WebSVN - Projects - Blame - /Transportables_Koptertool/PKT/GPL_PKT_V3

Rev	Author	Line No.	Line
2136	-	1	/*****************************************************************************
		2	* Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de *
		3	* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
		4	* Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net *
		5	* Copyright (C) 2011 Harald Bongartz *
		6	* *
		7	* This program is free software; you can redistribute it and/or modify *
		8	* it under the terms of the GNU General Public License as published by *
		9	* the Free Software Foundation; either version 2 of the License. *
		10	* *
		11	* This program is distributed in the hope that it will be useful, *
		12	* but WITHOUT ANY WARRANTY; without even the implied warranty of *
		13	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
		14	* GNU General Public License for more details. *
		15	* *
		16	* You should have received a copy of the GNU General Public License *
		17	* along with this program; if not, write to the *
		18	* Free Software Foundation, Inc., *
		19	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
		20	* *
		21	* *
		22	* Credits to: *
		23	* Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN *
		24	* http://www.mikrokopter.de *
		25	* Gregor "killagreg" Stobrawa for his version of the MK code *
		26	* Thomas Kaiser "thkais" for the original project. See *
		27	* http://www.ft-fanpage.de/mikrokopter/ *
		28	* http://forum.mikrokopter.de/topic-4061-1.html *
		29	* Claas Anders "CaScAdE" Rathje for providing the font and his C-OSD code *
		30	* http://www.mylifesucks.de/oss/c-osd/ *
		31	* Harald Bongartz "HaraldB" for providing his Ideas and Code for usibility*
		32	*****************************************************************************/
		33
		34
		35	//############################################################################
		36	//# HISTORY motortest.c
		37	//#
		38	//# 13.05.2014 OG
		39	//# - chg: motor_test() - #ifdef USE_I2CMOTORTEST erweitert um unsigned int SerLoop;
		40	//# wegen Warning: variable set but not used
		41	//#
		42	//# 12.02.2014 OG
		43	//# - chg: motor_test() Verschiebung von var 'buffer' wegen "unused variable 'buffer'"
		44	//#
		45	//# 13.05.2013 Cebra
		46	//# - chg: #define USE_I2CMOTORTEST, I2C Funktionen schaltbar
		47	//#
		48	//############################################################################
		49
		50
		51	#include "../cpu.h"
		52	#include <avr/io.h>
		53	#include <avr/interrupt.h>
		54	#include <avr/pgmspace.h>
		55	#include <string.h>
		56	#include <stdlib.h>
		57	#include "../main.h"
		58	#include "motortest.h"
		59	#include "../lcd/lcd.h"
		60	#include "../timer/timer.h"
		61	#include "../motortest/twimaster.h"
		62	//#include "menu.h"
		63	#include "../uart/uart1.h"
		64	#include "../uart/usart.h"
		65	#include "../messages.h"
		66
		67
		68
		69
		70	uint8_t m;
		71	uint8_t mmode; // 0=Value 1=Motor
		72	uint8_t v;
		73
