                                mode++;
+                        }
+                        break;
+                case 6: // length hi
+                           length--;
+                           UBX_buffer[UBX_payload_counter] = data;
+                                   checksum(data);
+                                   UBX_payload_counter++;
+                           if(length==0)
+                           {
+                                mode++;
+                   };
+                   break;
+                case 7: // check lo
+                                mode++;
+                                UBX_ck_a = data;
+                                break;
+                case 8: // check hi
+                                mode=0;
+                                if((UBX_ck_a == ck_a)&&(data == ck_b))
+                                {
+                                        UBX_process();
+                                }
+            }
+          //    write_ndigit_number_u (14, 0, data, 3, 0);
+                }
+        }
+        while (!get_key_press (1 << KEY_ESC) && timer);
+        get_key_press(KEY_ALL);
+        SwitchToNC();
+}
+void UBX_process()
+{
+        if ((get_key_press (1 << KEY_MINUS))||(display_mode ==2))
+        {
+                if (display_mode != 1)
+                {
+                        lcd_cls();
+                        lcd_printp_at (0,0, PSTR("Fix Type : "), 0);
+                        lcd_printp_at (0,1, PSTR("Sat      : "), 0);
+                        lcd_printp_at (0,2, PSTR("Accuracy : "), 0);
+                        lcd_printp_at (0,3, PSTR("PDOP     : "), 0);
+                        lcd_printp_at (0,4, PSTR("Speed    : "), 0);
+                        lcd_printp_at (0,5, PSTR("Long     : "), 0);
+                        lcd_printp_at (0,6, PSTR("Lat      : "), 0);
+                        lcd_printp_at (0,7, PSTR("Alt      : "), 0);
+                }
+                display_mode = 1;
+        }
+        if (get_key_press (1 << KEY_PLUS))
+        {
+                if (display_mode == 1)
+                {
+                        lcd_cls();
+                }
+                display_mode = 0;
+        }
+        if((UBX_class == 1)&&(UBX_id == 48)&&(display_mode == 0))
+        {
+                uint8_t channels = UBX_buffer[4];
+                uint8_t i = 0;
+                for(i = 0; i < channels; i++)
+                {
+                        if (i > 15) break;
+                        uint8_t line;
+                        uint8_t col;
+                        if(i > 7)
+                        {
+                                line = i-7;col = 11;
+                }
+                else
+                {
+                        col = 0; line = i;
+                }
+                write_ndigit_number_u (col, line, UBX_buffer[9 + 12*i], 3, 0);
+                write_ndigit_number_u (col+4, line, UBX_buffer[12 + 12*i], 2, 0);
+                if((UBX_buffer[10 + 12*i] & 3) == 3)
+                {
+                        lcd_printp_at (col+7,line, PSTR("O"), 0);
+                }
+                else if((UBX_buffer[10 + 12*i] & 1) == 1)
+                {
+                        lcd_printp_at (col+7,line, PSTR("X"), 0);
+                }
+                else if(UBX_buffer[11 + 12*i] > 4)
+                {
+                        lcd_printp_at (col+7,line, PSTR("x"), 0);
+                }
+                else if(UBX_buffer[11 + 12*i] > 1)
+                {
+                        lcd_printp_at (col+7,line, PSTR("-"), 0);
+                }
+                else
+                {
+                        lcd_printp_at (col+7,line, PSTR(" "), 0);
+                }
+                }
+        }
+        if(display_mode == 1)
+        {
+                if((UBX_class == 1)&&(UBX_id == 6))//SVINFO
+                {
+                switch (UBX_buffer[10])
+                {
+                        case 4:
+                        case 3:
+                                lcd_printp_at (11,0, PSTR("3D"), 0);
+                                break;
+                        case 2:
+                                lcd_printp_at (11,0, PSTR("2D"), 0);
+                                break;
+                        default:
+                                lcd_printp_at (11,0, PSTR("no"), 0);
+                }
+                if((UBX_buffer[11] & 3) == 3)
+                {
+                        lcd_printp_at (17,0, PSTR("D"), 0);
+                }
+                else
+                {
+                        lcd_printp_at (17,0, PSTR(" "), 0);
+                }
+                if((UBX_buffer[11] & 1) == 1)
+                {
+                        lcd_printp_at (14,0, PSTR("ok"), 0);
+                }
+                else
+                {
+                        lcd_printp_at (14,0, PSTR("  "), 0);
+                }
+                lcd_write_number_u_at (11, 1, UBX_buffer[47]);
+                uint16_t pdop = UBX_buffer[44]+UBX_buffer[45]*255;
+                write_ndigit_number_u (11, 3, pdop/100, 2, 0);
+                lcd_printp_at (13,3, PSTR("."), 0);
+                write_ndigit_number_u (14, 3, (pdop % 100),2, 1);
+                uint16_t acc =  (uint16_t)join_4_bytes(&UBX_buffer[24]);
+                write_ndigit_number_u (11, 2, acc, 5, 0);
+                lcd_printp_at (17,2, PSTR("cm"), 0);
+                }
+                if((UBX_class == 1)&&(UBX_id == 18))//VELNED
+                {
+                uint16_t speed =  (uint16_t)((join_4_bytes(&UBX_buffer[20])*60*60)/100000);
+                write_ndigit_number_u (11, 4, speed, 3, 0);
+                lcd_printp_at (15,4, PSTR("km/h"), 0);
+                }
+                if((UBX_class == 1)&&(UBX_id == 2))//POSLLH
+                {
+                uint16_t height =  (uint16_t)(join_4_bytes(&UBX_buffer[16])/1000);
+                write_ndigit_number_u (11, 7, height, 4, 0);
+                lcd_printp_at (16,7, PSTR("m"), 0);
+                uint32_t lon =  join_4_bytes(&UBX_buffer[4]);
+                write_ndigit_number_u (11, 5, (uint16_t)(lon/10000000), 3, 0);
+                lcd_printp_at (14,5, PSTR("."), 0);
+                write_ndigit_number_u (15, 5, (uint16_t)((lon/1000) % 10000), 4, 1);
+                write_ndigit_number_u (19, 5, (uint16_t)((lon/10) % 100), 2, 1);
+                uint32_t lat =  join_4_bytes(&UBX_buffer[8]);
+                write_ndigit_number_u (11, 6, (uint16_t)(lat/10000000), 3, 0);
+                lcd_printp_at (14,6, PSTR("."), 0);
+                write_ndigit_number_u (15, 6, (uint16_t)((lat/1000) % 10000), 4, 1);
+                write_ndigit_number_u (19, 6, (uint16_t)((lat/10) % 100), 2, 1);
+                }
+        }
+}
+union long_union {
+        uint32_t dword;
+        uint8_t byte[4];
+} longUnion;
+union int_union {
+        uint16_t dword;
+        uint8_t byte[2];
+} intUnion;
+uint32_t join_4_bytes(uint8_t Buffer[])
+{
+    longUnion.byte[0] = *Buffer;
+    longUnion.byte[1] = *(Buffer+1);
+    longUnion.byte[2] = *(Buffer+2);
+    longUnion.byte[3] = *(Buffer+3);
+        return(longUnion.dword);
+}
+void checksum(uint8_t data)
+{
+    ck_a += data;
+    ck_b += ck_a;
+}

 /Transportables_Koptertool/tags/V3.x/gps.h
 ,0 → 1,8
+#ifndef _GPS_H
+#define _GPS_H
+//*****************************************************************************
+//
+void gps (void);
+#endif

 /Transportables_Koptertool/tags/V3.x/jeti.c
 ,0 → 1,261
+/*****************************************************************************
+ *   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"
+#include "usart.h"
+#define font8x8
+uint8_t JetiBuffer[32]; // 32 characters
+volatile uint8_t JetiBufferReady;
+//*****************************************************************************
+//
+#if 0
+ISR (USART_RXC_vect)
+{
+        uint8_t stat;
+        uint8_t rh;
+        uint8_t rl;
+        static uint8_t jbp;
+        stat = UCSRA;
+        rh = UCSRB;
+        rl = UDR;
+        if (stat & ((1 << FE) | (1 << DOR0) | (1 << UPE)))
+        {       // 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 << RXB8)) == 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;
+                }
+        }
+}
+#endif
+//*****************************************************************************
+//
+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>
+        UBRRH = UBRRH_VALUE;
+        UBRRL = UBRRL_VALUE;
+#if USE_2X
+        UCSR1A |= (1 << U2X1);  // enable double speed operation
+#else
+        UCSRA &= ~(1 << U2X);   // disable double speed operation
+#endif
+        // set 9O1
+        UCSRC = (1 << UPM1) | (1 << UPM1) | (1 << UCSZ1) | (1 << UCSZ0);
+        UCSRB = (1 << UCSZ2);
+        // flush receive buffer
+        while ( UCSRA & (1 << RXC) ) UDR;
+}
+//*****************************************************************************
+// disable the txd pin of usart
+void JETI_DisableTXD (void)
+{
+        UCSRB &= ~(1 << TXEN);  // disable TX}
+}
+//*****************************************************************************
+// enable the txd pin of usart
+void JETI_EnableTXD (void)
+{
+        UCSRB |=  (1 << TXEN);  // enable TX
+}
+//*****************************************************************************
+//
+void JETI_putw (uint16_t c)
+{
+        loop_until_bit_is_set(UCSRA, UDRE);
+        UCSRB &= ~(1 << TXB8);
+        if (c & 0x0100)
+        {
+                UCSRB |= (1 << TXB8);
+        }
+        UDR = c;
+}
+//*****************************************************************************
+//
+void JETI_putc (uint8_t c)
+{
+        loop_until_bit_is_set(UCSRA, UDRE);
+        //      UCSRB &= ~(1 << TXB8);
+        UCSRB |= (1 << TXB8);
+        UDR = 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(UCSRA, UDRE);
+        UCSRB &= ~(1 << TXB8);
+        UDR = 0xFE;
+}
+//*****************************************************************************
+//
+void JETI_put_stop (void)
+{
+        loop_until_bit_is_set(UCSRA, UDRE);
+        UCSRB &= ~(1 << TXB8);
+        UDR = 0xFF;
+}
+//*****************************************************************************
+//
+void jeti (void)
+{
+        uint8_t key;
+        uint8_t i;
+        // enable Rx
+        UCSRB |= (1 << RXEN);
+        UCSRB |= (1 << RXCIE);
+        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
+        UCSRB &= ~(1 << RXCIE);
+        UCSRB &= ~(1 << RXEN);
+}

 /Transportables_Koptertool/tags/V3.x/jeti.h
 ,0 → 1,41
+/*****************************************************************************
+ *   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/tags/V3.x/lcd.c
 ,0 → 1,1171
+/*****************************************************************************
+ *   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)
+#define Jeti 0  // Jeti Routinen
+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]);
+        }
+}
+#if Jeti
+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 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);
+}
+#endif
+void new_line (void)
+{
+        lcd_ypos++;
+        if (lcd_ypos > 7)
+        {
+                scroll ();
+                lcd_ypos = 7;
+        }
+}
+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);
+}
+void print_display (uint8_t *text)
+{
+        while (*text)
+        {
+                lcd_putc (lcd_xpos, lcd_ypos, *text, 0);
+                lcd_xpos++;
+                if (lcd_xpos >= 20)
+                {
+                        lcd_xpos = 0;
+                        new_line ();
+                }
+                text++;
+        }
+}
+void print_display_at (uint8_t x, uint8_t y, uint8_t *text)
+{
+        lcd_xpos = x;
+        lcd_ypos = y;
+        print_display (text);
+}
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + 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_print_hex (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);
+        lcd_putc (lcd_xpos++, lcd_ypos, ' ', 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, (uint8_t*)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, (uint8_t*)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, (uint8_t*)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, (uint8_t*)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/tags/V3.x/lcd.h
 ,0 → 1,122
+/*****************************************************************************
+ *   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);
+void print_display (uint8_t *text);
+void print_display_at (uint8_t x, uint8_t y, uint8_t *text);
+// 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);
+void lcd_print_hex (uint8_t h, uint8_t mode);
+/**
+ * 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/tags/V3.x/main.c
 ,0 → 1,311
+/*****************************************************************************
+ *   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;
+        uint8_t spalte =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 ();
+        ReadParameter ();
+        LCD_Init ();
+#ifdef HWVERSION3_1
+        InitWi232();
+        hardware = NO;
+        current_hardware = 0;
+#endif
+        // switch to NC
+        USART_putc (0x1b);
+        USART_putc (0x1b);
+        USART_putc (0x55);
+        USART_putc (0xaa);
+        USART_putc (0x00);
+        mode = 'V';
+        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);
+#ifdef HWVERSION3_1
+        lcd_printpns_at (0,3,PSTR("Hardware 3.2, 644P"), 0);
+#endif
+#ifdef HWVERSION1_2
+        lcd_printpns_at (0,3,PSTR("Hardware 1.2, 644"), 0);
+#endif
+#ifdef HWVERSION1_3
+        lcd_printpns_at (0,3,PSTR("Hardware 1.3, 644P"), 0);
+#endif
+        _delay_ms(2000);
+#if MTEST
+        do
+        {
+                timeout = 50;
+                lcd_printpns_at (0,4,PSTR("suche FC..."), 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 (spalte <= 20)
+                          {
+                                lcd_printpns_at (spalte,6,PSTR("?"),0);
+                                spalte++;
+                          }
+                        else
+                          {
+                                lcd_printpns_at (0,6,PSTR("                     "),0);
+                                spalte=0;
+                          }
+                        if (get_key_press (1 << KEY_MINUS))
+                         {
+                                for (;;)
+                                {
+                                        hardware = NO;
+                                        main_menu ();
+                                }
+                         }
+//#ifdef HWVERSION1_3
+//                      debug1();
+//#endif
+                }
+                if(timeout == 0)
+                {
+                        lcd_printpns_at (0,5,PSTR("FC nicht gefunden"), 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 ();
+        }
+}

 /Transportables_Koptertool/tags/V3.x/main.h
 ,0 → 1,100
+/*****************************************************************************
+ *   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
+/* Fusebits für Hardware 1.2 D7 DF FF */
+/* Fusebits für Hardware 1.3 */
+/* Fusebits für Hardware 3.x */
+/*****************************************************************************/
+/* hier die entsprechende Hardwareversion der Leiterplatte einstellen */
+//#define HWVERSION1_2  /* Hardware sebseb7*/
+//#define HWVERSION1_3  /* Hardware sebseb7*/
+#define HWVERSION3_1  /* Hardware Cebra Juni 2011*/
+/*****************************************************************************/
+#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 set_LED1()      (PORTC &= ~(1 << PC3))
+#define clr_LED1()      (PORTC |=  (1 << PC3))
+#define set_LED2()      (PORTC &= ~(1 << PC2))
+#define clr_LED2()      (PORTC |=  (1 << PC2))
+#define set_LED3()      (PORTB &= ~(1 << PB1))
+#define clr_LED3()      (PORTB |=  (1 << PB1))
+#define set_LED4()      (PORTB &= ~(1 << PB0))
+#define clr_LED4()      (PORTB |=  (1 << PB0))
+#ifdef HWVERSION3_1
+#define set_BEEP()      (PORTC &= ~(1 << PC6))
+#define clr_BEEP()      (PORTC |=  (1 << PC6))
+#endif
+#ifdef HWVERSION3_3
+#define set_BEEP()      (PORTC &= ~(1 << PC7))
+#define clr_BEEP()      (PORTC |=  (1 << PC7))
+#endif
+#define set_D_LIGHT()   (PORTD |= (1 << PD7))
+#define clr_D_LIGHT()   (PORTD &= ~(1 << PD7))
+#define set_WI232CMD()  (PORTD &= ~(1 << PD6))
+#define clr_WI232CMD()  (PORTD |=  (1 << PD6))
+#define NO              0
+#define NC              1
+#define FC              2
+#define MK3MAG  3
+#define MKGPS   4
+#define Wi232   5
+#define ENABLE_PWM
+//*****************************************************************************
+//
+extern volatile uint8_t mode;
+extern uint8_t hardware;
+extern uint8_t current_hardware;
+#endif

