Details | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1914 | - | 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 | #ifndef HAL_HW3_9_C_ |
||
36 | #define HAL_HW3_9_C_ |
||
37 | |||
38 | #include "cpu.h" |
||
39 | #include <inttypes.h> |
||
40 | #include <avr/io.h> |
||
41 | #include <avr/interrupt.h> |
||
42 | #include <avr/pgmspace.h> |
||
43 | #include <avr/eeprom.h> |
||
44 | #include <util/delay.h> |
||
45 | #include <stdbool.h> |
||
46 | #include <stdlib.h> |
||
47 | |||
48 | #include "main.h" |
||
49 | |||
50 | #if defined HWVERSION3_9 |
||
51 | #include "eeprom/eeprom.h" |
||
52 | #include "messages.h" |
||
53 | #include "lcd/lcd.h" |
||
54 | #include "uart/usart.h" |
||
55 | #include "uart/uart1.h" |
||
56 | #include "display.h" |
||
57 | #include "timer/timer.h" |
||
58 | |||
59 | #include "wi232/Wi232.h" |
||
60 | #include "motortest/twimaster.h" |
||
61 | #include "bluetooth/bluetooth.h" |
||
62 | #include "bluetooth/error.h" |
||
63 | #include "connect.h" |
||
64 | #include "lipo/lipo.h" |
||
65 | #include "setup/setup.h" |
||
66 | #include "osd/osd.h" |
||
67 | #include "sound/pwmsine8bit.h" |
||
68 | #include "tracking/ng_servo.h" |
||
69 | |||
70 | |||
71 | |||
72 | volatile uint8_t USBBT; |
||
73 | volatile uint8_t U02SV2; |
||
74 | volatile uint8_t PCB_Version; |
||
75 | |||
76 | uint8_t PortA; |
||
77 | uint8_t PortB; |
||
78 | uint8_t PortC; |
||
79 | uint8_t PortD; |
||
80 | |||
81 | void CheckPCB(void) |
||
82 | { |
||
83 | |||
84 | |||
85 | DDRA = 0xFF; |
||
86 | DDRB = 0x00; |
||
87 | DDRC = 0x00; |
||
88 | DDRD = 0x00; |
||
89 | PortA = PINA; |
||
90 | PortB = PINB; |
||
91 | PortC = PINC; |
||
92 | PortD = PIND; |
||
93 | |||
94 | if (PINC & (1<<PINC7) ) PCB_Version = PKT39m; else PCB_Version = PKT39x; |
||
95 | |||
96 | } |
||
97 | |||
98 | |||
99 | //-------------------------------------------------------------- |
||
100 | void InitHWPorts(void) // Initialisierung der Hardware fÃŒr die jeweilige Leiterplattenversion |
||
101 | |||
102 | { |
||
103 | CheckPCB(); // Version der Leiterplatte prüfen |
||
104 | PORTA |= (1<<PORTA4)|(1<<PORTA5)|(1<<PORTA6)|(1<<PORTA7); // Enable Pull Up for the 4 keys |
||
105 | DDRA &= ~(1<<DDA4); // Eingang: A4 auf Low setzen (Power On) |
||
106 | //DDRA &= ~(1<<DDA1); // Eingang: PKT Lipo Messung // MartinR so war es |
||
107 | if (Config.Lipomessung == true) |
||
108 | { |
||
109 | DDRA &= ~(1<<DDA1); // Eingang: PKT Lipo Messung |
||
110 | PORTA &= ~(1<<PORTA1); |
||
111 | } |
||
112 | |||
113 | DDRB = 0xFF; // Alles AusgÀnge |
||
114 | |||
115 | PORTC |= (1<<PORTC4)|(1<<PORTC7); // Enable Pull Up for LBO + Summer |
||
116 | DDRC |= (1<<DDC2)|(1<<DDC3)|(1<<DDC5)|(1<<DDC6|(1<<DDC7)); // Ausgang: Led2,Rs232Switch,Summer |
||
117 | DDRC &= ~(1<<DDC4); // Eingang: LowBat LTC1308 |
||
118 | _BTOn(); // Erstmal USB dektivieren, damit beim versehentlichen Einschalten USB im PC ruhig bleibt |
||
119 | |||
120 | PORTD |= (1<<PORTD6); // Wi232-CMD auf High schalten |
||
121 | DDRD |= (1<<DDD4)|(1<<DDD5)|(1<<DDD6)|(1<<DDD7); // Ausgang: PiepserTest, Servo, Wi232-CMD und Beleuchtung |
||
122 | set_V_On(); // Spannung mit T3 halten |
||
123 | Timer0_Init (); // system |
||
124 | |||
125 | Display_on = 1; |
||
126 | USART_Init (UART_BAUD_SELECT(USART_BAUD,F_CPU)); |
||