		74	volatile uint8_t i2c_state;
		75	volatile uint8_t motor_addr = 0;
		76
		77	#ifdef USE_I2CMOTORTEST
		78	//--------------------------------------------------------------
		79	// Senden der Motorwerte per I2C-Bus
		80	//
		81	void SendMotorData(uint8_t m,uint8_t v)
		82	{
		83	if (m==0)
		84
		85	for(m=0;m<MAX_MOTORS;m++) // alle Motoren
		86	{
		87	// Motor[m].SetPoint = MotorTest[m];
		88	Motor[m].SetPoint = v;
		89	Motor[m].SetPointLowerBits = 0;
		90
		91	// Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution
		92	// Motor[i].SetPointLowerBits = MotorTest[i] % 4;
		93
		94	}
		95	else
		96	{
		97	Motor[m-1].SetPoint = v;
		98	Motor[m-1].SetPointLowerBits = 0;
		99	}
		100
		101
		102
		103	if(I2C_TransferActive)
		104	I2C_TransferActive = 0; // enable for the next time
		105	else
		106	{
		107	motor_write = 0;
		108	I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode
		109	}
		110	}
		111
		112
		113	//--------------------------------------------------------------
		114	//
		115	void Search_BL (void)
		116	{
		117	uint8_t i = 0;
		118	unsigned int timer;
		119	lcd_cls ();
		120	MotorenEin =0;
		121	MotorTest[i] = 0;
		122
		123	lcd_printp (PSTR("Suche BL-Ctrl"), 0);
		124
		125	// Check connected BL-Ctrls
		126	BLFlags \|= BLFLAG_READ_VERSION;
		127	motor_read = 0; // read the first I2C-Data
		128
		129	SendMotorData(0,0);
		130	timer = SetDelay(1);
		131	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
		132
		133	timer = SetDelay(1);
		134	for(i=0; i < MAX_MOTORS; i++)
		135	{
		136
		137	SendMotorData(i,0);
		138
		139
		140	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
		141
		142
		143	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
		144	{
		145
		146	lcd_printp_at (0, 1, PSTR("Found BL-Ctrl:"), 0);
		147	lcd_print_hex_at (18,1,i,0);
		148
		149	lcd_printp_at (0, 2, PSTR("Version:"), 0);
		150	lcd_print_hex_at (8,2,Motor[i].Version,0);
		151	lcd_printp_at (11, 2, PSTR("SetPoi:"), 0);
		152	lcd_print_hex_at (18,2,Motor[i].SetPoint,0);
		153
		154	lcd_printp_at (0, 3, PSTR("SetPoiL:"), 0);
		155	lcd_print_hex_at (8,3,Motor[i].SetPointLowerBits,0);
		156	lcd_printp_at (11, 3, PSTR("State :"), 0);
		157	lcd_print_hex_at (18,3,Motor[i].State,0);
		158
		159	lcd_printp_at (0, 4, PSTR("ReadMod:"), 0);
		160	lcd_print_hex_at (8,4,Motor[i].ReadMode,0);
		161	lcd_printp_at (11, 4, PSTR("Currnt:"), 0);
		162	lcd_print_hex_at (18,4,Motor[i].Current,0);
		163
		164	lcd_printp_at (0, 5, PSTR("MaxPWM :"), 0);
		165	lcd_print_hex_at (8,5,Motor[i].MaxPWM,0);
		166	lcd_printp_at (11, 5, PSTR("Temp :"), 0);
		167	write_ndigit_number_u (18,5,Motor[i].Temperature,3,1,0);
		168	}
		169
		170	} //End For I
		171	}
		172	#endif
		173
		174
		175	//--------------------------------------------------------------
		176	//
		177	void motor (uint8_t m,uint8_t v)
		178	{
		179	memset (buffer, 0, 16);
		180
		181	if(m == 0)
		182	{
		183	memset (buffer, v, 16);
		184	}
		185	else
		186	{
		187	buffer[m-1] = v;