 /Transportables_Koptertool/tags/V3.x/menu.c
 ,0 → 1,543
+/*****************************************************************************
+ *   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 <avr/wdt.h>
+#include "main.h"
+#include "lcd.h"
+#include "parameter.h"
+#include "menu.h"
+#include "display.h"
+#include "motortest.h"
+#if defined HWVERSION3_1 || defined HWVERSION1_3
+#include "motortestI2C.h"
+#endif
+#include "debug.h"
+#include "timer.h"
+#include "osd.h"
+#include "gps.h"
+#include "pwm.h"
+#include "eeprom.h"
+#include "setup.h"
+#include "uart1.h"
+//#include "jeti.h"
+#include "mk-data-structs.h"
+#include "Wi232.h"
+//#define ITEMS_PKT 7
+//
+//prog_char param_menuitems_pkt[ITEMS_PKT][15]= // zeilen,zeichen+1
+//{
+//      "LowBat Warn  ",
+//      "Displ.Timeout",
+//      "LCD Orient.  ",
+//      "Language     ",
+//      "Wi TX/RX Chan",
+//      "Wi NetW. Grp.",
+//      "Wi NetW. Mode",
+//
+//};
+#define ITEMS_NC 11
+prog_char param_menuitems_nc[ITEMS_NC][15]= // zeilen,zeichen+1
+{
+        "OSD          ",
+        "3D Lage      ",
+        "Display      ",
+        "Parameters   ",
+        "Debug Data   ",
+        "Motor Test   ",
+        "GPS Info     ",
+        "Setup PMK    ",
+        "Version      ",
+        "USB to FC    ",
+        "PKT SW-Update",
+};
+#define ITEMS_FC 7
+prog_char param_menuitems_fc[ITEMS_FC][15]= // zeilen,zeichen+1
+{
+        "Display      ",
+        "Parameters   ",
+        "Debug Data   ",
+        "Motor Test   ",
+        "Setup PMK    ",
+        "Version      ",
+        "USB to FC    ",
+};
+#define ITEMS_NO 6
+prog_char param_menuitems_no[ITEMS_NO][15]= // zeilen,zeichen+1
+{
+        "I2C Motortest",
+        "Setup PMK    ",
+        "Version      ",
+        "USB to FC    ",
+        "Konfig Wi.232",
+        "PKT SW-Update",
+};
+//*****************************************************************************
+// 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;
+}
+uint8_t menu_choose2 (uint8_t min, uint8_t max,uint8_t start, uint8_t return_at_start,uint8_t return_at_end)
+{
+        uint8_t pos = 1;
+        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
+                        {
+                                if(return_at_end == 1)
+                                {
+                                        return 254;
+                                }
+                                else
+                                {
+                                        //line = min;
+                                }
+                        }
+                }
+                if (get_key_press (1 << KEY_MINUS))
+                {
+                        if (line > min)
+                        {
+                                line --;
+                        }
+                        else
+                        {
+                                if(return_at_start == 1)
+                                {
+                                        return 253;
+                                }
+                                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;
+}
+uint8_t menu_choose3 (uint8_t min, uint8_t max,uint8_t start, uint8_t return_at_start,uint8_t return_at_end)
+{
+        uint8_t pos = 1;
+        uint8_t line = start;
+        uint8_t before = start;
+        menu_set_cursor (line, line, pos);
+        do
+        {
+                if (get_key_press (1 << KEY_PLUS))
+                {
+                        if (line < max)
+                        {
+                                line ++;
+                        }
+                        else
+                        {
+                                if(return_at_end == 1)
+                                {
+                                        return 254;
+                                }
+                                else
+                                {
+                                        //line = min;
+                                }
+                        }
+                }
+                if (get_key_press (1 << KEY_MINUS))
+                {
+                        if (line > min)
+                        {
+                                line --;
+                        }
+                        else
+                        {
+                                if(return_at_start == 1)
+                                {
+                                        return 253;
+                                }
+                                else
+                                {
+                                        //line = max;
+                                }
+                        }
+                }
+                if (line != before)
+                {
+                        menu_set_cursor (before, line, pos);
+                        before = line;
+                }
+        }
+        while (!(get_key_press (1 << KEY_ENTER)));
+        return line;
+}
+void main_menu(void)
+{
+        uint8_t ii = 0;
+        uint8_t offset = 0;
+        uint8_t size = 0;
+        if(hardware == NC) size = ITEMS_NC ;
+        if(hardware == FC) size = ITEMS_FC ;
+        if(hardware == NO) size = ITEMS_NO ;
+        uint8_t dmode = 0;
+        uint8_t target_pos = 1;
+        uint8_t val =0;
+        while(1)
+        {
+        lcd_cls ();
+        lcd_printp_at (0, 0, PSTR("PMK-Tool=FC "), 0);
+        lcd_printp (PSTR(FC_Version),0);
+        lcd_printpns_at (0, 7, PSTR(" \x1a    \x1b            \x0c"), 0);
+        while(1)
+        {
+                ii = 0;
+                if(offset > 0)
+                {
+                        lcd_printp_at(1,1, PSTR("\x1a"), 0);
+                }
+                for(ii = 0;ii < 6 ; ii++)
+                {
+                        if((ii+offset) < size)
+                        {
+                                if(hardware == NC)
+                                {
+                                        lcd_printp_at(3,ii+1,param_menuitems_nc[ii+offset], 0);
+                                }
+                                else
+                                if(hardware == FC)
+                                {
+                                        lcd_printp_at(3,ii+1,param_menuitems_fc[ii+offset], 0);
+                                }
+                                else
+                                {
+                                        lcd_printp_at(3,ii+1,param_menuitems_no[ii+offset], 0);
+                                }
+                        }
+                        if((ii == 5)&&(ii+offset < (size-1)))
+                        {
+                                lcd_printp_at(1,6, PSTR("\x1b"), 0);
+                        }
+                }
+                if(dmode == 0)
+                {
+                        if(offset == 0)
+                        {
+                                if(size > 6)
+                                {
+                                        val = menu_choose3 (1, 5, target_pos,0,1);
+                                }
+                                else
+                                {
+                                        val = menu_choose3 (1, size, target_pos,0,0);
+                                }
+                        }
+                        else
+                        {
+                                val = menu_choose3 (2, 5, target_pos,1,1);
+                        }
+                }
+                if(dmode == 1)
+                {
+                        if(offset+7 > size)
+                        {
+                                val = menu_choose3 (2, 6, target_pos,1,0);
+                        }
+                        else
+                        {
+                                val = menu_choose3 (2, 5, target_pos,1,1);
+                        }
+                }
+                if(val == 254)
+                {
+                        offset++;
+                        dmode = 1;
+                        target_pos = 5;
+                }else if(val == 253)
+                {
+                        offset--;
+                        dmode = 0;
+                        target_pos = 2;
+                }else if(val == 255)
+                {
+                        // nothing
+                }
+                else
+                {
+                        break;
+                }
+        }
+        target_pos = val;
+        if(hardware == NC)
+        {
+                if((val+offset) == 1 )  osd(OSD_Mode);
+                if((val+offset) == 2 )  osd(THREE_D_Mode);
+//              if((val+offset) == 3 )  jeti();
+                if((val+offset) == 3 )  display_data();
+                if((val+offset) == 4 )  edit_parameter();
+                if((val+offset) == 5 )  display_debug();
+                if((val+offset) == 6 )  motor_test();
+                if((val+offset) == 7 )  gps();
+                if((val+offset) == 8 )  PMK_Setup();
+                if((val+offset) == 9)   Show_Version();
+#if defined HWVERSION3_1 || defined HWVERSION1_3
+                if((val+offset) == 10)   Wi232_FC();
+#else
+                if((val+offset) == 10)   Show_Error_HW();
+#endif
+                if((val+offset) == 11)  Update_PMK();
+        }
+        if(hardware == FC)
+        {
+                if((val+offset) == 1 )  display_data();
+                if((val+offset) == 2 )  edit_parameter();
+                if((val+offset) == 3 )  display_debug();
+                if((val+offset) == 4 )  motor_test();
+                if((val+offset) == 5 )  PMK_Setup();
+                if((val+offset) == 6 )  Show_Version();
+#if defined HWVERSION3_1 || defined HWVERSION1_3
+                if((val+offset) == 7)   Wi232_FC();
+#else
+                if((val+offset) == 7)   Show_Error_HW();
+#endif
+        }
+        if(hardware == NO)
+        {
+                if((val+offset) == 1 )  ;
+//              if((val+offset) == 1 )  motor_i2c(); noch nicht freigegeben
+                if((val+offset) == 2 )  PMK_Setup();
+                if((val+offset) == 3 )  Show_Version();
+#if defined HWVERSION3_1 || defined HWVERSION1_3
+                if((val+offset) == 4)   Wi232_FC();
+                if((val+offset) == 5)   Wi232_USB();
+#else
+                if((val+offset) == 4)   Show_Error_HW();
+                if((val+offset) == 5)   Show_Error_HW();
+#endif
+                if((val+offset) == 6)   Update_PMK();
+        }
+        }
+}
+void Update_PMK(void)
+{
+                                lcd_cls();
+                                lcd_printpns_at (0, 0, PSTR("Connect PC to PKT-USB"),0);
+                                lcd_printpns_at (0, 1, PSTR("Press 'Start' on PKT"),0);
+                                lcd_printpns_at (0, 2, PSTR("Then start avrdude:"),0);
+                            lcd_printpns_at (0, 3, PSTR("avrdude -pm644p -cavr"),0);
+                            lcd_printpns_at (0, 4, PSTR("109 -Pcom? -b115200 -"),0);
+                            lcd_printpns_at (0, 5, PSTR("Uflash:w:NEWSOFTWARE"),0);
+                            lcd_printpns_at (0, 6, PSTR(".hex:a"),0);
+        //                                          avrdude -pm644p -cavr109 -P/dev/ttyUSB1 -b115200 -V -Uflash:w:GPL_PKT_V3.1L_FC0.84_HW3x.hex:a
+                            lcd_printpns_at (0, 7, PSTR("Back            Start"),0);
+                            do
+                            if ((get_key_press (1 << KEY_MINUS))) {return;}
+                            while (!(get_key_press (1 << KEY_ENTER)));
+                                    {
+                                                /* start bootloader with Reset, Hold KEY_ENTER*/
+                                         wdt_enable( WDTO_250MS );
+                                         while (1) { ; }
+                                        }
+}
+void Show_Error_HW(void)
+{
+        lcd_cls ();
+        lcd_printpns_at (0,0,PSTR("Mit dieser Hardware"), 0);
+        lcd_printpns_at (0,1,PSTR("nicht moeglich!"), 0);
+        lcd_printpns_at (0,7,PSTR("             zurueck"), 0);
+        while (!(get_key_press (1 << KEY_ENTER)));
+        return;
+}
+void Show_Version(void)
+{
+        lcd_cls ();
+        lcd_printpns_at (0,0,PSTR("PMK Tool 3.2"), 0);
+        lcd_printpns_at (0,1,PSTR("for FC "), 0);
+        lcd_printpns_at (8,1,PSTR(FC_Version),0);
+        lcd_printpns_at (0,2,PSTR("(C) GNU GPL License"), 0);
+        lcd_printpns_at (0,3,PSTR("   NO WARRANTY"), 0);
+        lcd_printpns_at (0,4,PSTR("2008 Thomas Kaiser"), 0);
+        lcd_printpns_at (0,5,PSTR("2009-2010 Peter Mack"), 0);
+        lcd_printpns_at (0,6,PSTR("2010 Sebastian Boehm"), 0);
+        lcd_printpns_at (0,7,PSTR("2011 Chr. Brandtner "), 0);
+        while (!(get_key_press (1 << KEY_ENTER)));
+        return;
+}

 /Transportables_Koptertool/tags/V3.x/menu.h
 ,0 → 1,46
+/*****************************************************************************
+ *   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
+#define OSD_Mode 1              // OSD Anzeige als OSD
+#define THREE_D_Mode 2  // OSD Anzeige in 3D Position
+//*****************************************************************************
+//
+//*****************************************************************************
+//
+void main_menu (void);
+void light_toggle(void);
+void Show_Version(void);
+void Show_Error_HW(void);
+void Update_PMK(void);
+void Uart1_debug(void);
+uint8_t menu_choose (uint8_t min, uint8_t max, uint8_t pos, uint8_t start);
+uint8_t menu_choose2 (uint8_t min, uint8_t max,uint8_t start,uint8_t return_at_start,uint8_t return_at_end);
+uint8_t menu_choose3 (uint8_t min, uint8_t max,uint8_t start, uint8_t return_at_start,uint8_t return_at_end);
+#endif

 /Transportables_Koptertool/tags/V3.x/mk-data-structs.h
 ,0 → 1,297
+/****************************************************************************
+ *   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 :)
+ * ##########################################################################*/
+#ifndef _MK_DATA_STRUCTS_H
+#define _MK_DATA_STRUCTS_H
+// FC Version 0.82
+#define EEProm_Version  85 // FC EEProm Revision / Struktur FC 0.82
+#define FC_Version "0.82/0.84"    //Softwareversion der FC
+#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 HardwareError[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
+//{
+//    uint8_t Revision;
+//    int8_t Name[12];
+//    int8_t Motor[16][4];
+//    uint8_t crc;
+//} __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
+//{
+//   signed int  Winkel[3]; // nick, roll, compass in 0,1.^
+//   signed char Centroid[3];
+//   signed char reserve[5];
+//} __attribute__((packed)) Data3D_t;
+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 {
+        u16 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  FCFlags;                    // 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  RC_RSSI;                    // Receiver signal strength (since version 2 added)
+    s16 SetpointAltitude;           // setpoint for altitude
+    u8  Gas;                        // for future use
+    u16 Current;                    // actual current in 0.1A steps
+    u16 UsedCapacity;               // used capacity in mAh
+} __attribute__((packed)) NaviData_t;
+/*
+ * MikroKopter Flags
+ * taken from
+ * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.73d%2Ffc.h
+ */
+#define FCFLAG_MOTOR_RUN    0x01
+#define FCFLAG_FLY          0x02
+#define FCFLAG_CALIBRATE    0x04
+#define FCFLAG_START        0x08
+#define FCFLAG_NOTLANDUNG   0x10
+#define FCFLAG_LOWBAT       0x20
+#define FCFLAG_SPI_RX_ERR   0x40
+#define FCFLAG_I2CERR       0x80
+/*
+ * 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 Revision;
+    unsigned char Kanalbelegung[12];       // 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 Gyro_Stability;         // Wert : 0-16
+    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 Receiver;                   // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
+    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;       // Speed of the Servo
+    unsigned char ServoManualControlSpeed;//
+    unsigned char CamOrientation;         //
+    unsigned char Servo3;                    // Value or mapping of the Servo Output
+    unsigned char Servo4;                            // Value or mapping of the Servo Output
+    unsigned char Servo5;                            // Value or mapping of the Servo Output
+    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
+    //---CareFree---------------------------------------------
+    unsigned char OrientationAngle;        // Where is the front-direction?
+    unsigned char OrientationModeControl;  // switch for CareFree
+    unsigned char MotorSafetySwitch;
+    //------------------------------------------------
+    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];
+    unsigned char crc;
+} __attribute__((packed)) mk_param_struct_t;
+#endif

 /Transportables_Koptertool/tags/V3.x/motortest.c
 ,0 → 1,136
+/*****************************************************************************
+ *   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 "main.h"
+#include "motortest.h"
+#include "lcd.h"
+#include "usart.h"
+#include "timer.h"
+uint8_t m;
+uint8_t mmode;
+uint8_t v;
+volatile uint8_t i2c_state;
+volatile uint8_t motor_addr = 0;
+//*****************************************************************************
+//
+void motor (uint8_t m,uint8_t v)
+{
+        memset (buffer, 0, 16);
+        if(m == 0)
+        {
+                memset (buffer, v, 16);
+        }
+        else
+        {
+                buffer[m-1] = v;
+        }
+        SendOutData('t', ADDRESS_FC, 1, buffer, 16);
+}
+//*****************************************************************************
+//
+void motor_test (void)
+{
+        //uint8_t m;
+        lcd_cls ();
+        mmode = 1;
+        m = 0;
+        v = 0;
+        lcd_printp (PSTR("Motor Test"), 0);
+        lcd_printpns_at (2, 2, PSTR("Motor: All"), 0);
+        lcd_printpns_at (2, 3, PSTR("Value:   0"), 0);
+        lcd_printpns_at (0, 7, PSTR(" \x18    \x19     Back   \x0c"), 0);
+    lcd_printp_at (0, 2, PSTR("\x1D"), 0);
+        if (hardware == NC && current_hardware == NC)
+        {
+                SwitchToFC();
+        }
+        do
+        {
+                if ((mmode == 0) && (get_key_press (1 << KEY_PLUS) || get_key_rpt (1 << KEY_PLUS)) && (v < 254))
+                {
+                        v++;
+                        write_ndigit_number_u (9, 3, v, 3, 0);
+                        lcd_frect ((8*1), (8*5), (v * (14*8)) / 255, 6, 1);
+                }
+                if ((mmode == 0) && (get_key_press (1 << KEY_MINUS) || get_key_rpt (1 << KEY_MINUS)) && (v > 0))
+                {
+                        lcd_frect ((8*1), (8*5), (v * (14*8)) / 255, 6, 0);
+                        v--;
+                        write_ndigit_number_u (9, 3, v, 3, 0);
+                        lcd_frect ((8*1), (8*5), (v * (14*8)) / 255, 6, 1);
+                }
+                if ((mmode == 1) && (get_key_press (1 << KEY_PLUS) || get_key_rpt (1 << KEY_PLUS)) && (m < 16))
+                {
+                        m++;
+                        write_ndigit_number_u (9, 2, m, 3, 0);
+                }
+                if ((mmode == 1) && (get_key_press (1 << KEY_MINUS) || get_key_rpt (1 << KEY_MINUS)) && (m > 0))
+                {
+                        m--;
+                        if(m > 0) write_ndigit_number_u (9, 2, m, 3, 0);
+                        if(m == 0) lcd_printpns_at (9, 2, PSTR("All"), 0);
+                }
+                if (get_key_press (1 << KEY_ENTER))
+                {
+                        if(mmode == 0)
+                        {
+                            lcd_printp_at (0, 2, PSTR("\x1D"), 0);
+                                lcd_printp_at (0, 3, PSTR(" "), 0);
+                                mmode = 1;
+                        }
+                        else
+                        {
+                                lcd_printp_at (0, 2, PSTR(" "), 0);
+                            lcd_printp_at (0, 3, PSTR("\x1D"), 0);
+                                mmode = 0;
+                        };
+                }
+                motor (m,v);
+        }
+        while (!get_key_press (1 << KEY_ESC));
+        // switch all engines off at exit !
+        memset (buffer, 0, 16);
+        SendOutData('t', ADDRESS_FC, 1, buffer, 16);
+}

 /Transportables_Koptertool/tags/V3.x/motortest.h
 ,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 _MOTORTEST_H
+#define _MOTORTEST_H
+//*****************************************************************************
+//
+void motor_test (void);
+#endif

 /Transportables_Koptertool/tags/V3.x/motortestI2C.c
 ,0 → 1,209
+/*****************************************************************************
+ *   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 "motortestI2C.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;
+uint8_t motor_addr_I2C = 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_I2C * 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_I2C * 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 Oxff"), 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 !
+}

 /Transportables_Koptertool/tags/V3.x/motortestI2C.h
 ,0 → 1,37
+/*****************************************************************************
+ *   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 _MOTORTESTI2C_H
+#define _MOTORTESTI2C_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_i2c (void);
+void I2C_Init(void);
+#endif