127 | uart1_init (UART_BAUD_SELECT(USART_BAUD,F_CPU)); // USB |
||
128 | I2C_Init(1); |
||
129 | |||
130 | LCD_Init (0); // muss vor "ReadParameter" stehen |
||
131 | ReadParameter (); // Aktuelle Werte aus EEProm auslesen |
||
132 | servoInit(SERVO_PERIODE); |
||
133 | // servoSetDefaultPos(); |
||
134 | sei (); |
||
135 | |||
136 | |||
137 | |||
138 | |||
139 | |||
140 | Old_Baudrate = Config.PKT_Baudrate; |
||
141 | SetBaudUart1(Config.PKT_Baudrate); |
||
142 | SetBaudUart0(Config.PKT_Baudrate); |
||
143 | if (Config.DisplayLanguage > NUM_LANG) // Beim ersten Start Sprache abfragen |
||
144 | { Config.DisplayLanguage = 1; |
||
145 | Config.DisplayLanguage = Edit_generic(Config.DisplayLanguage,0,3,DISPLAY3,Language); |
||
146 | // WriteParameter(); |
||
147 | } |
||
148 | |||
149 | if ((Config.HWSound==0)&&(PCB_Version == PKT39m)) |
||
150 | { |
||
151 | Timer2_Init(); // Displaybeleuchtung |
||
152 | OCR2A = Config.LCD_Helligkeit * 2.55; |
||
153 | } |
||
154 | if (Config.HWSound==1) InitSound(); |
||
155 | LCD_Init (1); |
||
156 | set_beep ( 400, 0x0080, BeepNormal); |
||
157 | |||
158 | OSD_active = false; //keine OSD Ausgabe |
||
159 | ADC_Init(); // ADC für Lipomessung// MartinR: verschoben |
||
160 | |||
161 | if (PCB_Version==PKT39m) |
||
162 | { |
||
163 | lcd_printp_at (2, 0, PSTR("Hardware PKT 3.9m"),0); |
||
164 | lcd_printp_at (7, 1, PSTR("09.2011"),0); |
||
165 | } |
||
166 | if (PCB_Version==PKT39x) |
||
167 | { |
||
168 | lcd_printp_at (2, 0, PSTR("Hardware PKT 3.9x"),0); |
||
169 | lcd_printp_at (7, 1, PSTR("11.2012"),0); |
||
170 | } |
||
171 | lcd_printp_at (0, 3, PSTR("Software:"),0); |
||
172 | // lcd_printpj_at (8, 3, PSTR(PKTSWVersion),0); |
||
173 | lcd_printp_at (8, 3, PSTR(PKTSWVersion), MBIG); |
||
174 | |||
175 | |||
176 | lcd_puts_at(0, 5, strGet(BOOT1), 0); |
||
177 | lcd_puts_at(0, 6, strGet(BOOT2), 0); |
||
178 | |||
179 | _delay_ms(800); |
||
180 | |||
181 | if (PINA & (1<<PINA7)) // Spannung eingeschaltet lassen |
||
182 | clr_V_On(); |
||
183 | |||
184 | _delay_ms(100); |
||
185 | |||
186 | set_beep ( 400, 0x0080, BeepNormal); |
||
187 | get_key_press(KEY_ALL); |
||
188 | if (Config.HWSound==1); |
||
189 | { |
||
190 | playTone(505,100,Config.Volume); |
||
191 | playTone(515,100,Config.Volume); |
||
192 | playTone(525,100,Config.Volume); |
||
193 | playTone(535,100,Config.Volume); |
||
194 | playTone(525,100,Config.Volume); |
||
195 | playTone(515,100,Config.Volume); |
||
196 | playTone(505,100,Config.Volume); |
||
197 | } |
||
198 | lcd_cls(); |
||
199 | |||
200 | |||
201 | // servoSetPosition(1,0); |
||
202 | // _delay_ms(250); |
||
203 | // servoSetPosition(0,0); |
||
204 | // _delay_ms(250); |
||
205 | // servoSetPosition(1,400); |
||
206 | // _delay_ms(250); |
||
207 | // servoSetPosition(0,400); |
||
208 | // _delay_ms(250); |
||
209 | // servoSetPosition(1,0); |
||
210 | // _delay_ms(250); |
||
211 | // servoSetPosition(0,0); |
||
212 | // _delay_ms(250); |
||
213 | // servoSetPosition(1,400); |
||
214 | // _delay_ms(250); |
||
215 | // servoSetPosition(0,400); |
||
216 | |||
217 | set_BTOff(); |
||
218 | if ((Config.UseWi == true) && (Config.WiIsSet == false)) |
||
219 | { |
||
220 | InitWi232(Config.PKT_Baudrate); // wenn Wi232 nicht initialisiert ist, dann jetzt tun |
||
221 | } |
||
222 | |||
223 | lcd_cls(); |
||
224 | // BT ausschalten |
