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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1734 | - | 1 | /***************************************************************************** |
| 2 | * Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de * |
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| 3 | * Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net * |
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| 4 | * Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net * |
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| 5 | * Copyright (C) 2011 Harald Bongartz * |
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| 6 | * * |
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| 7 | * This program is free software; you can redistribute it and/or modify * |
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| 8 | * it under the terms of the GNU General Public License as published by * |
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| 9 | * the Free Software Foundation; either version 2 of the License. * |
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| 10 | * * |
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| 11 | * This program is distributed in the hope that it will be useful, * |
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| 12 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 13 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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| 14 | * GNU General Public License for more details. * |
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| 15 | * * |
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| 16 | * You should have received a copy of the GNU General Public License * |
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| 17 | * along with this program; if not, write to the * |
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| 18 | * Free Software Foundation, Inc., * |
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| 19 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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| 20 | * * |
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| 21 | * * |
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| 22 | * Credits to: * |
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| 23 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
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| 24 | * http://www.mikrokopter.de * |
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| 25 | * Gregor "killagreg" Stobrawa for his version of the MK code * |
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| 26 | * Thomas Kaiser "thkais" for the original project. See * |
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| 27 | * http://www.ft-fanpage.de/mikrokopter/ * |
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| 28 | * http://forum.mikrokopter.de/topic-4061-1.html * |
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| 29 | * Claas Anders "CaScAdE" Rathje for providing the font and his C-OSD code * |
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| 30 | * http://www.mylifesucks.de/oss/c-osd/ * |
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| 31 | * Harald Bongartz "HaraldB" for providing his Ideas and Code for usibility* |
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| 32 | *****************************************************************************/ |
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| 33 | |||
| 34 | |||
| 35 | #include "cpu.h" |
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| 36 | #include <avr/io.h> |
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| 37 | #include <inttypes.h> |
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| 38 | #include <stdlib.h> |
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| 39 | #include <avr/pgmspace.h> |
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| 40 | #include <avr/wdt.h> |
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| 41 | #include <util/delay.h> |
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| 42 | #include <avr/eeprom.h> |
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| 43 | |||
| 44 | //************************************************************************************ |
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| 45 | // Watchdog integrieren und abschalten, wird für Bootloader benötigt |
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| 46 | // !!muss hier stehen bleiben!! |
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| 47 | |||
| 48 | //-------------------------------------------------------------- |
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| 49 | void wdt_init(void) __attribute__((naked)) __attribute__((section(".init1"))); |
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| 50 | |||
| 51 | //-------------------------------------------------------------- |
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| 52 | void wdt_init(void) |
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| 53 | { |
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| 54 | MCUSR = 0; |
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| 55 | wdt_disable(); |
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| 56 | return; |
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| 57 | } |
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| 58 | |||
| 59 | //************************************************************************************ |
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| 60 | // erst ab hier weitere #includes |
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| 61 | |||
| 62 | |||
| 63 | #include "lipo.h" |
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| 64 | #include "main.h" |
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| 65 | #include "lcd.h" |