 /Transportables_Koptertool/tags/V3.x/osd.c
 ,0 → 1,690
+/*****************************************************************************
+ *   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 "eeprom.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;
+uint16_t max_Current = 0;
+uint16_t max_Capacity = 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    :";
+#if 1
+const char stats_item_5[] PROGMEM = "max Current :";
+const char stats_item_6[] PROGMEM = "UsedCapacity:";
+#else
+const char stats_item_5[] PROGMEM = "Long. :";
+const char stats_item_6[] PROGMEM = "Lat.  :";
+#endif
+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 = {
+x0e, 0x0f, 0x0e, 'N', 0x0e, 0x0f, 0x0e, 'O', 0x0e, 0x0f, 0x0e, 'S',
+x0e, 0x0f, 0x0e, 'W', 0x0e, 0x0f, 0x0e, 'N', 0x0e, 0x0f, 0x0e, 'O',
+x0e, 0x0f, 0x0e, 'S', 0x0e, 0x0f, 0x0e, 'W', 0x0e, 0x0f, 0x0e, 'N',
+x0e, 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;
+GPS_Pos_t last5pos[7];
+uint8_t error = 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);
+        }
+}
+void D_Position(void)
+{
+return;
+}
+/* ##########################################################################
+ * 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);
+        // max time
+        lcd_printpns_at (0, ++line, stats_item_pointers[4], 0);
+        write_time (13, line, max_FlyingTime);
+        // 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);
+#if 1
+        // max Current
+        lcd_printpns_at (0, ++line, stats_item_pointers[5], 0);
+        write_ndigit_number_u_10th (13, line, max_Current, 3, 0);
+        lcd_putc (17, line, 'A', 0);
+        // Used Capacity
+        lcd_printpns_at (0, ++line, stats_item_pointers[6], 0);
+        write_ndigit_number_u (13, line, max_Capacity, 4, 0);
+        lcd_printpns_at(17, line, PSTR("mAh"), 0);
+#else
+        // 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);
+#endif
+        while (!get_key_press (1 << KEY_ESC))
+                timer = TIMEOUT;
+        COSD_FLAGS2 &= ~COSD_WASFLYING;
+        get_key_press(KEY_ALL);
+        lcd_cls();
+}
+void print_position (void)
+{
+        lcd_cls ();
+                        uint8_t ij =0;
+                        for(ij=0;ij<7;ij++)
+                        {
+                uint32_t lon =  last5pos[ij].Longitude;
+                    write_ndigit_number_u (0, ij+1, (uint16_t)(lon/10000000), 3, 0);
+                    lcd_printp_at (3,ij+1, PSTR("."), 0);
+                write_ndigit_number_u (4, ij+1, (uint16_t)((lon/1000) % 10000), 4, 1);
+                    write_ndigit_number_u (8, ij+1, (uint16_t)((lon/10) % 100), 2, 1);
+                    uint32_t lat =  last5pos[ij].Latitude;
+                write_ndigit_number_u (10, ij+1, (uint16_t)(lat/10000000), 3, 0);
+                    lcd_printp_at (13,ij+1, PSTR("."), 0);
+                    write_ndigit_number_u (14, ij+1, (uint16_t)((lat/1000) % 10000), 4, 1);
+                write_ndigit_number_u (18, ij+1, (uint16_t)((lat/10) % 100), 2, 1);
+                        }
+        while (!get_key_press (1 << KEY_MINUS) && !get_key_press (1 << KEY_ESC) && !get_key_press (1 << KEY_ENTER))
+                timer = TIMEOUT;
+        get_key_press(KEY_ALL);
+        lcd_cls();
+}
+void osd (uint8_t ShowMode)
+{
+        uint8_t flag;
+        uint8_t tmp_dat;
+        uint8_t OSD_Mode;
+        // 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_FCFlags = 0;
+        uint16_t old_hh = 0;
+        uint8_t old_AngleNick = 0;
+        uint8_t old_AngleRoll = 0;
+        OSD_Mode = ShowMode;
+        if(error == 0) lcd_cls();
+        if(error == 1) lcd_printp_at (0, 0, PSTR("              "), 0);
+        if (hardware == FC)
+        {
+                lcd_printp_at(0, 3, PSTR("Only with NC !"), 0);
+                timer = 100;
+                while (timer > 0);
+                return;
+        }
+        SwitchToNC();
+        mode = 'O';
+        // disable debug...
+        //      RS232_request_mk_data (0, 'd', 0);
+        tmp_dat = 0;
+        SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
+        // 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);
+        flag = 0;
+        timer = TIMEOUT;
+        abo_timer = ABO_TIMEOUT;
+        do
+        {
+                if (rxd_buffer_locked)
+                {
+                        timer = TIMEOUT;
+                        Decode64 ();
+                        naviData = (NaviData_t *) pRxData;
+                        if(error == 1) lcd_cls();
+                        error = 0;
+                        GPS_Pos_t currpos;
+                        currpos.Latitude = naviData->CurrentPosition.Latitude;
+                        currpos.Longitude = naviData->CurrentPosition.Longitude;
+                        if((currpos.Latitude != last5pos[0].Latitude)&&(currpos.Longitude != last5pos[0].Longitude))
+                                {
+                                        last5pos[6] = last5pos[5];
+                                        last5pos[5] = last5pos[4];
+                                        last5pos[4] = last5pos[3];
+                                        last5pos[3] = last5pos[2];
+                                        last5pos[2] = last5pos[1];
+                                        last5pos[1] = last5pos[0];
+                                        last5pos[0] = currpos;
+                                }
+                        flag = 1;
+                        if (OSD_Mode == 1)
+                                {
+                                        if (naviData->FCFlags & FCFLAG_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)))
+                                                if (get_key_press (1 << KEY_ENTER))
+                                                        {
+                                                                print_statistics ();
+                                                        }
+                                                if (get_key_press (1 << KEY_PLUS))
+                                                        {
+                                                                print_position ();
+                                                        }
+                                                }
+                //                      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, 'X', 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);
+                                                }
+                                                // Flying time
+                                        write_time (7, 6, naviData->FlyingTime);
+                //                      lcd_printp_at (7, 6, PSTR("Fly"), 0);
+                                        // RC
+                                        write_ndigit_number_u (15, 6, naviData->RC_Quality, 3, 0);
+                                        lcd_putc (18, 6, 0x1F, 0);                      // RC-transmitter
+                                        if (naviData->NCFlags & NC_FLAG_NOSERIALLINK)
+                                                {
+                                                        lcd_printpns_at(19, 6, PSTR("  "), 0);          // clear
+                                                }
+                                        else
+                                                {
+                                                        lcd_printpns_at(19, 6, PSTR("PC"), 0);
+                                                }
+                                        // Battery level
+                                        write_ndigit_number_u_10th (0, 7, naviData->UBat, 3, 0);
+                                        lcd_putc (4, 7, 'V', 0);
+// Akku Warnung
+                                        if (naviData->UBat < MK_LowBat)
+                                        { //Beeper ein
+                                        #ifdef HWVERSION1_2
+                                                PORTC &= ~(1<<PORTC7);
+                                        #endif
+                                        #ifdef HWVERSION1_3
+                                                PORTC &= ~(1<<PORTC7);
+                                        #endif
+                                        #ifdef HWVERSION3_1
+                                                set_BEEP();
+                                        #endif
+                                        }
+                                        if (naviData->UBat > MK_LowBat+2)  //bei kurzzeitigen Schwankungen Beeper erst wieder aus wenn UBat 0,2 V höher als Warnschwelle
+                                        {//Beeper aus
+                                    #ifdef HWVERSION1_2
+                                                PORTC |= (1<<PORTC7);
+                                        #endif
+                                        #ifdef HWVERSION1_3
+                                                PORTC |= (1<<PORTC7);
+                                        #endif
+                                        #ifdef HWVERSION3_1
+                                                clr_BEEP();
+                                        #endif
+                                        }
+// Akku Warnung Ende
+                                        // Current
+                                        write_ndigit_number_u_10th (7, 7, naviData->Current, 3, 0);
+                                        lcd_putc (11, 7, 'A', 0);
+                                        // Capacity
+                                        write_ndigit_number_u (14, 7, naviData->UsedCapacity, 4, 0);
+                                        lcd_printpns_at(18, 7, PSTR("mAh"), 0);
+                                                // remember statistics (only when engines running)
+                                        if (naviData->FCFlags & FCFLAG_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;
+                                                        if (naviData->Current > max_Current) max_Current = naviData->Current;
+                                                        if (naviData->UsedCapacity > max_Capacity) max_Capacity = naviData->UsedCapacity;
+                                                }
+                                        // remember last values
+                                        last_RC_Quality = naviData->RC_Quality;
+                                        last_UBat = naviData->UBat;
+                                        old_FCFlags = naviData->FCFlags;
+                                        rxd_buffer_locked = FALSE;
+                                }
+                else
+                {
+                        lcd_printpns_at(0, 0, PSTR("N:"), 0);
+                        lcd_printpns_at(0, 1, PSTR("R:"), 0);
+                        write_ndigit_number_s (2, 0, naviData->AngleNick, 3, 0);
+                        write_ndigit_number_s (2, 1, naviData->AngleRoll, 3, 0);
+                        lcd_line(0,32,128,32,1);
+                        lcd_line(64,0,64,64,1);
+                        uint8_t Nick = ((naviData->AngleNick/2)+32);
+                        uint8_t Roll = -naviData->AngleRoll+64;
+                        uint16_t head_home = (naviData->HomePositionDeviation.Bearing + 360 - naviData->CompassHeading) % 360;
+                        write_ndigit_number_s (2, 2,head_home, 5, 0);
+                        lcd_printpns_at(0, 2, PSTR("K:"), 0);
+                        lcd_ecircle(old_AngleRoll,old_AngleNick, 10, 0);
+                        lcd_ecirc_line (old_AngleRoll, old_AngleNick, 9, old_hh, 0);
+                        lcd_ecircle(Roll, Nick, 10, 1);
+                        lcd_ecirc_line (Roll, Nick, 9, head_home, 1);
+                        old_hh = head_home;
+                old_AngleNick = Nick;
+                        old_AngleRoll = Roll;
+                        // remember last values
+                        last_RC_Quality = naviData->RC_Quality;
+                        last_UBat = naviData->UBat;
+                        old_FCFlags = naviData->FCFlags;
+                        rxd_buffer_locked = FALSE;
+                }
+                if (!abo_timer)
+                {       // renew abo every 3 sec
+                        // 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);
+                        abo_timer = ABO_TIMEOUT;
+                }
+                }
+        }
+        while (!get_key_press (1 << KEY_ESC) && timer);
+        // Falls Spannungswarnung an war Beeper aus//
+        #ifdef HWVERSION1_2
+                PORTC |= (1<<PORTC7);
+        #endif
+        #ifdef HWVERSION1_3
+                PORTC |= (1<<PORTC7);
+        #endif
+        #ifdef HWVERSION3_1
+                clr_BEEP();
+        #endif
+        // 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 ();
+                }
+                        error = 1;
+                        uint8_t ij =0;
+                        for(ij=0;ij<7;ij++)
+                        {
+                uint32_t lon =  last5pos[ij].Longitude;
+                    write_ndigit_number_u (0, ij+1, (uint16_t)(lon/10000000), 3, 0);
+                    lcd_printp_at (3,ij+1, PSTR("."), 0);
+                write_ndigit_number_u (4, ij+1, (uint16_t)((lon/1000) % 10000), 4, 1);
+                    write_ndigit_number_u (8, ij+1, (uint16_t)((lon/10) % 100), 2, 1);
+                    uint32_t lat =  last5pos[ij].Latitude;
+                write_ndigit_number_u (10, ij+1, (uint16_t)(lat/10000000), 3, 0);
+                    lcd_printp_at (13,ij+1, PSTR("."), 0);
+                    write_ndigit_number_u (14, ij+1, (uint16_t)((lat/1000) % 10000), 4, 1);
+                write_ndigit_number_u (18, ij+1, (uint16_t)((lat/10) % 100), 2, 1);
+                        }
+                lcd_printp_at (0, 0, PSTR("ERROR: no data"), 0);
+                timer = 100;
+                while (timer > 0);
+                                if (get_key_press (1 << KEY_PLUS))
+                                {
+                                        print_position ();
+                                }
+                osd(OSD_Mode);
+        }
+}

 /Transportables_Koptertool/tags/V3.x/osd.h
 ,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 (uint8_t ShowMode);
+#endif