		188	}
		189
		190	SendOutData('t', ADDRESS_FC, 1, buffer, 16);
		191	}
		192
		193
		194
		195	//--------------------------------------------------------------
		196	//
		197	void motor_test (uint8_t MotorMode)
		198	{
		199
		200	lcd_cls ();
		201	mmode = 1; // 1=Motor
		202	m = 1;
		203	v = 0;
		204
		205	#ifdef USE_I2CMOTORTEST
		206	unsigned int SerLoop;
		207	SerLoop = 10;
		208
		209	char buffer[7];
		210
		211	if (MotorMode == I2C_Mode)
		212	{
		213	Search_BL();
		214	do
		215	{
		216	lcd_printp_at (11, 7, PSTR("Ende Check"), 0);
		217	if (get_key_press (1 << KEY_ESC))
		218	{
		219	get_key_press(KEY_ALL);
		220	return;
		221	}
		222	}
		223	while (!get_key_press (1 << KEY_ENTER));
		224	}
		225	#endif
		226	lcd_cls();
		227	lcd_printp (PSTR(" BL-Ctrl Test "), 2);
		228	lcd_printp_at (2, 2, PSTR("Motor: 1"), 0);
		229	lcd_printp_at (2, 3, PSTR("Value: 0"), 0);
		230	lcd_frect ((81), (85), (0 * (14*8)) / 255, 6, 1);
		231	// lcd_printp_at (0, 7, PSTR(KEY_LINE_3), 0);
		232	lcd_printp_at(0, 7, strGet(KEYLINE3), 0);
		233	lcd_printp_at (18, 7, PSTR("\x1a \x1b"), 0);
		234	lcd_printp_at (0, 2, PSTR("\x1d"), 0);
		235
		236
		237	#ifdef USE_I2CMOTORTEST
		238	if (MotorMode == I2C_Mode)
		239	uart1_puts("Motor;Version;Setpoint high;Setpoint low;State;ReadMode;Current;MaxPWM;Temperature\r");
		240	#endif
		241
		242	if (MotorMode == FC_Mode)
		243	{
		244	if (hardware == NC && current_hardware == NC)
		245	{
		246	SwitchToFC();
		247	}
		248	}
		249	do
		250	{
		251	// mmode 0=Value 1=Motor
		252
		253	if ((mmode == 0) && (get_key_press (1 << KEY_PLUS) \|\| get_key_long_rpt_sp ((1 << KEY_PLUS), 3)) && (v < 254))
		254	{
		255	v++;
		256	write_ndigit_number_u (9, 3, v, 3, 0,0);
		257	if (MotorMode == FC_Mode)
		258	lcd_frect ((81), (85), (v * (14*8)) / 255, 6, 1);
		259	}
		260
		261	if ((mmode == 0) && (get_key_press (1 << KEY_MINUS) \|\| get_key_long_rpt_sp ((1 << KEY_MINUS), 3)) && (v > 0))
		262	{
		263	if (MotorMode == FC_Mode)
		264	lcd_frect (((v * (148) / 255) + 8), (85), ((14*8) / 255), 6, 0);
		265
		266	v--;
		267	write_ndigit_number_u (9, 3, v, 3, 0,0);
		268	if (MotorMode == FC_Mode)
		269	lcd_frect ((81), (85), (v * (14*8)) / 255, 6, 1);
		270	}
		271
		272	if ((mmode == 1) && (get_key_press (1 << KEY_PLUS) \|\| get_key_long_rpt_sp ((1 << KEY_PLUS), 1)) && (m < 16))
		273	{
		274	m++;
		275	write_ndigit_number_u (9, 2, m, 3, 0,0);
		276	}
		277
		278	if ((mmode == 1) && (get_key_press (1 << KEY_MINUS) \|\| get_key_long_rpt_sp ((1 << KEY_MINUS), 1)) && (m > 0))
		279	{
		280	m--;
		281	if(m > 0)
		282	write_ndigit_number_u (9, 2, m, 3, 0,0);
		283	if(m == 0)
		284	lcd_printp_at (9, 2, PSTR("All"), 0);
		285	}
		286
		287	if (get_key_press (1 << KEY_ENTER))
		288	{
		289	#ifdef USE_I2CMOTORTEST
		290	if (MotorMode == I2C_Mode)
		291	{
		292	if (v > 0)
		293	{
		294	m = 0;
		295	v=0;
		296	lcd_frect ((81), (85), (0 * (14*8)) / 255, 6, 1);
		297	lcd_cls_line (0, 5, 21);
		298	if(m > 0) write_ndigit_number_u (9, 2, m, 3, 0,0);