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| 66 | #include "usart.h" |
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| 67 | |||
| 68 | #include "uart1.h" |
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| 69 | #include "mk-data-structs.h" |
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| 70 | #include "parameter.h" |
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| 71 | #include "menu.h" |
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| 72 | #include "display.h" |
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| 73 | #include "timer.h" |
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| 74 | #include "eeprom.h" |
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| 75 | #include "Wi232.h" |
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| 76 | #include "twimaster.h" |
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| 77 | #include "messages.h" |
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| 78 | |||
| 79 | //#define MTEST 0 // Menu Test (skip FC/NC detection) |
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| 80 | |||
| 81 | Version_t *version; |
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| 82 | |||
| 83 | volatile uint8_t mode = 0; |
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| 84 | uint8_t hardware = 0; |
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| 85 | uint8_t current_hardware = 0; |
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| 86 | mk_param_struct_t *mk_param_struct; |
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| 87 | |||
| 88 | |||
| 89 | //-------------------------------------------------------------- |
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| 90 | int main (void) |
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| 91 | { |
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| 92 | #ifndef DEBUG |
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| 93 | uint8_t timeout; |
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| 94 | uint8_t val =0; |
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| 95 | uint8_t spalte =0; |
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| 96 | #endif |
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| 97 | |||
| 98 | InitHWPorts(); // Hardwareanhängige Ports konfigurieren |
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| 99 | // dafür wird je nach Hardware die HAL_HWxxx verwendet |
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| 100 | // Define dazu in der main.h |
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| 101 | |||
| 102 | hardware = NO; |
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| 103 | current_hardware = 0; |
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| 104 | |||
| 105 | |||
| 106 | if (PKT_StartInfo == true) |
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| 107 | { |
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| 108 | lcd_cls (); |
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| 109 | // lcd_printp_at (0,0,PSTR("Portables Kopter Tool"), 0); |
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| 110 | lcd_puts_at(0, 0, strGet(START_MSG1), 0); |
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| 111 | lcd_puts_at(0, 1, strGet(START_MSG2), 0); |
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| 112 | // lcd_printp_at (0,1,PSTR("für FC Ver "), 0); |
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| 113 | // lcd_printp_at (11,1,PSTR(FC_Version),0); |
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| 114 | // lcd_printp_at (0,3,PSTR("GNU GPL License"), 0); |
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| 115 | lcd_puts_at(0, 3, strGet(GNU_GPL), 0); |
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| 116 | |||
| 117 | #ifdef HWVERSION1_2 |
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| 118 | // lcd_printp_at (0,4,PSTR("Hardware 1.2"), 0); |
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| 119 | // lcd_printp_at (0,5,PSTR("ATmega 644"), 0); |
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| 120 | lcd_puts_at(0, 4, strGet(HW12), 0); |
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| 121 | lcd_puts_at(0, 5, strGet(ATMEGA644), 0); |
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| 122 | #endif |
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| 123 | |||
| 124 | #ifdef HWVERSION1_2W |
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| 125 | // lcd_printp_at (0,4,PSTR("Hardware 1.2W"), 0); |
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| 126 | // lcd_printp_at (0,5,PSTR("ATmega 644"), 0); |
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| 127 | lcd_puts_at(0, 4, strGet(HW12W), 0); |
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| 128 | lcd_puts_at(0, 5, strGet(ATMEGA644), 0); |
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| 129 | #endif |
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| 130 | |||
| 131 | #ifdef HWVERSION1_3 |
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| 132 | // lcd_printp_at (0,4,PSTR("Hardware 1.3"), 0); |
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| 133 | // lcd_printp_at (0,5,PSTR("ATmega 644P"), 0); |
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| 134 | lcd_puts_at(0, 4, strGet(HW13), 0); |
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| 135 | lcd_puts_at(0, 5, strGet(ATMEGA644P), 0); |
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| 136 | #endif |
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| 137 | |||
| 138 | #ifdef HWVERSION1_3W |
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| 139 | // lcd_printp_at (0,4,PSTR("Hardware 1.3W"), 0); |
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| 140 | // lcd_printp_at (0,5,PSTR("ATmega 644P"), 0); |
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| 141 | lcd_puts_at(0, 4, strGet(HW13W), 0); |