||
225 | if ((Config.UseBT == true) && (Config.BTIsSet == false)) |
||
226 | { |
||
227 | bt_init(); |
||
228 | // set_USBOn(); |
||
229 | } |
||
230 | bt_start(); |
||
231 | lcd_cls(); |
||
232 | |||
233 | if ((Config.UseWi == true) && (U02SV2 == 0)) |
||
234 | { |
||
235 | Change_Output(Uart02Wi); // Verbindung zu Wi232 herstellen |
||
236 | if (Config.PKT_StartInfo == true) |
||
237 | { |
||
238 | lcd_puts_at(0, 0, strGet(BOOT_WI1), 0); |
||
239 | lcd_puts_at(0, 1, strGet(BOOT_WI2), 0); |
||
240 | _delay_ms(2000); |
||
241 | } |
||
242 | } |
||
243 | else |
||
244 | { |
||
245 | Change_Output(Uart02FC); // Verbindung zu SV" (Kabel) herstellen |
||
246 | if (Config.PKT_StartInfo == true) |
||
247 | { |
||
248 | lcd_puts_at(0, 0, strGet(BOOT_WI1), 0); |
||
249 | lcd_puts_at(0, 1, strGet(BOOT_SV), 0); |
||
250 | _delay_ms(2000); |
||
251 | } |
||
252 | } |
||
253 | |||
254 | lcd_cls(); |
||
255 | |||
256 | } |
||
257 | |||
258 | //#define set_BEEP() (PORTC &= ~(1 << Summer)) // Summer |
||
259 | //#define clr_BEEP() (PORTC |= (1 << Summer)) |
||
260 | |||
261 | void set_BEEP(void) |
||
262 | { |
||
263 | if (PCB_Version == PKT39m) |
||
264 | PORTC &= ~(1 << Summer); // Summer |
||
265 | if (PCB_Version == PKT39x) |
||
266 | PORTD &= ~(1 << SummerV2); // Summer |
||
267 | } |
||
268 | |||
269 | void clr_BEEP(void) |
||
270 | { |
||
271 | if (PCB_Version == PKT39m) |
||
272 | PORTC |= (1 << Summer); // Summer |
||
273 | if (PCB_Version == PKT39x) |
||
274 | PORTD |= (1 << SummerV2); // Summer |
||
275 | } |
||
276 | |||
277 | void set_D_LIGHT(void) /* Displaybeleuchtung ein*/ |
||
278 | { |
||
279 | if (PCB_Version == PKT39m) |
||
280 | { |
||
281 | if (Config.HWSound==0) |
||
282 | { |
||
283 | // PWM einschalten |
||
284 | TCCR2A |= (1 << WGM21) | (1 << WGM20) | (1 << COM2A1); |
||
285 | TCCR2B |= (1 << CS20); |
||
286 | } |
||
287 | else |
||
288 | clr_DISPLAYLIGHT(); |
||
289 | } |
||
290 | |||
291 | if (PCB_Version == PKT39x) |
||
292 | { |
||
293 | // if (HWSound==0) |
||
294 | // { |
||
295 | // // PWM einschalten |
||
296 | // TCCR2A |= (1 << WGM21) | (1 << WGM20) | (1 << COM2A1); |
||
297 | // TCCR2B |= (1 << CS20); |
||
298 | // } |
||
299 | // else |
||
300 | clr_DISPLAYLIGHTV2(); |
||
301 | } |
||
302 | } |
||
303 | |||
304 | void clr_D_LIGHT(void) /* Displaybeleuchtung aus*/ |
||
305 | { |
||
306 | if (PCB_Version == PKT39m) |
||
307 | { |
||
308 | if (Config.HWSound==0) |
||
309 | { |
||
310 | // PWM ausschalten |
||
311 | TCCR2A = 0; |
||
312 | TCCR2B = 0; |
||
313 | } |
||
314 | else |
||
315 | set_DISPLAYLIGHT(); |
||
316 | } |
||
317 | if (PCB_Version == PKT39x) |
||
318 | { |
||
319 | // if (HWSound==0) |
||
320 | // { |
||
321 | // // PWM ausschalten |
||
322 | // TCCR2A = 0; |
||
323 | // TCCR2B = 0; |
||
324 | // } |
||
325 | // else |
||
326 | set_DISPLAYLIGHTV2(); |
||
327 | } |
||
328 | } |
||
329 | |||
330 | |||
331 | |||
332 | |||
333 | uint8_t BTIsOn=0; |
||
334 | |||
335 | void set_BTOn(void) |
||
336 | { |
||
337 | if (BTIsOn == 0) |
||
338 | { |
||
339 | _BTOn(); |
||
340 | BTIsOn = 1; |
||
341 | _delay_ms(2000); |
||
342 | } |
||
343 | } |
||
344 | void set_BTOff(void) |
||
345 | { |
||
346 | set_USBOn(); |
||
347 | BTIsOn = 0; |
||
348 | } |
||
349 | |||
350 | |||
351 | |||
352 | #endif |
||
353 | #endif // HAL_HW3_9_C_ |