Go to most recent revision | Details | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1071 | - | 1 | /***************************************************************************** |
2 | * Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de * |
||
3 | * Copyright (C) 2009-2010 Peter "woggle" Mack, mac@denich.net * |
||
4 | * Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net * |
||
5 | * * |
||
6 | * This program is free software; you can redistribute it and/or modify * |
||
7 | * it under the terms of the GNU General Public License as published by * |
||
8 | * the Free Software Foundation; either version 2 of the License. * |
||
9 | * * |
||
10 | * This program is distributed in the hope that it will be useful, * |
||
11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
||
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
||
13 | * GNU General Public License for more details. * |
||
14 | * * |
||
15 | * You should have received a copy of the GNU General Public License * |
||
16 | * along with this program; if not, write to the * |
||
17 | * Free Software Foundation, Inc., * |
||
18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
||
19 | * * |
||
20 | * * |
||
21 | * Credits to: * |
||
22 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
||
23 | * http://www.mikrokopter.de * |
||
24 | * Gregor "killagreg" Stobrawa for his version of the MK code * |
||
25 | * Thomas Kaiser "thkais" for the original project. See * |
||
26 | * http://www.ft-fanpage.de/mikrokopter/ * |
||
27 | * http://forum.mikrokopter.de/topic-4061-1.html * |
||
28 | * Claas Anders "CaScAdE" Rathje for providing the font and his C-OSD code * |
||
29 | * http://www.mylifesucks.de/oss/c-osd/ * |
||
30 | *****************************************************************************/ |
||
31 | |||
32 | #include <inttypes.h> |
||
33 | #include <avr/io.h> |
||
34 | #include <avr/interrupt.h> |
||
35 | #include <avr/pgmspace.h> |
||
36 | #include <avr/eeprom.h> |
||
37 | #include <util/delay.h> |
||
38 | #include <avr/wdt.h> |
||
39 | |||
40 | /* Watchdog integrieren und abschalten, wird für Bootloader benötigt*/ |
||
41 | void wdt_init(void) __attribute__((naked)) __attribute__((section(".init1"))); |
||
42 | |||
43 | void wdt_init(void) |
||
44 | { |
||
45 | MCUSR = 0; |
||
46 | wdt_disable(); |
||
47 | |||
48 | return; |
||
49 | } |
||
50 | |||
51 | #include "main.h" |
||
52 | #include "lcd.h" |
||
53 | #include "usart.h" |
||
54 | #include "uart1.h" |
||
55 | #include "mk-data-structs.h" |
||
56 | #include "parameter.h" |
||
57 | #include "menu.h" |
||
58 | #include "display.h" |
||
59 | #include "timer.h" |
||
60 | #include "eeprom.h" |
||
61 | #include "Wi232.h" |
||
62 | |||
63 | #if defined HWVERSION3_1 || defined HWVERSION1_3 |
||
64 | #include "motortestI2C.h" |
||
65 | #endif |
||
66 | |||
67 | |||
68 | |||
69 | #define MTEST 1 // Menu Test (skip FC/NC detection) |