 /Transportables_Koptertool/tags/V3.x/parameter.c
 ,0 → 1,1388
+/*****************************************************************************
+ *   Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de                  *
+ *   Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net                  *
+ *   Copyright (C) 2010 Sebastian Boehm, seb@exse.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 "mk-data-structs.h"
+#include "parameter.h"
+#include "menu.h"
+#include "eeprom.h"
+#include "parameter_names.h"
+#define TIMEOUT 500     // 5 sec
+uint8_t display_settings_menu (void);
+uint8_t display_param_menu (uint8_t);
+uint8_t load_setting (uint8_t);
+uint8_t write_setting (uint8_t);
+uint8_t display_section_menu(void);
+void edit_param(uint8_t);
+void copy_setting(void);
+mk_param_struct_t *mk_param_struct;
+uint8_t ii;
+volatile uint8_t offset = 0;
+volatile uint8_t dmode = 0;
+volatile uint8_t target_pos = 1;
+volatile uint8_t offset2 = 0;
+volatile uint8_t pmode = 0;
+volatile uint8_t target_pos2 = 1;
+uint8_t changes = 0;
+#define OFFSETOF(type, field)    ((unsigned int) &(((type *) 0)->field))
+#define MKOSO(field) (uint8_t)OFFSETOF(mk_param_struct_t, field)
+// Typ(1=mit Poti,0=ohne Poti,2=bitfield,3=serCh,4=LEDmask,5 Angle,6 Empfaenger ),
+// min,
+// max,
+// struct-name,
+// default1,
+// default2,
+// default3+4+5
+prog_uchar  param_config[8*PARAM_COUNT]=
+{
+         // group 0 (kanaele) 15
+,0,1,12  ,MKOSO(Kanalbelegung)+2,1,1,1, //   gas
+,0,1,12  ,MKOSO(Kanalbelegung)+3,2,2,2, //   gier
+,0,1,12  ,MKOSO(Kanalbelegung),3,3,3,   //   nick
+,0,1,12  ,MKOSO(Kanalbelegung)+1,4,4,4, //   roll
+,3,1,25  ,MKOSO(Kanalbelegung)+4,5,5,5, //   poti1
+,3,1,25  ,MKOSO(Kanalbelegung)+5,6,6,6, //   poti2
+,3,1,25  ,MKOSO(Kanalbelegung)+6,7,7,7, //   poti3
+,3,1,25  ,MKOSO(Kanalbelegung)+7,8,8,8, //   poti4
+,3,1,25  ,MKOSO(Kanalbelegung)+8,9,9,9, //   poti5
+,3,1,25  ,MKOSO(Kanalbelegung)+9,10,10,10, //   poti6
+,3,1,25  ,MKOSO(Kanalbelegung)+10,11,11,11, //   poti7
+,3,1,25  ,MKOSO(Kanalbelegung)+11,12,12,12, //   poti8
+         //26.3.2011 0.82 CB
+,0,0,12  ,MKOSO(MotorSafetySwitch),0,0,0, //   Motor Sicherungsswitch
+         //
+,2,0,0x04,MKOSO(ExtraConfig),0,0,0, //erweiterte signal pruefung
+,6,0,5   ,MKOSO(Receiver),1,1,1,
+         // group 1 (main) 8
+,2,0,0x01,MKOSO(GlobalConfig),0,0,1, //hoehenregler
+,2,0,0x20,MKOSO(GlobalConfig),1,1,1, //gps
+,2,0,0x08,MKOSO(GlobalConfig),1,1,1, //kompass
+,2,0,0x10,MKOSO(GlobalConfig),0,0,0, //feste ausrichtung
+,2,0,0x04,MKOSO(ExtraConfig),0,0,0, //erweiterte signal pruefung
+,2,0,0x40,MKOSO(GlobalConfig),1,1,1, //achsentkopplung
+,2,0,0x80,MKOSO(GlobalConfig),0,0,0, //drehratenbregrenzung
+,2,0,0x04,MKOSO(GlobalConfig),0,0,0, //heading hold
+         // group 2 (stick) 4
+,0,0,20  ,MKOSO(Stick_P),8,8,8,
+,0,0,20  ,MKOSO(Stick_D),16,16,16,
+,1,0,247 ,MKOSO(Gier_P),6,6,6,
+,1,0,247 ,MKOSO(ExternalControl),0,0,0,
+         // group3 : looping 9
+,2,0,0x01,MKOSO(BitConfig),0,0,0, //oben
+,2,0,0x02,MKOSO(BitConfig),0,0,0, //unten
+,2,0,0x04,MKOSO(BitConfig),0,0,0, //links
+,2,0,0x08,MKOSO(BitConfig),0,0,0, //rechts
+,1,0,247 ,MKOSO(LoopGasLimit),50,50,50,
+,0,0,247 ,MKOSO(LoopThreshold),90,90,90,
+,0,0,247 ,MKOSO(LoopHysterese),50,50,50,
+,0,0,247 ,MKOSO(WinkelUmschlagNick),78,78,78,
+,0,0,247 ,MKOSO(WinkelUmschlagRoll),78,78,78,
+         // group 4 (hoehe) 13
+,2,0,0x01,MKOSO(GlobalConfig),1,1,1, //hoehenrelger
+,2,0,0x01,MKOSO(ExtraConfig),0,0,0, //vario oder hoeenbergenzung
+,2,0,0x02,MKOSO(GlobalConfig),1,1,1, //hoehenschalter
+,2,0,0x02,MKOSO(ExtraConfig),1,1,1, //variobeep
+,1,0,247 ,MKOSO(MaxHoehe),255,255,255,
+,0,0,247 ,MKOSO(Hoehe_MinGas),30,30,30,
+,1,0,247 ,MKOSO(Hoehe_P),15,15,15,
+,1,0,247 ,MKOSO(Luftdruck_D),30,30,30,
+,1,0,247 ,MKOSO(Hoehe_ACC_Wirkung),0,0,0,
+,0,0,247 ,MKOSO(Hoehe_Verstaerkung),15,15,15,
+,0,0,247 ,MKOSO(Hoehe_HoverBand),8,8,8,
+,1,0,247 ,MKOSO(Hoehe_GPS_Z),64,64,64,
+,0,0,247 ,MKOSO(Hoehe_StickNeutralPoint),0,0,0,
+         // Typ(1=mit Poti,0=ohne Poti,2=bitfield,3=serCh,4=LEDmask,5 Angle,6 Empfaenger),
+         // min,
+         // max,
+         // struct-name,
+         // default1,
+         // default2,
+         // default3+4+5
+         // group 5 : kamera 16
+,1,0,247,MKOSO(ServoNickControl),100,100,100,
+,0,0,247,MKOSO(ServoNickComp),40,40,40,
+,2,0,0x01,MKOSO(ServoCompInvert),1,1,1,
+,0,0,247,MKOSO(ServoNickMin),0,0,0,
+,0,0,247,MKOSO(ServoNickMax),247,247,247,
+,1,0,247,MKOSO(ServoRollControl),100,100,100,
+,0,0,247,MKOSO(ServoRollComp),40,40,40,
+,2,0,0x01,MKOSO(ServoCompInvert),0,0,0,
+,0,0,247,MKOSO(ServoRollMin),0,0,0,
+,0,0,247,MKOSO(ServoRollMax),247,247,247,
+,0,2,8  ,MKOSO(ServoNickRefresh),6,6,6,
+         //26.3.2011 0.82 CB
+,0,0,247 ,MKOSO(ServoManualControlSpeed),40,40,40,
+,5,0,247 ,MKOSO(CamOrientation),0,0,0,
+         //
+,1,0,247,MKOSO(Servo3),125,125,125,
+,1,0,247,MKOSO(Servo4),125,125,125,
+,1,0,247,MKOSO(Servo5),125,125,125,
+         // group 6 : navictrl 17
+,2,0,0x20,MKOSO(GlobalConfig),1,1,1, //gps
+,1,0,247,MKOSO(NaviGpsModeControl),254,254,254,
+,1,0,247,MKOSO(NaviGpsGain),100,100,100,
+,0,0,247,MKOSO(NaviStickThreshold),8,8,8,
+,0,0,247,MKOSO(NaviGpsMinSat),6,6,6,
+,1,0,247,MKOSO(NaviGpsP),90,90,90,
+,1,0,247,MKOSO(NaviGpsI),90,90,90,
+,1,0,247,MKOSO(NaviGpsD),90,90,90,
+,1,0,247,MKOSO(NaviGpsPLimit),75,75,75,
+,1,0,247,MKOSO(NaviGpsILimit),75,75,75,
+,1,0,247,MKOSO(NaviGpsDLimit),75,75,75,
+,1,0,247,MKOSO(NaviGpsACC),0,0,0,
+//
+,1,0,247,MKOSO(NaviWindCorrection),90,90,90,
+,1,0,247,MKOSO(NaviSpeedCompensation),30,30,30,
+,1,0,247,MKOSO(NaviOperatingRadius),100,100,100,
+,1,0,247,MKOSO(NaviAngleLimitation),100,100,100,
+,0,0,247,MKOSO(NaviPH_LoginTime),2,2,2,
+         // group 7 : ausgaenge 9
+,4,0,255,MKOSO(J16Bitmask),95,95,95,
+,1,0,247,MKOSO(J16Timing),30,30,30,
+,4,0,255,MKOSO(J17Bitmask),243,243,243,
+,1,0,247,MKOSO(J17Timing),30,30,30,
+,2,0,0x10,MKOSO(BitConfig),0,0,0,//CFG_MOTOR_BLINK
+,4,0,255,MKOSO(WARN_J16_Bitmask),170,170,170,
+,2,0,0x20,MKOSO(BitConfig),1,1,1,//CFG_MOTOR_OFF_LED1
+,4,0,255,MKOSO(WARN_J17_Bitmask),170,170,170,
+,2,0,0x40,MKOSO(BitConfig),1,1,1,//CFG_MOTOR_OFF_LED2
+         // group 8 : versch. 7
+,0,0,247,MKOSO(Gas_Min),8,8,8,
+,0,0,247,MKOSO(Gas_Max),230,230,230,
+,1,0,247,MKOSO(KompassWirkung),128,128,128,
+,1,0,247,MKOSO(OrientationModeControl),0,0,0,
+,0,0,247,MKOSO(UnterspannungsWarnung),33,33,33,
+,0,0,247,MKOSO(NotGasZeit),90,90,90,
+,0,0,247,MKOSO(NotGas),45,45,45,
+         // group 9 : gyro 12
+,1,0,247,MKOSO(Gyro_P),100,100,100,
+,1,0,247,MKOSO(Gyro_I),120,120,120,
+,1,0,247,MKOSO(Gyro_D),10,10,10,
+,1,0,247,MKOSO(Gyro_Gier_P),100,100,100,
+,1,0,247,MKOSO(Gyro_Gier_I),120,120,120,
+,1,0,247,MKOSO(DynamicStability),70,70,70,
+,2,0,0x80,MKOSO(GlobalConfig),0,0,0, //drehratenbregrenzung
+,0,0,247,MKOSO(GyroAccFaktor),27,27,27,
+,0,0,247,MKOSO(GyroAccAbgleich),32,32,32,
+,1,0,247,MKOSO(I_Faktor),16,16,16,
+,0,0,247,MKOSO(Driftkomp),0,0,0,
+,0,0,8,MKOSO(Gyro_Stability),100,100,100,
+         // group 10: benutzer 8
+,1,0,247,MKOSO(UserParam1),0,0,0,
+,1,0,247,MKOSO(UserParam2),0,0,0,
+,1,0,247,MKOSO(UserParam3),0,0,0,
+,1,0,247,MKOSO(UserParam4),0,0,0,
+,1,0,247,MKOSO(UserParam5),0,0,0,
+,1,0,247,MKOSO(UserParam6),0,0,0,
+,1,0,247,MKOSO(UserParam7),0,0,0,
+,1,0,247,MKOSO(UserParam8),0,0,0,
+         // group 11: achskoppl 4
+,2,0,0x40,MKOSO(GlobalConfig),0,0,0, //achsentkopplung
+,1,0,247,MKOSO(AchsKopplung1),90,90,90,
+,1,0,247,MKOSO(AchsKopplung2),80,80,80,
+,1,0,247,MKOSO(CouplingYawCorrection),70,70,70,
+         // group 12: mixer
+,5,0,23,MKOSO(OrientationAngle),0,0,0,
+};
+void edit_parameter (void)
+{
+        SwitchToFC();
+        uint8_t setting;
+        setting = display_settings_menu();
+        if(setting == 6)
+        {
+                copy_setting();
+                return;
+        }
+                if(setting == 255) return;
+                uint8_t setting_loaded =  load_setting(setting);
+                if(setting_loaded == 255) return;
+                offset = 0;
+                dmode = 0;
+                target_pos = 1;
+                changes =0;
+                        uint8_t group =0;
+                        do
+                        {
+                                group = display_section_menu();
+                                if(group != 255)
+                                {
+                                        offset2 = 0;
+                                        pmode = 0;
+                                        target_pos2 = 1;
+                                        uint8_t param;
+                                        do
+                                        {
+                                                param = display_param_menu(group);
+                                                if(param != 255)
+                                                {
+                                                        edit_param(param);
+                                                }
+                                        }
+                                        while(param != 255);
+                                }
+                        }
+                        while(group != 255);
+                if(changes == 1)
+                {
+                        lcd_cls();
+                        lcd_printp_at (0, 0, PSTR("Save Setting x?"), 0);
+                        write_ndigit_number_u(13,0,setting, 1,0);
+                        lcd_printp_at (3, 1, PSTR("yes"), 0);
+                        lcd_printp_at (3, 2, PSTR("no"), 0);
+                        lcd_printpns_at (0, 7, PSTR(" \x1a    \x1b     Exit   \x0c"), 0);
+                        uint8_t val = menu_choose2 (1, 2, 2,0,0);
+                        if(val == 1)
+                        {
+                                uint8_t setting_written = write_setting(setting);
+                                if(setting_written == setting)
+                                {
+                                        lcd_printp_at (0, 4, PSTR("saved and"), 0);
+                                        lcd_printp_at (0, 5, PSTR("activated"), 0);
+                                }
+                                else
+                                {
+                                        lcd_printp_at (0, 4, PSTR("ERROR"), 0);
+                                }
+                                timer = 100;
+                                while (timer > 0);
+                        }
+                }
+}
+void copy_setting(void)
+{
+        uint8_t fromsetting = 3;
+        uint8_t tosetting = 5;
+        lcd_cls();
+        lcd_printp_at (0, 0, PSTR("Copy Setting:"), 0);
+        lcd_printp_at (3, 2, PSTR("From Setting:"), 0);
+        lcd_printp_at (3, 3, PSTR("  To Setting:"), 0);
+        //                           123456789012345678901
+        //                               x     x    x
+        lcd_printpns_at (0, 7, PSTR("From   To  Back   Do"), 0);
+        do
+        {
+                write_ndigit_number_u(17,2,fromsetting, 1,0);
+                write_ndigit_number_u(17,3,tosetting, 1,0);
+                if(get_key_press (1 << KEY_MINUS))
+                {
+                        fromsetting++;
+                        if(fromsetting == 6) fromsetting = 1;
+                }
+                if(get_key_press (1 << KEY_PLUS))
+                {
+                        tosetting++;
+                        if(tosetting == 6) tosetting = 1;
+                }
+                if(get_key_press (1 << KEY_ENTER))
+                {
+                        lcd_printp_at (0, 5, PSTR("Really want to copy?"), 0);
+                        do
+                        {
+                        if(get_key_press (1 << KEY_ENTER))
+                        {
+                                uint8_t loaded = load_setting(fromsetting);
+                                if(loaded == fromsetting)
+                                {
+                                        uint8_t written = write_setting(tosetting);
+                                        if(written == tosetting)
+                                        {
+                                                lcd_printp_at (0, 5, PSTR("written and activated"), 0);
+                                        }
+                                        else
+                                        {
+                                                lcd_printp_at (0, 5, PSTR("ERROR               "), 0);
+                                        }
+                                }
+                                else
+                                {
+                                        lcd_printp_at (0, 5, PSTR("ERROR               "), 0);
+                                }
+                                timer = 100;
+                                while (timer > 0);
+                                return;
+                        }
+                        }while (!get_key_short (1 << KEY_ESC));
+                        lcd_printp_at (0, 5, PSTR("                    "), 0);
+                }
+        }
+        while (!get_key_short (1 << KEY_ESC));
+}
+//      write_ndigit_number_u (0,0, *(((uint8_t*)mk_param_struct) + OFFSETOF(mk_param_struct_t, GlobalConfig)) , 6, 0);//evtl. den cast auf uint16_t machen
+  //  lcd_printp_at (pos, before, PSTR(" "), 0);
+  //
+  // oben  \x1a   unten \x1b
+   //      lcd_printp_at (pos, line, PSTR("\x1D"), 0);
+void edit_param(uint8_t param)
+{
+        lcd_cls();
+        uint8_t type = pgm_read_byte(param_config+(8*param)+1);
+        lcd_printp_at (0, 0, PSTR("Edit Setting:"), 0);
+        if (type != 6) lcd_printp_at(0,2,param_names[param][DisplayLanguage], 0);
+        if(type == 2)// ja/nein
+        {
+                lcd_printpns_at (0, 7, PSTR(" \x1a    \x1b     Back   \x0c"), 0);
+                lcd_printp_at (3, 4, PSTR("Y"), 0);
+                lcd_printp_at (3, 5, PSTR("N"), 0);
+                uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4));
+                uint8_t defaultvalue =  pgm_read_byte(param_config+(8*param)+5);
+                uint8_t bitmap = pgm_read_byte(param_config+(8*param)+3);
+                uint8_t newvalue = value;
+                if(defaultvalue == 1) lcd_printp_at (4, 4, PSTR("*"), 0);
+                if(defaultvalue == 0) lcd_printp_at (4, 5, PSTR("*"), 0);
+                do
+                {
+                        if(newvalue & bitmap)
+                        {
+                                lcd_printp_at (1, 4, PSTR("\x1D"), 0);
+                        lcd_printp_at (1, 5, PSTR(" "), 0);
+                        }
+                        else
+                        {
+                        lcd_printp_at (1, 4, PSTR(" "), 0);
+                                lcd_printp_at (1, 5, PSTR("\x1D"), 0);
+                        }
+                        if(get_key_press (1 << KEY_MINUS))
+                        {
+                                newvalue ^= bitmap;
+                        }
+                        if(get_key_press (1 << KEY_PLUS))
+                        {
+                                newvalue ^= bitmap;
+                        }
+                        if(get_key_press (1 << KEY_ENTER))
+                        {
+                                if(newvalue != value)
+                                {
+                                        *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4)) = newvalue;
+                                        changes=1;
+                                }
+                                break;
+                        }
+                        if(get_key_long (1 << KEY_ESC))
+                        {
+                                if(defaultvalue == 1)
+                                {
+                                        newvalue |= bitmap;
+                                }
+                                else
+                                {
+                                        newvalue &= ~bitmap;
+                                }
+                        }
+                }while (!get_key_short (1 << KEY_ESC));
+        }
+        if(type == 0)// ohne poti
+        {
+                lcd_printpns_at (0, 7, PSTR(" \x18    \x19     Back   \x0c"), 0);
+                uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4));
+                uint8_t min   =pgm_read_byte(param_config+(8*param)+2);
+                uint8_t max   = pgm_read_byte(param_config+(8*param)+3);
+                uint8_t defaultvalue   = pgm_read_byte(param_config+(8*param)+5);
+                lcd_printpns_at (4, 4, PSTR("(   -   ) (d:   )"), 0);
+                write_ndigit_number_u (5, 4, min, 3, 0);
+                write_ndigit_number_u (9, 4, max, 3, 0);
+                write_ndigit_number_u (17, 4, defaultvalue, 3, 0);
+                uint8_t newvalue = value;
+                do
+                {
+                        write_ndigit_number_u (0, 4, newvalue, 3, 0);
+                        lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 1);
+                        if(get_key_press (1 << KEY_PLUS) || get_key_rpt (1 << KEY_PLUS))
+                        {
+                                if((newvalue+1) <= max)
+                                {
+                                        newvalue++;
+                                        //lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 1);
+                                }
+                        }
+                        if(get_key_press (1 << KEY_MINUS) || get_key_rpt (1 << KEY_MINUS))
+                        {
+                                if((newvalue-1)>=min)
+                                {
+                                        lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 0);
+                                        newvalue--;
+                                        //lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 1);
+                                }
+                        }
+                        if(get_key_press (1 << KEY_ENTER))
+                        {
+                                if(newvalue != value)
+                                {
+                                        *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4)) = newvalue;
+                                        changes=1;
+                                }
+                                break;
+                        }
+                        if(get_key_long (1 << KEY_ESC))
+                        {
+                                lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 0);
+                                newvalue = defaultvalue;
+                                //lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 1);
+                        }
+                }while (!get_key_short (1 << KEY_ESC));
+        }
+        if(type == 1)// mit poti
+        {
+                lcd_printpns_at (0, 7, PSTR(" \x18    \x19     Back  \x0c\x0c"), 0);
+                uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4));
+                uint8_t min   =pgm_read_byte(param_config+(8*param)+2);
+                uint8_t max   = pgm_read_byte(param_config+(8*param)+3);
+                uint8_t defaultvalue   = pgm_read_byte(param_config+(8*param)+5);
+                lcd_printpns_at (4, 4, PSTR("(   -   ) (d:Po )"), 0);
+                write_ndigit_number_u (5, 4, min, 3, 0);
+                write_ndigit_number_u (9, 4, max, 3, 0);
+                if(defaultvalue > 247)
+                {
+                        write_ndigit_number_u (19, 4, 256-defaultvalue, 1, 0);
+                }
+                else
+                {
+                        write_ndigit_number_u (17, 4, defaultvalue, 3, 0);
+                }
+                uint8_t newvalue = value;
+                uint8_t mode = 0;
+                if(value > 247)
+                {
+                        mode=1;
+                }
+                else
+                {
+                }
+                uint8_t tempv = 255;
+                do
+                {
+                        if(get_key_long (1 << KEY_ENTER))
+                        {
+                                if(mode == 0)
+                                {
+                                        mode = 1;
+                                        lcd_frect ((8*0), (8*5), 128, 6, 0);
+                                        tempv = newvalue;
+                                        newvalue = 255;
+                                }
+                                else
+                                {
+                                        mode = 0;
+                                        if(tempv == 255)
+                                        {
+                                                if (defaultvalue > 247)
+                                                {
+                                                        newvalue = min;
+                                                }
+                                                else
+                                                {
+                                                        newvalue = defaultvalue;
+                                                }
+                                        }
+                                        else
+                                        {
+                                                newvalue = tempv;
+                                        }
+                                }
+                        }
+                        if(mode==0)
+                        {
+                                write_ndigit_number_u (0, 4, newvalue, 3, 0);
+                                lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 1);
+                                if(get_key_press (1 << KEY_PLUS) || get_key_rpt (1 << KEY_PLUS))
+                                {
+                                        if((newvalue+1) <= max)
+                                        {
+                                                newvalue++;
+                                                //lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 1);
+                                        }
+                                }
+                                if(get_key_press (1 << KEY_MINUS) || get_key_rpt (1 << KEY_MINUS))
+                                {
+                                        if((newvalue-1)>=min)
+                                        {
+                                                lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 0);
+                                                newvalue--;
+                                                //lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 1);
+                                        }
+                                }
+                        }
+                        else
+                        {
+                                lcd_printpns_at (0, 4, PSTR("Po"), 0);
+                                write_ndigit_number_u (2, 4, 256-newvalue, 1, 0);
+                                if(get_key_press (1 << KEY_PLUS))
+                                {
+                                        if(newvalue > 248)
+                                        {
+                                                newvalue--;
+                                        }
+                                }
+                                if(get_key_press (1 << KEY_MINUS))
+                                {
+                                        if(newvalue < 255)
+                                        {
+                                                newvalue++;
+                                        }
+                                }
+                        }
+                        if(get_key_short (1 << KEY_ENTER))
+                        {
+                                if(newvalue != value)
+                                {
+                                        *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4)) = newvalue;
+                                        changes=1;
+                                }
+                                break;
+                        }
+                        if(get_key_long (1 << KEY_ESC))
+                        {
+                                lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 0);