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| 142 | lcd_puts_at(0, 5, strGet(ATMEGA644P), 0); |
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| 143 | #endif |
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| 144 | |||
| 145 | #ifdef HWVERSION3_9 |
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| 146 | // lcd_printp_at (0,4,PSTR("Hardware 3.9"), 0); |
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| 147 | // lcd_printp_at (0,5,PSTR("ATmega 1284P"), 0); |
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| 148 | lcd_puts_at(0, 4, strGet(HW39), 0); |
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| 149 | lcd_puts_at(0, 5, strGet(ATMEGA1284P), 0); |
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| 150 | #endif |
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| 151 | |||
| 152 | _delay_ms(1500); |
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| 153 | } |
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| 154 | |||
| 155 | #ifndef DEBUG |
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| 156 | |||
| 157 | ReadLastPosition (); |
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| 158 | |||
| 159 | if (LastLongitude>0x00000000 && LastLatitude>0x00000000) |
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| 160 | { |
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| 161 | lcd_cls (); |
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| 162 | // lcd_printp_at (0, 4, PSTR(" Letzte Position "), 2); |
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| 163 | // lcd_printp_at (0, 5, PSTR(" Breitengr Längengr "), 2); |
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| 164 | // lcd_printp_at (0, 7, PSTR("löschen weiter"), 0); |
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| 165 | lcd_puts_at(0, 0, strGet(START_LASTPOS), 2); |
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| 166 | lcd_puts_at(0, 1, strGet(START_LASTPOS3), 2); |
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| 167 | lcd_puts_at(0, 2, strGet(START_LASTPOS1), 2); |
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| 168 | lcd_puts_at(0, 7, strGet(START_LASTPOS2), 0); |
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| 169 | |||
| 170 | |||
| 171 | write_ndigit_number_u (1, 4, (uint16_t)(LastLatitude/10000000), 2, 0,0); |
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| 172 | lcd_printp_at (3, 4, PSTR("."), 0); |
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| 173 | write_ndigit_number_u (4, 4, (uint16_t)((LastLatitude/1000) % 10000), 4, 1,0); |
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| 174 | write_ndigit_number_u (8, 4, (uint16_t)((LastLatitude/10) % 100), 2, 1,0); |
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| 175 | |||
| 176 | |||
| 177 | write_ndigit_number_u (12, 4, (uint16_t)(LastLongitude/10000000), 2, 0,0); |
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| 178 | lcd_printp_at (14, 4, PSTR("."), 0); |
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| 179 | write_ndigit_number_u (15, 4, (uint16_t)((LastLongitude/1000) % 10000), 4, 1,0); |
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| 180 | write_ndigit_number_u (19, 4, (uint16_t)((LastLongitude/10) % 100), 2, 1,0); |
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| 181 | |||
| 182 | for (;;) |
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| 183 | { |
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| 184 | if (get_key_press (1 << KEY_MINUS)) |
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| 185 | { |
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| 186 | WriteLastPosition(0x00000000,0x00000000); // Löschen |
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| 187 | lcd_frect (0, (8*4), 128, 8, 0); // Zeile löschen (x, y, l, h, in Pixel) |
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| 188 | lcd_frect (0, (8*5), 128, 8, 0); |
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| 189 | // lcd_printp_at (0,5,PSTR(" gelöscht "), 0); |
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| 190 | lcd_puts_at(0, 5, strGet(START_LASTPOSDEL), 0); |
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| 191 | |||
| 192 | lcd_cls_line (0, 6, 21); |
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| 193 | lcd_cls_line (0, 7, 21); |
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| 194 | |||
| 195 | _delay_ms(1000); |
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| 196 | break; |
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| 197 | } |
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| 198 | if (get_key_press (1 << KEY_ENTER)) |
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| 199 | { |
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| 200 | lcd_cls_line (0, 4, 21); |
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| 201 | lcd_cls_line (0, 5, 21); |
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| 202 | lcd_cls_line (0, 6, 21); |
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| 203 | lcd_cls_line (0, 7, 21); |
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| 204 | break; |
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| 205 | } |
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| 206 | } |
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| 207 | } |
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| 208 | #endif |
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| 209 | |||
| 210 | // switch to NC |
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| 211 | USART_putc (0x1b); |
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| 212 | USART_putc (0x1b); |
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| 213 | USART_putc (0x55); |
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| 214 | USART_putc (0xaa); |
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| 215 | USART_putc (0x00); |
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| 216 | |||