||
70 | |||
71 | Version_t *version; |
||
72 | |||
73 | volatile uint8_t mode = 0; |
||
74 | |||
75 | uint8_t hardware = 0; |
||
76 | uint8_t current_hardware = 0; |
||
77 | //uint8_t no_hardware = 0; |
||
78 | |||
79 | mk_param_struct_t *mk_param_struct; |
||
80 | |||
81 | |||
82 | int main (void) |
||
83 | { |
||
84 | uint8_t timeout; |
||
85 | uint8_t val =0; |
||
86 | |||
87 | // enable pull ups for the 4 keys |
||
88 | PORTA |= (1<<PORTA4)|(1<<PORTA5)|(1<<PORTA6)|(1<<PORTA7); |
||
89 | |||
90 | |||
91 | #ifdef HWVERSION1_2 |
||
92 | DDRC |= (1<<DDC0)|(1<<DDC1); |
||
93 | DDRD |= (1<<DDD7); |
||
94 | DDRB = 0xFF; |
||
95 | #endif |
||
96 | #ifdef HWVERSION1_3 |
||
97 | DDRC |= (1<<DDC2); |
||
98 | DDRD |= (1<<DDD6) |(1<<DDD7); |
||
99 | DDRB = 0xFF; |
||
100 | #endif |
||
101 | |||
102 | #ifdef HWVERSION3_1 |
||
103 | |||
104 | DDRD |= (1<<DDD7)|(1<<DDD6); |
||
105 | |||
106 | DDRC = 0xFF; |
||
107 | DDRB = 0xFF; |
||
108 | set_LED1(); |
||
109 | set_LED2(); |
||
110 | set_LED3(); |
||
111 | set_LED4(); |
||
112 | set_BEEP(); |
||
113 | set_D_LIGHT(); |
||
114 | clr_WI232CMD(); |
||
115 | _delay_ms(250); |
||
116 | |||
117 | clr_LED1(); |
||
118 | clr_LED2(); |
||
119 | clr_LED3(); |
||
120 | clr_LED4(); |
||
121 | clr_BEEP(); |
||
122 | |||
123 | |||
124 | #endif |
||
125 | |||
126 | Display_on = 1; |
||
127 | |||
128 | LCD_Init (); |
||
129 | USART_Init (UART_BAUD_SELECT(USART_BAUD,F_CPU)); |
||
130 | |||
131 | |||
132 | |||
133 | #if defined HWVERSION3_1 || defined HWVERSION1_3 |
||
134 | |||
135 | uart1_init (UART_BAUD_SELECT(USART_BAUD,F_CPU)); /* USB*/ |
||
136 | uart1_putc('R'); |
||
137 | I2C_Init(); |
||
138 | #endif |
||
139 | |||
140 | |||
141 | TIMER0_Init (); |
||
142 | TIMER1_Init (); // pwm |
||
143 | |||
144 | sei (); |
||
145 | |||
146 | #ifdef HWVERSION3_1 |
||
147 | InitWi232(); |
||
148 | _delay_ms(2000); |
||
149 | hardware = NO; |
||
150 | current_hardware = 0; |
||
151 | #endif |
||
152 | |||
153 | ReadParameter (); |
||
154 | |||
155 | // switch to NC |
||
156 | USART_putc (0x1b); |
||
157 | USART_putc (0x1b); |
||
158 | USART_putc (0x55); |
||
159 | USART_putc (0xaa); |
||
160 | USART_putc (0x00); |
||
161 | |||
162 | mode = 'V'; |
||
163 | #if MTEST |
||
164 | do |
||
165 | { |
||
166 | timeout = 50; |
||
167 | lcd_cls (); |
||
168 | lcd_printpns_at (0,0,PSTR("Portables Koptertool"), 0); |
||
169 | lcd_printpns_at (0,1,PSTR("for FC V "), 0); |
||
170 | lcd_printpns_at (10,1,PSTR(FC_Version),0); |
||
171 | lcd_printpns_at (0,2,PSTR("GNU GPL License"), 0); |
||
172 | lcd_printpns_at (0,3,PSTR("checking hardware..."), 0); |
||
173 | lcd_printpns_at (0, 7, PSTR("Skip FC-Check"), 0); |
||
174 | |||
175 | |||
176 | |||
177 | while (!rxd_buffer_locked && timeout) |
||
178 | |||
179 | { |
||
180 | |||
181 | SendOutData('v', ADDRESS_ANY, 0); |
||
182 | timer = 20; |
||
183 | while (timer > 0); |