+                                newvalue = defaultvalue;
+                                if(newvalue > 247)
+                                {
+                                        mode =1;
+                                }
+                                else
+                                {
+                                        //lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 1);
+                                        mode =0;
+                                }
+                        }
+                }while (!get_key_short (1 << KEY_ESC));
+        }
+        if(type == 3)// serCH
+        {
+                lcd_printpns_at (0, 7, PSTR(" \x18    \x19     Back   \x0c"), 0);
+                uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4));
+                uint8_t min   =pgm_read_byte(param_config+(8*param)+2);
+                uint8_t max   = pgm_read_byte(param_config+(8*param)+3);
+                uint8_t defaultvalue   = pgm_read_byte(param_config+(8*param)+5);
+                lcd_printpns_at (4, 4, PSTR("(1-S12/W) (d:   )"), 0);
+//              write_ndigit_number_u (5, 4, min, 3, 0);
+//              write_ndigit_number_u (9, 4, max, 3, 0);
+                write_ndigit_number_u (17, 4, defaultvalue, 3, 0);
+                uint8_t newvalue = value;
+                do
+                {
+                        if (newvalue<=(max-13))
+                        {
+                        write_ndigit_number_u (0, 4, newvalue, 3, 0);
+                        }
+                else
+                    if (newvalue<=(max-1))
+                         {
+                          lcd_printpns_at (0, 4, PSTR("S"), 0);
+                          write_ndigit_number_u (1, 4, (newvalue-12), 2, 0);
+                         }
+                   if (newvalue==max)
+                   {
+                          lcd_printpns_at (0, 4, PSTR("WPE"), 0);
+                   }
+                          lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 1);
+                        if(get_key_press (1 << KEY_PLUS) || get_key_rpt (1 << KEY_PLUS))
+                        {
+                                if((newvalue+1) <= max)
+                                {
+                                        newvalue++;
+                                        //lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 1);
+                                }
+                        }
+                        if(get_key_press (1 << KEY_MINUS) || get_key_rpt (1 << KEY_MINUS))
+                        {
+                                if((newvalue-1)>=min)
+                                {
+                                        lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 0);
+                                        newvalue--;
+                                        //lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 1);
+                                }
+                        }
+                        if(get_key_press (1 << KEY_ENTER))
+                        {
+                                if(newvalue != value)
+                                {
+                                        *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4)) = newvalue;
+                                        changes=1;
+                                }
+                                break;
+                        }
+                        if(get_key_long (1 << KEY_ESC))
+                        {
+                                lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 0);
+                                newvalue = defaultvalue;
+                                //lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 1);
+                        }
+                }while (!get_key_short (1 << KEY_ESC));
+        }
+        if(type == 4) // led bitfeld
+        {
+                lcd_printpns_at (0, 7, PSTR(" \x19   Set    Back   \x0c"), 0);
+                uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4));
+                uint8_t defaultvalue   = pgm_read_byte(param_config+(8*param)+5);
+                uint8_t pos = 0;
+                uint8_t newvalue = value;
+                do
+                {
+                        for(ii=0;ii<8;ii++)
+                        {
+                                if(newvalue & (1 << ii))
+                                {
+                                        lcd_printpns_at (8-ii, 4,PSTR("X"),0);
+                                }
+                                else
+                                {
+                                        lcd_printpns_at (8-ii, 4,PSTR("O"),0);
+                                }
+                        }
+                        lcd_printpns_at (pos+1, 5,PSTR("\x1a"),0);
+                        if(get_key_press (1 << KEY_MINUS))
+                        {
+                                lcd_printpns_at (pos+1, 5,PSTR(" "),0);
+                                pos++;
+                                if(pos == 8) pos = 0;
+                        }
+                        if(get_key_press (1 << KEY_PLUS))
+                        {
+                                newvalue ^= (1<<(7-pos));
+                        }
+                        if(get_key_press (1 << KEY_ENTER))
+                        {
+                                if(newvalue != value)
+                                {
+                                        *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4)) = newvalue;
+                                        changes=1;
+                                }
+                                break;
+                        }
+                        if(get_key_long (1 << KEY_ESC))
+                        {
+                                newvalue = defaultvalue;
+                        }
+                }while (!get_key_short (1 << KEY_ESC));
+        }
+        if(type == 6) // receiver
+        {
+                lcd_printpns_at (0, 7, PSTR(" \x1a    \x1b     Back   \x0c"), 0);
+                uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4));
+                uint8_t defaultvalue   = pgm_read_byte(param_config+(8*param)+5);
+                lcd_printpns_at (3, 1,PSTR("PPM"),0);
+                lcd_printpns_at (3, 2,PSTR("Spektrum"),0);
+                lcd_printpns_at (3, 3,PSTR("Spektrum HiRes"),0);
+                lcd_printpns_at (3, 4,PSTR("Spektrum LoRes"),0);
+                lcd_printpns_at (3, 5,PSTR("Jeti"),0);
+                lcd_printpns_at (3, 6,PSTR("ACT DSL"),0);
+                uint8_t newvalue = value;
+                do
+                {
+                        for(ii=0;ii<6;ii++)
+                        {
+                                if(newvalue == ii)
+                                {
+                                        lcd_printpns_at (1, ii+1,PSTR(">"),0);
+                                }
+                                else
+                                {
+                                        lcd_printpns_at (1, ii+1,PSTR(" "),0);
+                                }
+                        }
+                        if(get_key_press (1 << KEY_PLUS))
+                        {
+                                newvalue++;
+                                if(newvalue == 6) newvalue = 0;
+                        }
+                        if(get_key_press (1 << KEY_MINUS))
+                        {
+                                if(newvalue == 0) newvalue = 6;
+                                newvalue--;
+                        }
+                        if(get_key_press (1 << KEY_ENTER))
+                        {
+                                if(newvalue != value)
+                                {
+                                        *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4)) = newvalue;
+                                        changes=1;
+                                }
+                                break;
+                        }
+                        if(get_key_long (1 << KEY_ESC))
+                        {
+                                newvalue = defaultvalue;
+                        }
+                }while (!get_key_short (1 << KEY_ESC));
+        }
+        if(type == 5) // Angle
+        {
+                lcd_printpns_at (0, 7, PSTR(" \x1a    \x1b     Back   \x0c"), 0);
+                uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4));
+                uint8_t defaultvalue   = pgm_read_byte(param_config+(8*param)+5);
+                lcd_ecircle(102, 35, 16, 1);
+                uint8_t newvalue = value;
+                uint8_t oldvalue = newvalue;
+                do
+                {
+                        if(oldvalue != newvalue) lcd_ecirc_line (102, 35, 15, oldvalue*15, 0);
+                        oldvalue = newvalue;
+                        lcd_ecirc_line (102, 35, 15, newvalue*15, 1);
+                        if(get_key_press (1 << KEY_PLUS))
+                        {
+                                newvalue++;
+                                if(newvalue == 24) newvalue = 0;
+                        }
+                        if(get_key_press (1 << KEY_MINUS))
+                        {
+                                if(newvalue == 0) newvalue = 24;
+                                newvalue--;
+                        }
+                        if(get_key_press (1 << KEY_ENTER))
+                        {
+                                if(newvalue != value)
+                                {
+                                        *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4)) = newvalue;
+                                        changes=1;
+                                }
+                                break;
+                        }
+                        if(get_key_long (1 << KEY_ESC))
+                        {
+                                newvalue = defaultvalue;
+                        }
+                }while (!get_key_short (1 << KEY_ESC));
+        }
+//      while (!get_key_press (1 << KEY_ESC));
+}
+uint8_t display_param_menu(uint8_t group)
+{
+        uint8_t items[20];
+        uint8_t size=0;
+        for(ii = 0;ii < PARAM_COUNT; ii++)
+        {
+                if(pgm_read_byte(param_config+(8*ii)) == (group-1))
+                {
+                        items[size] = ii;
+                        size++;
+                }
+        }
+//      offset2=0;
+//      target_pos2=1;
+//      pmode =0;
+        uint8_t val =0 ;
+        while(1)
+        {
+                lcd_cls ();
+                lcd_printp_at (0, 0, PSTR("Choose Parameter:"), 0);
+                lcd_printpns_at (0, 7, PSTR(" \x1a    \x1b     Back   \x0c"), 0);
+                ii = 0;
+                if(offset2 > 0)
+                {
+                        lcd_printp_at(1,1, PSTR("\x1a"), 0);
+                }
+                for(ii = 0;ii < 6 ; ii++)
+                {
+                        if((ii+offset2) < size)
+                        {
+                                lcd_printp_at(3,ii+1,param_names[items[ii+offset2]][DisplayLanguage], 0);
+                                // this reads the the offset in the struct from the pgm configuration table and then reads the value from the struct
+                                uint8_t type = pgm_read_byte(param_config+(8*items[ii+offset2])+1);
+                                if(type == 0)
+                                {
+                                        write_ndigit_number_u (18, ii+1, *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*items[ii+offset2])+4)), 3, 0);
+                                }
+                                if(type == 1)
+                                {
+                                        uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*items[ii+offset2])+4));
+                                        if(value < 248)
+                                                write_ndigit_number_u (18, ii+1, value, 3, 0);
+                                        if(value >= 248)
+                                        {
+                                                lcd_printp_at (18, ii+1, PSTR(" P"), 0);
+                                                write_ndigit_number_u (20, ii+1, 256-value, 1, 0);
+                                        }
+                                }
+                                if(type == 2)
+                                {
+                                        uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*items[ii+offset2])+4));
+                                        uint8_t bitmap = pgm_read_byte(param_config+(8*items[ii+offset2])+3);
+                                        if(value & bitmap)
+                                        {
+                                                lcd_printp_at (18, ii+1, PSTR("  Y"), 0);
+                                        }
+                                        else
+                                        {
+                                                lcd_printp_at (18, ii+1, PSTR("  N"), 0);
+                                        }
+                                }
+                                if(type == 3)
+                                {
+                                        uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*items[ii+offset2])+4));
+                                        if (value<=12)
+//                                      write_ndigit_number_u (18, ii+1, *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*items[ii+offset2])+4)), 3, 0);
+                                        write_ndigit_number_u (18, ii+1, value, 3, 0);
+                                else
+                                    if (value<=(24))
+                                         {
+                                          lcd_printpns_at (18, ii+1, PSTR("S"), 0);
+                                          write_ndigit_number_u (19, ii+1, (value-12), 2, 0);
+                                         }
+                           if (value==25)
+                                   lcd_printpns_at (18, ii+1, PSTR("WPE"), 0);
+                                }
+                                if(type == 4)
+                                {
+                                        write_ndigit_number_u (18, ii+1, *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*items[ii+offset2])+4)), 3, 0);
+                                }
+                                if(type == 5)
+                                {
+                                        write_ndigit_number_u (18, ii+1, (*(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*items[ii+offset2])+4)))*15, 3, 0);
+                                }
+                                if(type == 6)
+                                {
+                                        uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*items[ii+offset2])+4));
+                                        if(value == 0)
+                                        {
+                                                lcd_printp_at (18, ii+1, PSTR("PPM"), 0);
+                                        }
+                                        else if(value == 1)
+                                        {
+                                                lcd_printp_at (18, ii+1, PSTR(" SP"), 0);
+                                        }
+                                        else if(value == 2)
+                                        {
+                                                lcd_printp_at (18, ii+1, PSTR("SPh"), 0);
+                                        }
+                                        else if(value == 3)
+                                        {
+                                                lcd_printp_at (18, ii+1, PSTR("SPl"), 0);
+                                        }
+                                        else if(value == 4)
+                                        {
+                                                lcd_printp_at (18, ii+1, PSTR("Jet"), 0);
+                                        }
+                                        else if(value == 5)
+                                        {
+                                                lcd_printp_at (18, ii+1, PSTR("ACT"), 0);
+                                        }
+                                        else
+                                        {
+                                                write_ndigit_number_u (18, ii+1, *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*items[ii+offset2])+4)), 3, 0);
+                                        }
+                                }
+                        }
+                        if((ii == 5)&&(ii+offset2 < (size-1)))
+                        {
+                                lcd_printp_at(1,6, PSTR("\x1b"), 0);
+                        }
+                }
+/*              write_ndigit_number_u (0, 0,offset2, 3, 0);
+                write_ndigit_number_u (4, 0,target_pos2, 3, 0);
+                write_ndigit_number_u (7, 0,pmode, 3, 0);
+                write_ndigit_number_u (10, 0,size, 3, 0);
+                write_ndigit_number_u (14, 0,val, 3, 0);
+                write_ndigit_number_u (17, 0,group, 3, 0);
+*/
+                if(pmode == 0)
+                {
+                        if(offset2 == 0)
+                        {
+                                if(size > 6)
+                                {
+                                        val = menu_choose2 (1, 5, target_pos2,0,1);
+                                }
+                                else
+                                {
+                                        val = menu_choose2 (1, size, target_pos2,0,0);
+                                }
+                        }
+                        else
+                        {
+                                val = menu_choose2 (2, 5, target_pos2,1,1);
+                        }
+                }
+                if(pmode == 1)
+                {
+                        if(offset2+7 > size)
+                        {
+                                val = menu_choose2 (2, 6, target_pos2,1,0);
+                        }
+                        else
+                        {
+                                val = menu_choose2 (2, 5, target_pos2,1,1);
+                        }
+                }
+                if(val == 254)
+                {
+                        offset2++;
+                        pmode = 1;
+                        target_pos2 = 5;
+                }else if(val == 253)
+                {
+                        offset2--;
+                        pmode = 0;
+                        target_pos2 = 2;
+                }
+                else
+                {
+                        break;
+                }
+        }
+        if(val != 255)
+        {
+                target_pos2=val;
+                return items[val+offset2-1];
+        }
+        else
+        {
+                return val;
+        }
+}
+uint8_t display_section_menu(void)
+{
+        uint8_t size = PAGES;
+        uint8_t val =0;
+        while(1)
+        {
+                lcd_cls ();
+                lcd_printp_at (0, 0, PSTR("Choose Section:"), 0);
+                lcd_printpns_at (0, 7, PSTR(" \x1a    \x1b     Back   \x0c"), 0);
+//              write_ndigit_number_u(0,0,dmode,2,0);
+//              write_ndigit_number_u(2,0,offset,2,0);
+//              write_ndigit_number_u(4,0,target_pos,2,0);
+                ii = 0;
+                if(offset > 0)
+                {
+                        lcd_printp_at(1,1, PSTR("\x1a"), 0);
+                }
+                for(ii = 0;ii < 6 ; ii++)
+                {
+                        if((ii+offset) < size)
+                        {
+                                lcd_printp_at(3,ii+1,param_pages[ii+offset][DisplayLanguage], 0);
+                        }
+                        if((ii == 5)&&(ii+offset < (size-1)))
+                        {
+                                lcd_printp_at(1,6, PSTR("\x1b"), 0);
+                        }
+                }
+                if(dmode == 0)
+                {
+                        if(offset == 0)
+                        {
+                                if(size > 6)
+                                {
+                                        val = menu_choose2 (1, 5, target_pos,0,1);
+                                }
+                                else
+                                {
+                                        val = menu_choose2 (1, size, target_pos,0,0);
+                                }
+                        }
+                        else
+                        {
+                                val = menu_choose2 (2, 5, target_pos,1,1);
+                        }
+                }
+                if(dmode == 1)
+                {
+                        if(offset+7 > size)
+                        {
+                                val = menu_choose2 (2, 6, target_pos,1,0);
+                        }
+                        else
+                        {
+                                val = menu_choose2 (2, 5, target_pos,1,1);
+                        }
+                }
+                if(val == 254)
+                {
+                        offset++;
+                        dmode = 1;
+                        target_pos = 5;
+                }else if(val == 253)
+                {
+                        offset--;
+                        dmode = 0;
+                        target_pos = 2;
+                }
+                else
+                {
+                        break;
+                }
+        }
+//      write_ndigit_number_u(0,0,val,2,0);
+//       menu_choose2 (2, 5, target_pos,1,1);
+        if(val != 255)
+        {
+                target_pos=val;
+                return val+offset;
+        }
+        else
+        {
+                return val;
+        }
+}
+uint8_t display_settings_menu (void)
+{
+    uint8_t status;
+        lcd_cls ();
+        uint8_t setting = 0;
+        lcd_printp_at (0, 0, PSTR("Edit Setting:"), 0);
+        lcd_printpns_at (0, 7, PSTR(" \x1a    \x1b     Back   \x0c"), 0);
+        for(setting=1;setting<6;setting++)
+        {
+                status = load_setting(setting);
+                if(status == 255) return 255;
+        write_ndigit_number_u (3, setting, status, 1, 0);
+        lcd_print_at (5,setting,(uint8_t*)mk_param_struct->Name, 0);
+        }
+        lcd_printp_at (3, 6, PSTR("Copy Setting"), 0);
+        status = load_setting(0xff);
+        if(status == 255) return 255;
+        setting = menu_choose (1, 6, 1,status);
+        return setting;
+}
+uint8_t load_setting(uint8_t setting)
+{
+        mode = 'Q';     // Settings
+        uint8_t timeout = 50;
+        rxd_buffer_locked = FALSE;
+        while (!rxd_buffer_locked && timeout)
+        {
+                SendOutData ('q', ADDRESS_FC, 1, &setting, 1);
+        //      _delay_ms(50);
+                timer = 20;
+            while (timer > 0);
+            timeout--;
+        }
+        if (timeout != 0)
+        {
+                Decode64 ();
+                setting = *pRxData;
+            mk_param_struct = (mk_param_struct_t *) (pRxData + 1) ;
+        }
+        else
+        {       // timeout occured
+                lcd_printp_at (0, 2, PSTR("ERROR: no data"), 0);
+                timer = 100;
+                while (timer > 0);
+                setting = 255;
+        }
+        return setting;
+}
+uint8_t write_setting(uint8_t setting)
+{
+        mode = 'S';     // Settings
+        uint8_t timeout = 50;
+        rxd_buffer_locked = FALSE;
+        while (!rxd_buffer_locked && timeout)
+        {
+                SendOutData ('s', ADDRESS_FC, 2, &setting, 1, mk_param_struct, sizeof(mk_param_struct_t));
+        //      _delay_ms(50);
+                timer = 20;
+            while (timer > 0);
+            timeout--;
+        }
+        if (timeout != 0)
+        {
+                Decode64 ();
+                setting = *pRxData;
+        }
+        else
+        {       // timeout occured
+                lcd_printp_at (0, 2, PSTR("ERROR: no data"), 0);
+                timer = 100;
+                while (timer > 0);
+                setting = 255;
+        }
+        return setting;
+}