| 217 | mode = 'V'; |
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| 218 | |||
| 219 | #ifndef DEBUG |
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| 220 | |||
| 221 | do |
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| 222 | { |
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| 223 | timeout = 50; |
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| 224 | |||
| 225 | lcd_cls(); |
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| 226 | // lcd_printp_at (0,4,PSTR("Suche FC..."), 0); |
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| 227 | // lcd_printp_at (12, 7, PSTR("Ende"), 0); |
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| 228 | lcd_puts_at(0, 4, strGet(START_SEARCHFC), 0); |
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| 229 | lcd_puts_at(12, 7, strGet(ENDE), 0); |
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| 230 | |||
| 231 | while (!rxd_buffer_locked && timeout) |
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| 232 | { |
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| 233 | SendOutData('v', ADDRESS_ANY, 0); |
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| 234 | |||
| 235 | timer = 20; |
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| 236 | |||
| 237 | while (timer > 0); |
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| 238 | timeout--; |
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| 239 | |||
| 240 | if (spalte <= 20) |
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| 241 | { |
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| 242 | lcd_printp_at (spalte,6,PSTR("?"),0); |
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| 243 | spalte++; |
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| 244 | } |
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| 245 | else |
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| 246 | { |
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| 247 | lcd_cls_line (0,6,21); |
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| 248 | spalte=0; |
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| 249 | } |
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| 250 | |||
| 251 | if (get_key_press (1 << KEY_ESC)) |
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| 252 | { |
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| 253 | get_key_press(KEY_ALL); |
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| 254 | for (;;) |
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| 255 | { |
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| 256 | Debug = 0; |
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| 257 | hardware = NO; |
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| 258 | main_menu (); |
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| 259 | } |
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| 260 | } |
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| 261 | |||
| 262 | } |
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| 263 | |||
| 264 | if(timeout == 0) |
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| 265 | { |
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| 266 | // lcd_printp_at (0,5,PSTR("FC nicht gefunden!"), 0); |
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| 267 | lcd_puts_at(0, 5, strGet(START_FCNOTFOUND), 0); |
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| 268 | timer = 90; |
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| 269 | while (timer > 0); |
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| 270 | } |
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| 271 | } |
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| 272 | while(timeout == 0); |
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| 273 | |||
| 274 | if (timeout != 0) |
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| 275 | Decode64 (); |
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| 276 | |||
| 277 | version = (Version_t *) pRxData; |
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| 278 | |||
| 279 | if (PKT_StartInfo == true) |
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| 280 | { |
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| 281 | lcd_cls (); |
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| 282 | // lcd_printp (PSTR("PKT-Tool GNU GPL\r\n"), 0); |
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| 283 | // lcd_printp (PSTR("gefunden:\r\n\n"), 0); |
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| 284 | lcd_puts_at(0, 0, strGet(START_FCFOUND), 0); |
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| 285 | lcd_puts_at(0, 1, strGet(START_FCFOUND1), 0); |
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| 286 | |||
| 287 | } |
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| 288 | |||
| 289 | if ((rxd_buffer[1] - 'a') == ADDRESS_FC) |
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| 290 | { |
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| 291 | if (PKT_StartInfo == true) |
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| 292 | { |
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| 293 | // lcd_printp (PSTR("Flight-Ctrl\r\n"), 0); |
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| 294 | lcd_puts_at(0, 2, strGet(START_FCFOUND2), 0); |
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| 295 | } |
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| 296 | hardware = FC; |
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| 297 | current_hardware = hardware; |
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| 298 | } |
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| 299 | else if ((rxd_buffer[1] - 'a') == ADDRESS_NC) |
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| 300 | { |
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| 301 | if (PKT_StartInfo == true) |