		299	if(m == 0) lcd_printp_at (9, 2, PSTR("All"), 0);
		300	write_ndigit_number_u (9, 3, v, 3, 0,0);
		301	SendMotorData(m,v);
		302	timer = SetDelay(1);
		303	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
		304	}
		305	}
		306	#endif
		307
		308	if(mmode == 0) // 0=Value
		309	{
		310	lcd_printp_at (0, 2, PSTR("\x1d"), 0);
		311	lcd_printp_at (0, 3, PSTR(" "), 0);
		312	mmode = 1; // 1=Motor
		313	}
		314	else
		315	{
		316	lcd_printp_at (0, 2, PSTR(" "), 0);
		317	lcd_printp_at (0, 3, PSTR("\x1d"), 0);
		318	mmode = 0; // 0=Value
		319	}
		320	}
		321	//if (get_key_press (1 << KEY_ENTER))//
		322	#ifdef USE_I2CMOTORTEST
		323	if (MotorMode == I2C_Mode)
		324	{
		325	SendMotorData(m,v);
		326	timer = SetDelay(1);
		327	lcd_printp_at (0, 3, PSTR("SetPoint :"), 0);
		328
		329	write_ndigit_number_u (13,3,Motor[m-1].SetPoint,3,0,0);
		330	lcd_printp_at (0, 4, PSTR("Current :"), 0);
		331	lcd_print_hex_at (13,4,Motor[m-1].Current,0);
		332	write_ndigit_number_u (13,4,Motor[m-1].Current,3,0,0);
		333	lcd_printp_at (0, 5, PSTR("Temperature:"), 0);
		334	write_ndigit_number_u (13,5,Motor[m-1].Temperature,3,0,0);
		335	lcd_printp_at (0, 6, PSTR("Version:"), 0);
		336	lcd_print_hex_at (8,6,Motor[m-1].Version,0);
		337	lcd_printp_at (11, 6, PSTR("State :"), 0);
		338	lcd_print_hex_at (18,6,Motor[m-1].State,0);
		339
		340
		341	if (Motor[m-1].SetPoint > 0)
		342	{
		343	if (SerLoop == 0)
		344	{
		345	itoa( m-1, buffer, 10); // convert interger into string (decimal format)
		346	uart1_puts(buffer); // and transmit string to UART
		347	uart1_puts(";");
		348	itoa( Motor[m-1].Version, buffer, 10); //
		349	uart1_puts(buffer);
		350	uart1_puts(";");
		351	itoa( Motor[m-1].SetPoint, buffer, 10); //
		352	uart1_puts(buffer);
		353	uart1_puts(";");
		354	itoa( Motor[m-1].SetPointLowerBits, buffer, 10); //
		355	uart1_puts(buffer);
		356	uart1_puts(";");
		357	itoa( Motor[m-1].State, buffer, 10); //
		358	uart1_puts(buffer);
		359	uart1_puts(";");
		360	itoa( Motor[m-1].ReadMode, buffer, 10); //
		361	uart1_puts(buffer);
		362	uart1_puts(";");
		363	itoa( Motor[m-1].Current, buffer, 10); //
		364	uart1_puts(buffer);
		365	uart1_puts(";");
		366	itoa( Motor[m-1].MaxPWM, buffer, 10); //
		367	uart1_puts(buffer);
		368	uart1_puts(";");
		369	itoa( Motor[m-1].Temperature, buffer, 10); //
		370	uart1_puts(buffer);
		371	uart1_puts("\r");
		372	uart1_puts("\n");
		373	SerLoop =200;
		374	}
		375	else
		376	SerLoop--;
		377	}
		378
		379	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
		380	}
		381	else
		382	#endif
		383	motor (m,v); //if (MotorMode == I2C_Mode)//
		384
		385	}
		386	while (!get_key_press (1 << KEY_ESC));
		387
		388	get_key_press(KEY_ALL);
		389
		390	if (MotorMode == FC_Mode)
		391	{
		392	motor(0,0); // switch all engines off at exit
		393	}
		394
		395	}
		396

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(root)/Transportables_Koptertool/PKT/GPL_PKT_V3_85f/motortest/motortest.c @ 2139 - Rev