 /Transportables_Koptertool/tags/V3.x/parameter.h
 ,0 → 1,36
+/*****************************************************************************
+ *   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);
+uint8_t load_setting(uint8_t setting);
+#endif

 /Transportables_Koptertool/tags/V3.x/parameter_names.h
 ,0 → 1,217
+/*****************************************************************************
+ *   Copyright (C) 2010 Sebastian Boehm, seb@exse.net                        *
+ *   Copyright [C] 2011 Christian 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.               *
+ *                                                                           *
+ *   04/2011 Adding Multilanguage Support (Christian Brandtner)              *
+ *****************************************************************************/
+#define PAGES 13
+#define PARAM_COUNT 123
+#define PARAM_LENGTH 15
+#define PARAM_NUM_LANG 3
+prog_char param_pages[PAGES][PARAM_NUM_LANG][PARAM_LENGTH]= // zeilen,zeichen+1
+{
+        {"Kanaele   ","Canaux    ","Channel   "},
+        {"Main      ","Config    ","main      "},
+        {"Stick     ","Manche    ","stick     "},
+        {"Looping   ","Looping   ","Looping   "},
+        {"Hoehe     ","Altitude  ","Altitude  "},
+        {"Kamera    ","Camera    ","Camera    "},
+        {"NaviCtrl  ","NaviCtrl  ","NaviCtrl  "},
+        {"Ausgaenge ","Sorties   ","Outputs   "},
+        {"Versch.   ","Divers    ","Divers    "},
+        {"Gyro      ","Gyro      ","Gyro      "},
+        {"Benutzer  ","Parametres","User      "},
+        {"Achskoppl.","Coupl Axes","Coupl Axes"},
+        {"Mixer     ","Config Mix","Config Mix"}
+};
+//Namen
+prog_char  param_names[PARAM_COUNT][PARAM_NUM_LANG][PARAM_LENGTH]=
+{
+//    German            French                  Englisch
+   // group 0 (kanaele)
+         {"Gas           ","Gaz           ","Throttle      "},
+         {"Gier          ","Lacet         ","Gier          "},
+         {"Nick          ","Tangage       ","Nick          "},
+         {"Roll          ","Roulis        ","Roll          "},
+         {"Poti 1        ","Poti 1        ","Poti 1        "},
+         {"Poti 2        ","Poti 2        ","Poti 2        "},
+         {"Poti 3        ","Poti 3        ","Poti 3        "},
+         {"Poti 4        ","Poti 4        ","Poti 4        "},
+         {"Poti 5        ","Poti 5        ","Poti 5        "},
+         {"Poti 6        ","Poti 6        ","Poti 6        "},
+         {"Poti 7        ","Poti 7        ","Poti 7        "},
+         {"Poti 8        ","Poti 8        ","Poti 8        "},
+         {"Motor Sich.Sch","Mot.Safety Sw.","Mot.Safety Sw."},
+         {"Erw. Sig. Pr. ","Ctrl Ren Recep","Enh. Sig.Check"},
+         {"Empfaenger Typ","Type Recepteur","Receiver Type "},
+        // group 1 (main)
+         {"Hoehenregeler ","Ctrl Altitude ","Ctrl Altitude "},
+         {"GPS           ","GPS           ","GPS           "},
+         {"Kompass       ","Compas        ","Compass       "},
+         {"KompFest Ausr.","Maintien Cap  ","CompOrient.Fix"},
+         {"Erw. Sig. Pr. ","Ctrl Ren Recep","Sens.RcvSigVal"},
+         {"Achs(e.)koppl.","Deceuplage Axe","Axis Couping  "},
+         {"H\x03henF.Schalt.","Limit Vit. Rot","RotRate limit."},
+         {"Heading Hold  ","Orient. fixe  ","Nick/Roll     "},
+         // group 2 (stick)
+         {"Nick/Roll P   ","Roul/Tang P   ","Nick/Roll P   "},
+         {"Nick/Roll D   ","Roul/Tang D   ","Nick/Roll D   "},
+         {"Gier P        ","Lacet P       ","Gier P        "},
+         {"Externe Kontr.","Ctrl Externe  ","Extern Ctrl   "},
+         // group3 : looping
+         {"Looping oben  ","Looping Avant ","Looping up    "},
+         {"Looping unten ","Looping Arrier","Looping down  "},
+         {"Looping links ","Looping Gauche","Looping left  "},
+         {"Looping rechts","Looping Droite","Looping right "},
+         {"Gas Limit     ","Limite Gaz    ","Throttle Limit"},
+         {"Ansprechschw. ","Seuil Reponse ","Seuil Reponse "},
+         {"Hysterese     ","Hysteresis    ","Hysteresis    "},
+         {"Umkehrp. Nick ","Invers Roulis ","Nick Invers  "},
+         {"Umkehrp. Roll ","Invers Tangage","Roll Invers  "},
+        // group 4 (hoehe)
+         {"Hoehenregelung","Ctrl Altitude ","Altitude Ctrl "},
+         {"Y:HBeg,N:Vario","Y:LimH,N:Vario","Y:LimH,N:Vario"},
+         {"Schalter f. H.","Swith hauteur ","Switch f. High"},
+         {"akust. Vario  ","Vario acoustic","acoustic Vario"},
+         {"Sollh\x03he      ","Hauteur Max   ","Setpoint      "},
+         {"Min. Gas      ","Gaz min       ","min. throttle "},
+         {"Hoehe P       ","Altitude P    ","Altitude P    "},
+         {"Luftdruck D   ","Pression D    ","Barometric D  "},
+         {"Z-ACC         ","ACC Z         ","ACC Z         "},
+         {"Verst\x01rkung/R","Gain/Frequence","gain/rate     "},
+         {"Schwebegas +/-","Var vol stat  ","hoover varia. "},
+         {"GPS Z         ","GPS Z         ","GPS Z         "},
+         {"Stick Neutr. P","Pos Neutre Man","stick neutr. P"},
+         // group 5 : kamera
+         {"Nick S. Anst. ","Asser tangage ","nick serv ctrl"},
+         {"Nick Kompens. ","Comp tangage  ","nick compens. "},
+         {"Nick Umkehren ","Inverser dir  ","nick inv. dir."},
+         {"Nick Servo min","Servo min     ","nick servo min"},
+         {"Nick Servo max","servo max     ","nick servo max"},
+         {"Roll S. Anst. ","Asser roulis  ","roll serv ctrl"},
+         {"Roll Kompens. ","Comp tangage  ","roll compens. "},
+         {"Roll Umkehren ","Inverser dir  ","roll inv. dir."},
+         {"Roll Servo min","Servo min     ","roll servo min"},
+         {"Roll Servo max","servo max     ","roll servo max"},
+         {"Anst. Geschw. ","Taux refresh  ","servo refresh "},
+         {"Manuelle Gesch","mauell Speed  ","manuell Speed "},
+         {"Cam Richtung  ","Cam Orient    ","Cam Orient    "},
+         {"Servo 3       ","Servo 3       ","Servo 3       "},
+         {"Servo 4       ","Servo 4       ","Servo 4       "},
+         {"Servo 5       ","Servo 5       ","Servo 5       "},
+         // group 6 : navictrl
+         {"GPS           ","Activer GPS   ","enable GPS    "},
+         {"GPS Modus St. ","Def mode GPS  ","GPS mode contr"},
+         {"GPS Verstaerk.","Gain GPS      ","GPS Gain      "},
+         {"GPS St. Schw. ","Seuil manche  ","GPS stick thre"},
+         {"Min. Sat.     ","Nbre Min. Sat.","Min. Sat.     "},
+         {"GPS-P         ","GPS-P         ","GPS-P         "},
+         {"GPS-I         ","GPS-I         ","GPS-I         "},
+         {"GPS-D         ","GPS-D         ","GPS-D         "},
+         {"P Limit       ","Limite P      ","Limit  P      "},
+         {"I Limit       ","Limite I      ","Limit  I      "},
+         {"D Limit       ","Limite D      ","Limit  D      "},
+         {"GPS Acc       ","Accel GPS     ","GPS Acc       "},
+         {"GPS Windkorr. ","Correct vent  ","GPS Wind Corr."},
+         {"Bremswirkung  ","Compens vit   ","Speed compens."},
+         {"GPS max. Rad. ","Rayon GPS max ","GPS max.radius"},
+         {"GPS Winkel Li.","Limit angl GPS","GPS angl.limit"},
+         {"PH Login time ","Tps memoris   ","PH login time "},
+         // group 7 : ausgaenge
+         {"J16 Bitmaske  ","Bitmask S1    ","Out1 Bitmask  "},
+         {"J16 Timing    ","Horloge S1    ","Out1 timing   "},
+         {"J17 Bitmaske  ","Bitmask S2    ","Out2 Bitmask  "},
+         {"J17 Timing    ","Horloge S2    ","Out2 timing   "},
+         {"nur mit Motor ","Actif au repos","act. wi. motor"},
+         {"J16 Untersp. W","Al undervoltag","Out1 undervolt"},
+         {"aktiv         ","actif         ","activ         "},
+         {"J17 Untersp. W","Al undervoltag","Out2 undervolt"},
+         {"aktiv         ","actif         ","activ         "},
+         // group 8 : versch.
+         {"Min. Gas      ","Gaz Min.      ","min. throttle "},
+         {"Max. Gas      ","Gaz Max.      ","max. throttle "},
+         {"Kompasswirkung","Effet compas  ","compass effect"},
+         {"Carefree St.  ","Carefree Ctrl ","Carefree Ctrl "},
+         {"Unterspannung ","Sous tension  ","undervoltage  "},
+         {"Not Gas Zeit  ","Duree secours ","Emerg.Thr.Time"},
+         {"Not Gas       ","Gaz de secours","Emerg.Throttle"},
+         // group 9 : gyro
+         {"Gyro P        ","Gyro P        ","Gyro P        "},
+         {"Gyro I        ","Gyro I        ","Gyro I        "},
+         {"Gyro D        ","Gyro D        ","Gyro D        "},
+         {"Gier P        ","Lacet P       ","Lacet P       "},
+         {"Gier I        ","Lacet I       ","Lacet I       "},
+         {"Dynamische St.","Stab dynamique","dynamic stabi."},
+         {"Drehratenbeg. ","Limit vit Rota","RotRate limit."},
+         {"ACC/Gyro Fak. ","ACC/Gyro Fact ","ACC/Gyro Fact "},
+         {"ACC/Gyro Komp.","Comp ACC/Gyro ","Comp ACC/Gyro "},
+         {"Hauptregler I ","Regul princ I ","Main I        "},
+         {"Drifkompensat.","Compens deriv ","drift Compens."},
+         {"Gyro stab.    ","Gyro stability","Gyro stability"},
+         // group 10: benutzer
+         {"Parameter 1   ","Parameter 1   ","Parameter 1   "},
+         {"Parameter 2   ","Parameter 2   ","Parameter 2   "},
+         {"Parameter 3   ","Parameter 3   ","Parameter 3   "},
+         {"Parameter 4   ","Parameter 4   ","Parameter 4   "},
+         {"Parameter 5   ","Parameter 5   ","Parameter 5   "},
+         {"Parameter 6   ","Parameter 6   ","Parameter 6   "},
+         {"Parameter 7   ","Parameter 7   ","Parameter 7   "},
+         {"Parameter 8   ","Parameter 8   ","Parameter 8   "},
+         // group 11: achskoppl
+         {"Achs(e.)koppl.","(De)Coupl Axes","(De)Coupl Axes"},
+         {"Gier pos. Kopp","Retroac lacet ","Retroac lacet "},
+         {"Nick/Roll Kopp","Retro roul/tan","Retro roul/tan"},
+         {"Gier Korrektur","Correct lacet ","Correct lacet "},
+         // group 12: mixer
+         {"Orientierung  ","Orientierung  ","Orientation   "}
+};

 /Transportables_Koptertool/tags/V3.x/pwm.c
 ,0 → 1,205
+/*****************************************************************************
+ *   Copyright (C) 2010 seb@exse.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 <math.h>
+#include "main.h"
+#include "osd.h"
+#include "lcd.h"
+#include "timer.h"
+#include "usart.h"
+#include "mk-data-structs.h"
+NaviData_t *naviData;
+#define TIMEOUT 200 // 2 sec
+void pwm (void)
+{
+        if (hardware == FC)
+        {
+                lcd_printp_at(0, 3, PSTR("Only with NC !"), 0);
+                timer = 100;
+                while (timer > 0);
+                return;
+        }
+        lcd_cls();
+        SwitchToNC();
+        mode = 'O';
+        // disable debug...
+        //      RS232_request_mk_data (0, 'd', 0);
+        uint8_t tmp_dat;
+        tmp_dat = 0;
+        SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
+        // 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);
+        timer = TIMEOUT;
+        abo_timer = ABO_TIMEOUT;
+        lcd_printp_at(0, 0, PSTR("GPS Alt:"), 0);
+        lcd_printp_at(0, 1, PSTR("Bar Alt:"), 0);
+        lcd_printp_at(0, 2, PSTR("Distance:"), 0);
+        lcd_printp_at(0, 3, PSTR("Bearing:"), 0);
+        lcd_printp_at(0, 4, PSTR("V-Angle:"), 0);
+        uint16_t bearing = 36;
+        do
+        {
+                if (rxd_buffer_locked)
+                {
+                        timer = TIMEOUT;
+                        Decode64 ();
+                        naviData = (NaviData_t *) pRxData;
+                        GPS_Pos_t currpos;
+                        currpos.Latitude = naviData->CurrentPosition.Latitude;
+                        currpos.Longitude = naviData->CurrentPosition.Longitude;
+            write_ndigit_number_u (11, 2, naviData->HomePositionDeviation.Distance / 10, 3, 0);
+                        lcd_putc (14, 2, 'm', 0);
+            write_ndigit_number_u (11, 3, naviData->HomePositionDeviation.Bearing, 3, 0);
+                        lcd_putc (14, 3, 'm', 0);
+            if (naviData->Altimeter > 300 || naviData->Altimeter < -300)
+            {
+                // above 10m only write full meters
+                write_ndigit_number_s (10, 1, naviData->Altimeter / 30, 4, 0);
+            }
+            else
+            {
+                // up to 10m write meters.dm
+                write_ndigit_number_s_10th (10, 1, naviData->Altimeter / 3, 3, 0);
+            }
+            lcd_putc (14, 1, 'm', 0);
+                        if (((naviData->HomePosition.Altitude - naviData->CurrentPosition.Altitude)/1000) > 100 || ((naviData->HomePosition.Altitude - naviData->CurrentPosition.Altitude)/1000) < -100)
+            {
+                // above 10m only write full meters
+                write_ndigit_number_s (9, 0, (naviData->HomePosition.Altitude - naviData->CurrentPosition.Altitude) / 1000, 5, 0);
+            }
+            else
+            {
+                // up to 10m write meters.dm
+                write_ndigit_number_s_10th (9, 0, (naviData->HomePosition.Altitude - naviData->CurrentPosition.Altitude) / 100, 4, 0);
+            }
+            lcd_putc (14, 0, 'm', 0);
+                        uint16_t deg = atan2(naviData->Altimeter / 3, naviData->HomePositionDeviation.Distance)*180/M_PI;
+                        if(deg>90)deg=90;
+                        if(deg<0)deg=0;
+            write_ndigit_number_s (11, 4, deg , 4, 0);
+                        // wenn hoeher 10 order weiter weg als 10
+                        if((naviData->Altimeter > 300)||( naviData->HomePositionDeviation.Distance > 100))
+                        {
+                                set_pwm_b(deg);
+                        }
+                        // wenn weiter weg als 20
+                        if ( naviData->HomePositionDeviation.Distance > 200)
+                        {
+                                //set_pwm_a(360-naviData->HomePositionDeviation.Bearing);
+                        }
+                        set_pwm_a(360-bearing);
+                        write_ndigit_number_s (7, 7, bearing, 5, 0);
+                        write_ndigit_number_s (0, 7, OCR1A, 5, 0);
+            write_ndigit_number_u (0, 6, naviData->UBat, 4, 0);
+            uint8_t cell = (naviData->UBat)/4;
+            if(naviData->UBat < 127)
+                cell = (naviData->UBat)/3;
+            write_ndigit_number_u (10, 6, cell, 4, 0);
+                        lcd_frect ((8*0), (8*5), (cell-34)*16 , 6, 1);
+                        rxd_buffer_locked = FALSE;
+                }
+                if (!abo_timer)
+                {       // renew abo every 3 sec
+                        // 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);
+                        abo_timer = ABO_TIMEOUT;
+                }
+                if (get_key_press (1 << KEY_PLUS))
+                {
+                        bearing+=36;
+                }
+                if (get_key_press (1 << KEY_MINUS))
+                {
+                        bearing-=36;
+                }
+        }
+        while (!get_key_press (1 << KEY_ESC) && timer);
+        tmp_dat = 0;
+        SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
+        mode = 0;
+        rxd_buffer_locked = FALSE;
+        if (!timer)
+        {       // timeout occured
+                lcd_cls ();
+                lcd_printp_at (0, 0, PSTR("ERROR: no data"), 0);
+                timer = 100;
+                while (timer > 0);
+                pwm();
+        }
+}

 /Transportables_Koptertool/tags/V3.x/pwm.h
 ,0 → 1,27
+/*****************************************************************************
+ *   Copyright (C) 2010 seb@exse.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 _PWM_H
+#define _PWM_H
+//*****************************************************************************
+//
+void pwm (void);
+#endif

 /Transportables_Koptertool/tags/V3.x/settings.c
 ,0 → 1,51
+/*****************************************************************************
+ *   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 "eeprom.h"
+//*****************************************************************************
+//
+void set_toggledisplay(void)
+{
+        cli();
+        if (LCD_ORIENTATION == 0)
+                LCD_ORIENTATION = 4;
+        else
+                LCD_ORIENTATION = 0;
+        WriteParameter ();
+        LCD_Init();
+        sei();
+}

 /Transportables_Koptertool/tags/V3.x/settings.h
 ,0 → 1,29
+/*****************************************************************************
+ *   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);
+#endif