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| 302 | { |
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| 303 | // lcd_printp (PSTR("Navi-Ctrl\r\n"), 0); |
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| 304 | lcd_puts_at(0, 2, strGet(START_FCFOUND3), 0); |
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| 305 | } |
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| 306 | hardware = NC; |
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| 307 | current_hardware = hardware; |
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| 308 | } |
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| 309 | |||
| 310 | if (PKT_StartInfo == true) |
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| 311 | { |
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| 312 | // lcd_printp (PSTR("Version: "), 0); |
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| 313 | lcd_puts_at(0, 3, strGet(START_VERSIONCHECK), 0); |
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| 314 | lcd_write_number_u_at (9, 3, version->SWMajor); |
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| 315 | lcd_printp_at (10,3,PSTR("."), 0); |
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| 316 | lcd_write_number_u_at (11,3,version->SWMinor); |
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| 317 | lcd_write_number_u_at (14,3, version->SWPatch + 'a'); |
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| 318 | _delay_ms(2500); |
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| 319 | } |
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| 320 | SwitchToFC(); |
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| 321 | #else |
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| 322 | if (PKT_StartInfo == true) |
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| 323 | { |
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| 324 | lcd_cls (); |
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| 325 | lcd_printp (PSTR("PKT-Test DEBUG\r\n"), 0); |
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| 326 | _delay_ms(1500); |
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| 327 | } |
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| 328 | |||
| 329 | #endif |
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| 330 | |||
| 331 | |||
| 332 | #ifndef DEBUG |
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| 333 | |||
| 334 | // EEprom Version / Struktur prüfen |
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| 335 | // val = load_setting(1); // Parameterset 1 holen |
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| 336 | val = load_setting(0xff); // aktuelles Parameterset holen |
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| 337 | if (mk_param_struct->Revision != EEProm_Version) |
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| 338 | { |
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| 339 | lcd_cls (); |
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| 340 | |||
| 341 | lcd_printp_at (0, 0, PSTR("EEPromRev "), 0); |
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| 342 | lcd_write_number_u (EEProm_Version); |
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| 343 | |||
| 344 | lcd_puts_at(13, 0, strGet(START_VERSIONCHECK1), 0); |
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| 345 | // lcd_printp (PSTR("erwartet\r\n"), 0); |
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| 346 | |||
| 347 | lcd_printp_at (0, 2, PSTR("EEPromRev "), 0); |
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| 348 | lcd_write_number_u (mk_param_struct->Revision); |
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| 349 | |||
| 350 | lcd_puts_at(13, 2, strGet(START_VERSIONCHECK2), 0); |
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| 351 | // lcd_printp (PSTR(" gefunden\r\n"), 0); |
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| 352 | |||
| 353 | // lcd_printp (PSTR("PKT-Tool nur mit\r\n"), 0); |
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| 354 | // lcd_printp (PSTR("FC Software "), 0); |
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| 355 | lcd_puts_at(0, 4, strGet(START_VERSIONCHECK3), 0); |
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| 356 | lcd_puts_at(0, 5, strGet(START_VERSIONCHECK4), 0); |
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| 357 | |||
| 358 | // lcd_printp (PSTR(FC_Version), 0); |
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| 359 | lcd_printp_at (12, 5, PSTR(FC_Version), 0); |
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| 360 | |||
| 361 | // lcd_printp (PSTR("\r\nkompatibel"), 0); |
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| 362 | lcd_puts_at(0, 6, strGet(START_VERSIONCHECK5), 0); |
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| 363 | hardware = NO; |
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| 364 | set_beep ( 1500, 0x0040, BeepNormal); |
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| 365 | |||
| 366 | _delay_ms(4000); |
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| 367 | } |
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| 368 | |||
| 369 | #endif |
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| 370 | mode = 0; |
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| 371 | rxd_buffer_locked = FALSE; |
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| 372 | |||
| 373 | timer = 50; |
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| 374 | while (timer > 0); |
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| 375 | |||
| 376 | for (;;) |
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| 377 | { |
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| 378 | main_menu (); |
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| 379 | } |
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| 380 | } |
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| 381 |