||
184 | timeout--; |
||
185 | |||
186 | if (get_key_press (1 << KEY_MINUS)) |
||
187 | { |
||
188 | for (;;) |
||
189 | { |
||
190 | hardware = NO; |
||
191 | main_menu (); |
||
192 | } |
||
193 | } |
||
194 | |||
195 | //#ifdef HWVERSION1_3 |
||
196 | // debug1(); |
||
197 | //#endif |
||
198 | } |
||
199 | if(timeout == 0) |
||
200 | { |
||
201 | lcd_printpns_at (0,4,PSTR("ERROR:"), 0); |
||
202 | lcd_printpns_at (0,5,PSTR("no hardware detected"), 0); |
||
203 | timer = 90; |
||
204 | //#ifdef HWVERSION1_3 |
||
205 | // debug1(); |
||
206 | //#endif |
||
207 | while (timer > 0); |
||
208 | } |
||
209 | |||
210 | } |
||
211 | |||
212 | |||
213 | |||
214 | while(timeout == 0); |
||
215 | |||
216 | Decode64 (); |
||
217 | version = (Version_t *) pRxData; |
||
218 | |||
219 | lcd_cls (); |
||
220 | lcd_printp (PSTR("PMK-Tool GNU GPL\r\n"), 0); |
||
221 | lcd_printp (PSTR("found:\r\n\n"), 0); |
||
222 | |||
223 | if ((rxd_buffer[1] - 'a') == ADDRESS_FC) |
||
224 | { |
||
225 | lcd_printp (PSTR("Flight-Ctrl\r\n"), 0); |
||
226 | hardware = FC; |
||
227 | current_hardware = hardware; |
||
228 | } |
||
229 | else if ((rxd_buffer[1] - 'a') == ADDRESS_NC) |
||
230 | { |
||
231 | lcd_printp (PSTR("Navi-Ctrl\r\n"), 0); |
||
232 | hardware = NC; |
||
233 | current_hardware = hardware; |
||
234 | } |
||
235 | |||
236 | lcd_printp (PSTR("Version: "), 0); |
||
237 | lcd_write_number_u (version->SWMajor); |
||
238 | lcd_printp (PSTR("."), 0); |
||
239 | lcd_write_number_u (version->SWMinor); |
||
240 | lcd_putc (lcd_xpos, lcd_ypos, version->SWPatch + 'a', 0); |
||
241 | #else |
||
242 | lcd_cls (); |
||
243 | lcd_printp (PSTR("PKT-Test\r\n"), 0); |
||
244 | |||
245 | #endif |
||
246 | |||
247 | timer = 50; |
||
248 | while (timer > 0); |
||
249 | SwitchToFC(); |
||
250 | //Delay |
||
251 | timer = 50; |
||
252 | while (timer > 0); |
||
253 | #if MTEST |
||
254 | // EEprom Version / Struktur prüfen |
||
255 | val = load_setting(1); //Parameterset 1 holen |
||
256 | if (mk_param_struct->Revision != EEProm_Version) |
||
257 | { |
||
258 | lcd_cls (); |
||
259 | lcd_printp (PSTR("EEPromRev."), 0); |
||
260 | lcd_write_number_u (EEProm_Version); |
||
261 | lcd_printp (PSTR(" erwartet\r\n"), 0); |
||
262 | lcd_printp (PSTR("EEPromRev."), 0); |
||
263 | lcd_write_number_u (mk_param_struct->Revision); |
||
264 | lcd_printp (PSTR(" gefunden\r\n"), 0); |
||
265 | lcd_printp (PSTR("PMK-Tool nur mit\r\n"), 0); |
||
266 | lcd_printp (PSTR("FC Software "), 0); |
||
267 | lcd_printp (PSTR(FC_Version),0); |
||
268 | lcd_printp (PSTR("\r\nkompatibel"), 0); |
||
269 | while (mk_param_struct->Revision != EEProm_Version); |
||
270 | } |
||
271 | |||
272 | #endif |
||
273 | mode = 0; |
||
274 | rxd_buffer_locked = FALSE; |
||
275 | |||
276 | timer = 200; |
||
277 | while (timer > 0); |
||
278 | for (;;) |
||
279 | { |
||
280 | main_menu (); |
||
281 | } |
||
282 | } |