 /Transportables_Koptertool/tags/V3.x/setup.c
 ,0 → 1,379
+/*****************************************************************************
+ *   Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net                  *
+ *   Copyright (C) 2011 Christian 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.               *
+ *                                                                                                                                               *
+ *   Einstellen der Variablen Parameter des P-MKTool                                     *
+ *                                                                           *
+ *****************************************************************************/
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#include <string.h>
+#include "main.h"
+#include "setup.h"
+#include "lcd.h"
+#include "eeprom.h"
+#include "timer.h"
+#include "menu.h"
+#include "Wi232.h"
+uint8_t spalte;
+uint8_t mmode;
+uint8_t zeile;
+uint8_t edit;
+uint8_t MenuItems;
+uint8_t LCD_Ausrichtung;
+uint8_t edit =0;
+uint8_t LCD_Change = 0;
+uint8_t Wi_Change =0;
+//
+#define ITEMS_PKT 7
+prog_char param_menuitems_pkt[ITEMS_PKT][15]= // zeilen,zeichen+1
+{
+        "LowBat Warn  ",
+        "Displ.Timeout",
+        "LCD Orient.  ",
+        "Language     ",
+        "Wi TX/RX Chan",
+        "Wi NetW. Grp.",
+        "Wi NetW. Mode",
+};
+/***********************************************************************************************//***********************************************************************************************/
+uint8_t Edit_Int10th_Value(uint8_t Value, uint8_t min, uint8_t max,const char *Text)
+{
+        lcd_cls();
+        lcd_printpns_at (0, 2, Text, 0);
+        write_ndigit_number_u_10th (16, 2,Value, 3, 0);
+        lcd_printpns_at (0, 7, PSTR(" \x18    \x19     Back   "), 0);
+        do
+                {
+                        if ((get_key_press (1 << KEY_PLUS) || get_key_rpt (1 << KEY_PLUS)) && (Value < max))
+                         {
+                                edit=1;
+                                Value++;
+                                write_ndigit_number_u_10th (16, 2,Value, 3, 0);
+                         }
+                        if ((get_key_press (1 << KEY_MINUS) || get_key_rpt (1 << KEY_MINUS)) && (Value > min))
+                         {
+                                edit=1;
+                                Value--;
+                                write_ndigit_number_u_10th (16, 2,Value, 3, 0);
+                         }
+                }
+                while (!get_key_press (1 << KEY_ESC));
+        return Value;
+}
+/***********************************************************************************************//***********************************************************************************************/
+uint8_t Edit_Int_Value(uint8_t Value, uint8_t min, uint8_t max,const char *Text)
+{
+        lcd_cls();
+        lcd_printpns_at (0, 2, Text, 0);
+        write_ndigit_number_u (16, 2, Value, 3, 0);
+        lcd_printpns_at (0, 7, PSTR(" \x18    \x19     Back   "), 0);
+        do
+                {
+                        if ((get_key_press (1 << KEY_PLUS) || get_key_rpt (1 << KEY_PLUS)) && (Value < max))
+                         {
+                                edit=1;
+                                Value++;
+                                write_ndigit_number_u (16, 2,Value, 3, 0);
+                         }
+                        if ((get_key_press (1 << KEY_MINUS) || get_key_rpt (1 << KEY_MINUS)) && (Value > min))
+                         {
+                                edit=1;
+                                Value--;
+                                write_ndigit_number_u (16, 2,Value, 3, 0);
+                         }
+                }
+                while (!get_key_press (1 << KEY_ESC));
+       return Value;
+}
+/***********************************************************************************************//***********************************************************************************************/
+uint8_t Edit_Wi_NetMode_Value(uint8_t Value, uint8_t min, uint8_t max,const char *Text)
+{
+        lcd_cls();
+        lcd_printpns_at (0, 2, Text, 0);
+         switch (Value)
+                    {
+                       case     0x0 :lcd_printpns_at (15, 2, PSTR("Slave "), 0);break;
+                       case     0x1 :lcd_printpns_at (15, 2, PSTR("Normal"), 0);break;
+                       break;
+                    }
+        lcd_printpns_at (0, 7, PSTR(" \x18    \x19     Back   "), 0);
+        do
+                {
+                if ((get_key_press (1 << KEY_PLUS) || get_key_rpt (1 << KEY_PLUS)) && (Value == 0))
+                 {
+                        edit=1;
+                        Value=NetMode_Normal;
+                    lcd_printpns_at (15, 2, PSTR("Normal"), 0);
+                 }
+                if ((get_key_press (1 << KEY_MINUS) || get_key_rpt (1 << KEY_MINUS)) && (Value == 1))
+                 {
+                        edit=1;
+                        Value=NetMode_Slave;
+                    lcd_printpns_at (15, 2, PSTR("Slave "), 0);
+                 }
+                }
+                while (!get_key_press (1 << KEY_ESC));
+       return Value;
+}
+/***********************************************************************************************//***********************************************************************************************/
+uint8_t Edit_Language(uint8_t Value, uint8_t min, uint8_t max,const char *Text)
+{
+        lcd_cls();
+        lcd_printpns_at (0, 2, Text, 0);
+         switch (Value)
+                    {
+                       case     0x0 :lcd_printpns_at (14, 2, PSTR("Deutsch"), 0);break;
+                       case     0x1 :lcd_printpns_at (14, 2, PSTR("France"), 0);break;
+                       case     0x2 :lcd_printpns_at (14, 2, PSTR("English"), 0);break;
+                       break;
+                    }
+        lcd_printpns_at (0, 7, PSTR(" \x18    \x19     Back   "), 0);
+        do
+                {
+                        if ((get_key_press (1 << KEY_PLUS) || get_key_rpt (1 << KEY_PLUS)) && (Value < max))
+                         {
+                                edit=1;
+                                Value++;
+                                 switch (Value)
+                                            {
+                                               case     0x0 :lcd_printpns_at (14, 2, PSTR("Deutsch"), 0);break;
+                                               case     0x1 :lcd_printpns_at (14, 2, PSTR("France "), 0);break;
+                                               case     0x2 :lcd_printpns_at (14, 2, PSTR("English"), 0);break;
+                                               break;
+                                            }
+                         }
+                        if ((get_key_press (1 << KEY_MINUS) || get_key_rpt (1 << KEY_MINUS)) && (Value > min))
+                         {
+                                edit=1;
+                                Value--;
+                                 switch (Value)
+                                            {
+                                                   case 0x0 :lcd_printpns_at (14, 2, PSTR("Deutsch"), 0);break;
+                                                   case 0x1 :lcd_printpns_at (14, 2, PSTR("France "), 0);break;
+                                                   case 0x2 :lcd_printpns_at (14, 2, PSTR("English"), 0);break;
+                                                   break;
+                                            }
+                         }
+                }
+                while (!get_key_press (1 << KEY_ESC));
+       return Value;
+}
+/***********************************************************************************************/
+uint8_t Edit_Orientation(uint8_t Value, uint8_t min, uint8_t max,const char *Text)
+{
+        lcd_cls();
+        lcd_printpns_at (0, 2, Text, 0);
+    switch (Value)
+    {
+       case     0x0 :lcd_printpns_at (14, 2, PSTR("Normal "), 0);break;
+       case     0x4 :lcd_printpns_at (14, 2, PSTR("Reverse"), 0);break;
+       break;
+    }
+        lcd_printpns_at (0, 7, PSTR(" \x18    \x19     Back   "), 0);
+        do
+                {
+                        if ((get_key_press (1 << KEY_PLUS) || get_key_rpt (1 << KEY_PLUS)) && (Value == 0))
+                         {
+                                edit=1;
+                                Value=4;
+                            lcd_printpns_at (14, 2, PSTR("Reverse"), 0);
+                         }
+                        if ((get_key_press (1 << KEY_MINUS) || get_key_rpt (1 << KEY_MINUS)) && (Value == 4))
+                         {
+                                edit=1;
+                                Value=0;
+                            lcd_printpns_at (14, 2, PSTR("Normal "), 0);
+                         }
+                }
+                while (!get_key_press (1 << KEY_ESC));
+       return Value;
+}
+void PMK_Setup (void)
+{
+        uint8_t ii = 0;
+        uint8_t offset = 0;
+        uint8_t size = 0;
+        size = ITEMS_PKT ;
+        uint8_t dmode = 0;
+        uint8_t target_pos = 1;
+        uint8_t val;
+        lcd_cls ();
+        mmode = 0;
+        edit=0;
+        LCD_Change =0;
+        Wi_Change =0;
+        zeile = 1;
+        MenuItems =2;
+        LCD_Ausrichtung = LCD_ORIENTATION;
+        val = 0;
+                while(1)
+        {
+                lcd_cls ();
+                lcd_printp_at (0, 0, PSTR("PMK-Tool Setup"), 0);
+                lcd_printpns_at (0, 7, PSTR(" \x18    \x19     Back   \x0c "), 0);
+                while(1)
+                {
+                        ii = 0;
+                        if(offset > 0)
+                        {
+                                lcd_printp_at(1,1, PSTR("\x1a"), 0);
+                        }
+                        for(ii = 0;ii < 6 ; ii++)
+                        {
+                                if((ii+offset) < size)
+                                {
+                         lcd_printp_at(3,ii+1,param_menuitems_pkt[ii+offset], 0);
+                                }
+                                if((ii == 5)&&(ii+offset < (size-1)))
+                                {
+                                        lcd_printp_at(1,6, PSTR("\x1b"), 0);
+                                }
+                        }
+                        if(dmode == 0)
+                        {
+                                if(offset == 0)
+                                {
+                                        if(size > 6)
+                                        {
+                                                val = menu_choose2 (1, 5, target_pos,0,1);
+                                        }
+                                        else
+                                        {
+                                                val = menu_choose2 (1, size, target_pos,0,0);
+                                        }
+                                }
+                                else
+                                {
+                                        val = menu_choose2 (2, 5, target_pos,1,1);
+                                }
+                        }
+                        if(dmode == 1)
+                        {
+                                if(offset+7 > size)
+                                {
+                                        val = menu_choose2 (2, 6, target_pos,1,0);
+                                }
+                                else
+                                {
+                                        val = menu_choose2 (2, 5, target_pos,1,1);
+                                }
+                        }
+                        if(val == 254)
+                        {
+                                offset++;
+                                dmode = 1;
+                                target_pos = 5;
+                        }else if(val == 253)
+                        {
+                                offset--;
+                                dmode = 0;
+                                target_pos = 2;
+                        }else if(val == 255)
+                        {       /* Ende mit BACK, speichern */
+                                if  (edit==1)
+                                {
+                                 WriteParameter();
+                                  if (LCD_Change)
+                                        {
+                                        LCD_ORIENTATION = LCD_Ausrichtung;
+                                        cli();
+                                        LCD_Init();
+                                        sei();
+                                        }
+                                  if (Wi_Change) InitWi232();
+                                }
+                                return;
+                        }
+                        else
+                        {
+                                break;
+                        }
+                }
+                target_pos = val;
+                if((val+offset) == 1 )  MK_LowBat = Edit_Int10th_Value(MK_LowBat,33,170,PSTR("LowBat Warn V:"));
+                if((val+offset) == 2 )  DisplayTimeout = Edit_Int_Value(DisplayTimeout,0,254,PSTR("Disp.Timeout :"));
+                if((val+offset) == 3 )  {
+                                                                 LCD_Ausrichtung = Edit_Orientation(LCD_Ausrichtung,0,4,PSTR("LCD Orient.: "));
+                                                                 if (edit) if(!LCD_Change) LCD_Change =1;
+                                                                }
+                if((val+offset) == 4 )  DisplayLanguage = Edit_Language(DisplayLanguage,0,2,PSTR("Language   : "));
+                if((val+offset) == 5 )  {
+                                                                 WiTXRXChannel =  Edit_Int_Value(WiTXRXChannel,0,0x79,PSTR("Wi TX/RX Chan:"));
+                                                                 if (edit) if(!Wi_Change) Wi_Change =1;
+                                                                }
+                if((val+offset) == 6 )  {
+                                                                 WiNetworkGroup = Edit_Int_Value(WiNetworkGroup,0,0x79,PSTR("Wi NetW. Grp.:"));
+                                                                 if (edit) if(!Wi_Change) Wi_Change =1;
+                                                                }
+                if((val+offset) == 7 )  {
+                                                                 WiNetworkMode =  Edit_Wi_NetMode_Value(WiNetworkMode,0,1,PSTR("Wi NetW. Mode:"));
+                                                                 if (edit) if(!Wi_Change) Wi_Change =1;
+                                                                }
+        }
+}

 /Transportables_Koptertool/tags/V3.x/setup.h
 ,0 → 1,28
+/*****************************************************************************
+ *   Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net                  *
+ *   Copyright (C) 2011 Christian 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.               *
+ *                                                                           *
+ *****************************************************************************/
+#ifndef _setup_H
+#define _setup_H
+//*****************************************************************************
+//
+void PMK_Setup (void);
+#endif

 /Transportables_Koptertool/tags/V3.x/timer.c
 ,0 → 1,293
+/*****************************************************************************
+ *   Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net                  *
+ *   based on the key handling by Peter Dannegger                            *
+ *     see www.mikrocontroller.net                                           *
+ *   Copyright (C) 2011 Christian 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.               *
+ *                                                                                                                                               *
+ *   22.03.2011 Zeitgesteuerte Displaybeleuchtung C.B.                                           *
+ *                                                                           *
+ *****************************************************************************/
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#include <string.h>
+#include "main.h"
+#include "timer.h"
+#include "eeprom.h"
+#include "lcd.h"
+volatile uint16_t timer;
+volatile uint16_t abo_timer;
+volatile uint8_t pwm1 = 255;
+#define FRAME_LENGTH 20
+uint16_t icrval = (F_CPU / 64) * FRAME_LENGTH / 1000 ;
+uint16_t minocr_a = (F_CPU / 64) * 1            / 1000;// 312
+uint16_t maxocr_a = (F_CPU / 64) * 2            / 1000;// 624
+uint16_t minocr_b = (F_CPU / 64) * 1           / 1000;// 312
+uint16_t maxocr_b = (F_CPU / 64) * 2            / 1000;// 624
+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
+uint16_t DisplayTime = 0;       // Leuchtdauer
+volatile uint8_t Display_on;// Flag Display on/off
+//*****************************************************************************
+//
+#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 (i!=0)
+                {                                                       // Displaylicht einschalten, und bzw. Timeoutzählerreset wenn Taste gedrückt wurde
+                if (Display_on ==0)
+                 {                                                      // einschalten
+//              PORTD &= ~(1<<PORTD7);
+        #ifdef HWVERSION1_2
+                        PORTC &= ~(1<<PORTC0);
+                        PORTC &= ~(1<<PORTC1);
+                        PORTD &= ~(1<<PORTD7);
+        #endif
+        #ifdef HWVERSION1_3
+                        PORTD &= ~(1<<PORTD6);
+                        PORTC &= ~(1<<PORTC2);
+                        PORTD &= ~(1<<PORTD7);
+        #endif
+        #ifdef HWVERSION3_1
+                        set_D_LIGHT();
+        #endif
+                 }                                                      // if Display_on ==0
+                Display_on =1;                          // Flag Display on
+                DisplayTime = 0;                        // Timer Reset
+                }
+        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 --;
+        }
+        if (abo_timer > 0)
+        {
+                abo_timer --;
+        }
+        if (DisplayTimeout > 0)
+        {
+         if (Display_on==1)
+                {
+                DisplayTime++;
+                if ((DisplayTime/100) == DisplayTimeout)  //ISR läuft mit 100Hz
+                {                                                               //Displaylicht ausschalten
+//              PORTD |= (1<<PORTD7);
+        #ifdef HWVERSION1_2
+                        PORTC |= (1<<PORTC0);
+                        PORTC |= (1<<PORTC1);
+                        PORTD |= (1<<PORTD7);
+        #endif
+        #ifdef HWVERSION1_3
+                        PORTD |= (1<<PORTD6);
+                        PORTD |= (1<<PORTD7);
+                        PORTC |= (1<<PORTC2);
+        #endif
+        #ifdef HWVERSION3_1
+                        clr_D_LIGHT();
+        #endif
+                        Display_on = 0;                         // Flag Display off
+                }
+         }
+        }
+}
+void TIMER1_Init (void)
+{
+    DDRD |= (1<<PORTD4)|(1<<PORTD5);
+    TCCR1A |= (1<<COM1B1) |(1<<COM1A1) | (1<<WGM11);
+    TCCR1B |= (1<<CS11)|(1<<CS10)| (1<<WGM12)| (1<<WGM13);
+    ICR1 = icrval;
+        OCR1A = minocr_a + ((maxocr_a-minocr_a)/2);
+        OCR1B = minocr_b + ((maxocr_b-minocr_b)/2);
+//      OCR1A = minocr_a;
+//      OCR1B = maxocr_b;
+}
+void set_pwm_a(uint16_t value)
+{
+        uint16_t setv = ((value * 9) / 10 ) + minocr_a;
+        if((setv > 311)&&(setv < 637))
+        {
+                OCR1A = setv;
+        }
+}
+void set_pwm_b(uint8_t value)
+{
+        uint16_t setv = ((value * 4 * 5 ) / 6 ) + minocr_b;
+        if((setv > 200)&&(setv < 750))
+        {
+                OCR1B = setv;
+        }
+}
+//*****************************************************************************
+//
+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/tags/V3.x/timer.h
 ,0 → 1,73
+/*****************************************************************************
+ *   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
+#if defined HWVERSION1_2 || defined HWVERSION1_3 || defined HWVERSION3_2
+#define KEY_ENTER               PA7
+#define KEY_ESC                 PA6
+#define KEY_PLUS                PA5
+#define KEY_MINUS               PA4
+#endif
+#ifdef HWVERSION3_1                             /*in der Hardwareversion sind die Tasten im Layout verdreht*/
+#define KEY_ENTER               PA4
+#define KEY_ESC                 PA5
+#define KEY_PLUS                PA6
+#define KEY_MINUS               PA7
+#endif
+#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
+#define ABO_TIMEOUT 300 // 3 sec
+extern volatile uint8_t Display_on;
+extern volatile uint16_t timer;
+extern volatile uint16_t abo_timer;
+extern uint16_t minocr_a;
+extern uint16_t maxocr_a;
+extern uint16_t minocr_b;
+extern uint16_t maxocr_b;
+void TIMER0_Init (void);
+void TIMER1_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);
+void set_pwm_a (uint16_t);
+void set_pwm_b (uint8_t);
+#endif

 /Transportables_Koptertool/tags/V3.x/uart1.c
 ,0 → 1,273
+/*************************************************************************
+Title:    Interrupt UART library with receive/transmit circular buffers
+Author:   Peter Fleury <pfleury@gmx.ch>   http://jump.to/fleury
+File:     $Id: uart.c,v 1.6.2.2 2009/11/29 08:56:12 Peter Exp $
+Software: AVR-GCC 4.1, AVR Libc 1.4.6 or higher
+Hardware: any AVR with built-in UART,
+License:  GNU General Public License
+DESCRIPTION:
+    An interrupt is generated when the UART has finished transmitting or
+    receiving a byte. The interrupt handling routines use circular buffers
+    for buffering received and transmitted data.
+    The UART_RX_BUFFER_SIZE and UART_TX_BUFFER_SIZE variables define
+    the buffer size in bytes. Note that these variables must be a
+    power of 2.
+USAGE:
+    Refere to the header file uart.h for a description of the routines.
+    See also example test_uart.c.
+NOTES:
+    Based on Atmel Application Note AVR306
+LICENSE:
+    Copyright (C) 2006 Peter Fleury
+    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, or
+    any later version.
+    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.
+*************************************************************************/
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#include "uart1.h"
+#include "main.h"
+/*
+ *  constants and macros
+ */
+//#define __AVR_ATmega644P__
+#if defined HWVERSION3_1 || defined HWVERSION1_3
+/* size of RX/TX buffers */
+#define UART_RX_BUFFER_MASK ( UART_RX_BUFFER_SIZE - 1)
+#define UART_TX_BUFFER_MASK ( UART_TX_BUFFER_SIZE - 1)
+#if ( UART_RX_BUFFER_SIZE & UART_RX_BUFFER_MASK )
+#error RX buffer size is not a power of 2
+#endif
+#if ( UART_TX_BUFFER_SIZE & UART_TX_BUFFER_MASK )
+#error TX buffer size is not a power of 2
+#endif
+ /* ATmega with two USART */
+ #define ATMEGA_USART1
+ #define UART1_RECEIVE_INTERRUPT   SIG_USART1_RECV
+ #define UART1_TRANSMIT_INTERRUPT  SIG_USART1_DATA
+ #define UART1_STATUS   UCSR1A
+ #define UART1_CONTROL  UCSR1B
+ #define UART1_DATA     UDR1
+ #define UART1_UDRIE    UDRIE1
+/*
+ *  module global variables
+ */
+static volatile unsigned char UART1_TxBuf[UART_TX_BUFFER_SIZE];
+static volatile unsigned char UART1_RxBuf[UART_RX_BUFFER_SIZE];
+static volatile unsigned char UART1_TxHead;
+static volatile unsigned char UART1_TxTail;
+static volatile unsigned char UART1_RxHead;
+static volatile unsigned char UART1_RxTail;
+static volatile unsigned char UART1_LastRxError;
+/*
+ * these functions are only for ATmegas with two USART
+ */
+SIGNAL(UART1_RECEIVE_INTERRUPT)
+/*************************************************************************
+Function: UART1 Receive Complete interrupt
+Purpose:  called when the UART1 has received a character
+**************************************************************************/
+{
+    unsigned char tmphead;
+    unsigned char data;
+    unsigned char usr;
+    unsigned char lastRxError;
+    /* read UART status register and UART data register */
+    usr  = UART1_STATUS;
+    data = UART1_DATA;
+    /* */
+    lastRxError = (usr & (_BV(FE1)|_BV(DOR1)) );
+    /* calculate buffer index */
+    tmphead = ( UART1_RxHead + 1) & UART_RX_BUFFER_MASK;
+    if ( tmphead == UART1_RxTail ) {
+        /* error: receive buffer overflow */
+        lastRxError = UART_BUFFER_OVERFLOW >> 8;
+    }else{
+        /* store new index */
+        UART1_RxHead = tmphead;
+        /* store received data in buffer */
+        UART1_RxBuf[tmphead] = data;
+    }
+    UART1_LastRxError = lastRxError;
+}
+SIGNAL(UART1_TRANSMIT_INTERRUPT)
+/*************************************************************************
+Function: UART1 Data Register Empty interrupt
+Purpose:  called when the UART1 is ready to transmit the next byte
+**************************************************************************/
+{
+    unsigned char tmptail;
+    if ( UART1_TxHead != UART1_TxTail) {
+        /* calculate and store new buffer index */
+        tmptail = (UART1_TxTail + 1) & UART_TX_BUFFER_MASK;
+        UART1_TxTail = tmptail;
+        /* get one byte from buffer and write it to UART */
+        UART1_DATA = UART1_TxBuf[tmptail];  /* start transmission */
+    }else{
+        /* tx buffer empty, disable UDRE interrupt */
+        UART1_CONTROL &= ~_BV(UART1_UDRIE);
+    }
+}
+/*************************************************************************
+Function: uart1_init()
+Purpose:  initialize UART1 and set baudrate
+Input:    baudrate using macro UART_BAUD_SELECT()
+Returns:  none
+**************************************************************************/
+void uart1_init(unsigned int baudrate)
+{
+    UART1_TxHead = 0;
+    UART1_TxTail = 0;
+    UART1_RxHead = 0;
+    UART1_RxTail = 0;
+    /* Set baud rate */
+    if ( baudrate & 0x8000 )
+    {
+        UART1_STATUS = (1<<U2X1);  //Enable 2x speed
+      baudrate &= ~0x8000;
+    }
+    UBRR1H = (unsigned char)(baudrate>>8);
+    UBRR1L = (unsigned char) baudrate;
+    /* Enable USART receiver and transmitter and receive complete interrupt */
+    UART1_CONTROL = _BV(RXCIE1)|(1<<RXEN1)|(1<<TXEN1);
+    /* Set frame format: asynchronous, 8data, no parity, 1stop bit */
+    #ifdef URSEL1
+    UCSR1C = (1<<URSEL1)|(3<<UCSZ10);
+    #else
+    UCSR1C = (3<<UCSZ10);
+    #endif
+}/* uart_init */
+/*************************************************************************
+Function: uart1_getc()
+Purpose:  return byte from ringbuffer
+Returns:  lower byte:  received byte from ringbuffer
+          higher byte: last receive error
+**************************************************************************/
+unsigned int uart1_getc(void)
+{
+    unsigned char tmptail;
+    unsigned char data;
+    if ( UART1_RxHead == UART1_RxTail ) {
+        return UART_NO_DATA;   /* no data available */
+    }
+    /* calculate /store buffer index */
+    tmptail = (UART1_RxTail + 1) & UART_RX_BUFFER_MASK;
+    UART1_RxTail = tmptail;
+    /* get data from receive buffer */
+    data = UART1_RxBuf[tmptail];
+    return (UART1_LastRxError << 8) + data;
+}/* uart1_getc */
+/*************************************************************************
+Function: uart1_putc()
+Purpose:  write byte to ringbuffer for transmitting via UART
+Input:    byte to be transmitted
+Returns:  none
+**************************************************************************/
+void uart1_putc(unsigned char data)
+{
+    unsigned char tmphead;
+    tmphead  = (UART1_TxHead + 1) & UART_TX_BUFFER_MASK;
+    while ( tmphead == UART1_TxTail ){
+        ;/* wait for free space in buffer */
+    }
+    UART1_TxBuf[tmphead] = data;
+    UART1_TxHead = tmphead;
+    /* enable UDRE interrupt */
+    UART1_CONTROL    |= _BV(UART1_UDRIE);
+}/* uart1_putc */
+/*************************************************************************
+Function: uart1_puts()
+Purpose:  transmit string to UART1
+Input:    string to be transmitted
+Returns:  none
+**************************************************************************/
+void uart1_puts(const char *s )
+{
+    while (*s)
+      uart1_putc(*s++);
+}/* uart1_puts */
+/*************************************************************************
+Function: uart1_puts_p()
+Purpose:  transmit string from program memory to UART1
+Input:    program memory string to be transmitted
+Returns:  none
+**************************************************************************/
+void uart1_puts_p(const char *progmem_s )
+{
+    register char c;
+    while ( (c = pgm_read_byte(progmem_s++)) )
+      uart1_putc(c);
+}/* uart1_puts_p */
+#endif

 /Transportables_Koptertool/tags/V3.x/uart1.h
 ,0 → 1,162
+#ifndef UART_H
+#define UART_H
+/************************************************************************
+Title:    Interrupt UART library with receive/transmit circular buffers
+Author:   Peter Fleury <pfleury@gmx.ch>   http://jump.to/fleury
+File:     $Id: uart.h,v 1.8.2.1 2007/07/01 11:14:38 peter Exp $
+Software: AVR-GCC 4.1, AVR Libc 1.4
+Hardware: any AVR with built-in UART, tested on AT90S8515 & ATmega8 at 4 Mhz
+License:  GNU General Public License
+Usage:    see Doxygen manual
+LICENSE:
+    Copyright (C) 2006 Peter Fleury
+    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, or
+    any later version.
+    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.
+************************************************************************/
+/**
+ *  @defgroup pfleury_uart UART Library
+ *  @code #include <uart.h> @endcode
+ *
+ *  @brief Interrupt UART library using the built-in UART with transmit and receive circular buffers.
+ *
+ *  This library can be used to transmit and receive data through the built in UART.
+ *
+ *  An interrupt is generated when the UART has finished transmitting or
+ *  receiving a byte. The interrupt handling routines use circular buffers
+ *  for buffering received and transmitted data.
+ *
+ *  The UART_RX_BUFFER_SIZE and UART_TX_BUFFER_SIZE constants define
+ *  the size of the circular buffers in bytes. Note that these constants must be a power of 2.
+ *  You may need to adapt this constants to your target and your application by adding
+ *  CDEFS += -DUART_RX_BUFFER_SIZE=nn -DUART_RX_BUFFER_SIZE=nn to your Makefile.
+ *
+ *  @note Based on Atmel Application Note AVR306
+ *  @author Peter Fleury pfleury@gmx.ch  http://jump.to/fleury
+ */
+/**@{*/
+#if (__GNUC__ * 100 + __GNUC_MINOR__) < 304
+#error "This library requires AVR-GCC 3.4 or later, update to newer AVR-GCC compiler !"
+#endif
+/*
+** constants and macros
+*/
+/** @brief  UART Baudrate Expression
+ *  @param  xtalcpu  system clock in Mhz, e.g. 4000000L for 4Mhz
+ *  @param  baudrate baudrate in bps, e.g. 1200, 2400, 9600
+ */
+#define UART_BAUD_SELECT(baudRate,xtalCpu) ((xtalCpu)/((baudRate)*16l)-1)
+/** @brief  UART Baudrate Expression for ATmega double speed mode
+ *  @param  xtalcpu  system clock in Mhz, e.g. 4000000L for 4Mhz
+ *  @param  baudrate baudrate in bps, e.g. 1200, 2400, 9600
+ */
+#define UART_BAUD_SELECT_DOUBLE_SPEED(baudRate,xtalCpu) (((xtalCpu)/((baudRate)*8l)-1)|0x8000)
+/** Size of the circular receive buffer, must be power of 2 */
+#ifndef UART_RX_BUFFER_SIZE
+#define UART_RX_BUFFER_SIZE 32
+#endif
+/** Size of the circular transmit buffer, must be power of 2 */
+#ifndef UART_TX_BUFFER_SIZE
+#define UART_TX_BUFFER_SIZE 32
+#endif
+/* test if the size of the circular buffers fits into SRAM */
+#if ( (UART_RX_BUFFER_SIZE+UART_TX_BUFFER_SIZE) >= (RAMEND-0x60 ) )
+#error "size of UART_RX_BUFFER_SIZE + UART_TX_BUFFER_SIZE larger than size of SRAM"
+#endif
+/*
+** high byte error return code of uart_getc()
+*/
+#define UART_FRAME_ERROR      0x0800              /* Framing Error by UART       */
+#define UART_OVERRUN_ERROR    0x0400              /* Overrun condition by UART   */
+#define UART_BUFFER_OVERFLOW  0x0200              /* receive ringbuffer overflow */
+#define UART_NO_DATA          0x0100              /* no receive data available   */
+/*
+** function prototypes
+*/
+/**
+   @brief   Initialize UART and set baudrate
+   @param   baudrate Specify baudrate using macro UART_BAUD_SELECT()
+   @return  none
+*/
+extern void uart_init(unsigned int baudrate);
+/**
+ *  @brief   Get received byte from ringbuffer
+ *
+ * Returns in the lower byte the received character and in the
+ * higher byte the last receive error.
+ * UART_NO_DATA is returned when no data is available.
+ *
+ *  @param   void
+ *  @return  lower byte:  received byte from ringbuffer
+ *  @return  higher byte: last receive status
+ *           - \b 0 successfully received data from UART
+ *           - \b UART_NO_DATA
+ *             <br>no receive data available
+ *           - \b UART_BUFFER_OVERFLOW
+ *             <br>Receive ringbuffer overflow.
+ *             We are not reading the receive buffer fast enough,
+ *             one or more received character have been dropped
+ *           - \b UART_OVERRUN_ERROR
+ *             <br>Overrun condition by UART.
+ *             A character already present in the UART UDR register was
+ *             not read by the interrupt handler before the next character arrived,
+ *             one or more received characters have been dropped.
+ *           - \b UART_FRAME_ERROR
+ *             <br>Framing Error by UART
+ */
+extern unsigned int uart_getc(void);
+/**
+ *  @brief   Put byte to ringbuffer for transmitting via UART
+ *  @param   data byte to be transmitted
+ *  @return  none
+ */
+/** @brief  Initialize USART1 (only available on selected ATmegas) @see uart_init */
+extern void uart1_init(unsigned int baudrate);
+/** @brief  Get received byte of USART1 from ringbuffer. (only available on selected ATmega) @see uart_getc */
+extern unsigned int uart1_getc(void);
+/** @brief  Put byte to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_putc */
+extern void uart1_putc(unsigned char data);
+/** @brief  Put string to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_puts */
+extern void uart1_puts(const char *s );
+/** @brief  Put string from program memory to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_puts_p */
+extern void uart1_puts_p(const char *s );
+/** @brief  Macro to automatically put a string constant into program memory */
+#define uart1_puts_P(__s)       uart1_puts_p(PSTR(__s))
+/**@}*/
+#endif // UART_H

 /Transportables_Koptertool/tags/V3.x/usart.c
 ,0 → 1,625
+/*****************************************************************************
+ *   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;
+volatile uint8_t rx_byte;
+volatile uint8_t rxFlag = 0;
+#define UART_RXBUFSIZE 64
+#define UART_NO_DATA          0x0100              /* no receive data available   */
+volatile static uint8_t rxbuf[UART_RXBUFSIZE];
+volatile static uint8_t *volatile rxhead, *volatile rxtail;
+//*****************************************************************************
+// USART1 transmitter ISR
+/*
+ISR (USART1_TX_vect)
+{
+        static uint16_t ptr_txd1_buffer = 0;
+        uint8_t tmp_tx1;
+        if(!txd1_complete) // transmission not completed
+        {
+                ptr_txd1_buffer++;                    // [0] was already sent
+                tmp_tx1 = txd1_buffer[ptr_txd1_buffer];
+                // if terminating character or end of txd buffer was reached
+                if((tmp_tx1 == '\r') || (ptr_txd1_buffer == TXD_BUFFER_LEN))
+                {
+                        ptr_txd1_buffer = 0;            // reset txd pointer
+                        txd1_complete = TRUE;   // stop transmission
+                }
+                UDR1 = tmp_tx1; // send current byte will trigger this ISR again
+        }
+        // transmission completed
+        else ptr_txd1_buffer = 0;
+}
+*/
+#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
+//*****************************************************************************
+//
+//
+//uint8_t uart_getc_nb(uint8_t *c)
+//{
+//      if (rxhead==rxtail) return 0;
+//      *c = *rxtail;
+//      if (++rxtail == (rxbuf + UART_RXBUFSIZE)) rxtail = rxbuf;
+//      return 1;
+//}
+ISR (USART_RXC_vect)
+{
+        static uint16_t crc;
+        static uint8_t ptr_rxd_buffer = 0;
+        uint8_t crc1, crc2;
+        uint8_t c;
+        if (current_hardware == Wi232)
+        {
+/*              rx_byte = c;
+                rxFlag = 1;*/
+                int diff;
+                uint8_t c;
+                c=UDR;
+                diff = rxhead - rxtail;
+                if (diff < 0) diff += UART_RXBUFSIZE;
+                if (diff < UART_RXBUFSIZE -1)
+                {
+                        *rxhead = c;
+                        ++rxhead;
+                        if (rxhead == (rxbuf + UART_RXBUFSIZE)) rxhead = rxbuf;
+                };
+//              USART_putc (c);
+                return;
+        }
+        if (current_hardware == MKGPS)
+        {
+/*              rx_byte = c;
+                rxFlag = 1;*/
+                int diff;
+                uint8_t c;
+                c=UDR;
+                diff = rxhead - rxtail;
+                if (diff < 0) diff += UART_RXBUFSIZE;
+                if (diff < UART_RXBUFSIZE -1)
+                {
+                        *rxhead = c;
+                        ++rxhead;
+                        if (rxhead == (rxbuf + UART_RXBUFSIZE)) rxhead = rxbuf;
+                };
+                return;
+        }
+        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
+        {
+                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
+                                        // 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
+                        }
+                        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
+        }
+}
+/*************************************************************************
+Function: uart0_getc()
+Purpose:  return byte from ringbuffer
+Returns:  lower byte:  received byte from ringbuffer
+          higher byte: last receive error
+**************************************************************************/
+char USART_getc(void)
+{
+        char val;
+//      while(rxhead==rxtail) ;
+        if (rxhead==rxtail) return val=0;
+        val = *rxtail;
+        if (++rxtail == (rxbuf + UART_RXBUFSIZE)) rxtail = rxbuf;
+        return val;
+}
+uint8_t uart_getc_nb(uint8_t *c)
+{
+        if (rxhead==rxtail) return 0;
+        *c = *rxtail;
+        if (++rxtail == (rxbuf + UART_RXBUFSIZE)) rxtail = rxbuf;
+        return 1;
+}
+//*****************************************************************************
+//
+//*****************************************************************************
+//
+void USART_Init (unsigned int baudrate)
+{
+        // set clock divider
+//      #undef BAUD
+//#define BAUD baudrate
+//      #include <util/setbaud.h>
+//      UBRRH = UBRRH_VALUE;
+//      UBRRL = UBRRL_VALUE;
+    UBRRH = (unsigned char)(baudrate>>8);
+    UBRRL = (unsigned char) baudrate;
+#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
+        rxhead = rxtail = rxbuf;
+}
+//*****************************************************************************
+// 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];
+                set_LED3();
+        }
+        clr_LED3();
+        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)
+{
+        if(hardware == NC)
+        {
+                // 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 SwitchToWi232 (void)
+{
+//      if(hardware == NC)
+        {
+                // switch to Wi232
+                current_hardware = Wi232;
+                _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/tags/V3.x/usart.h
 ,0 → 1,137
+/*****************************************************************************
+ *   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
+//#define USART_BAUD 125000
+//*****************************************************************************
+//
+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;
+extern volatile uint8_t rxFlag;
+extern volatile uint8_t rx_byte;
+//extern volatile static uint8_t *volatile rxhead, *volatile rxtail;
+//*****************************************************************************
+//
+void USART_Init (unsigned int baudrate);
+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);
+extern char USART_getc(void);
+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);
+void SwitchToWi232 (void);
+void debug1(void);
+uint8_t uart_getc_nb(uint8_t*);
+//*****************************************************************************
+//Anpassen der seriellen Schnittstellen Register
+#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

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