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1148 | - | 1 | /***************************************************************************** |
2 | * Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de * |
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3 | * Copyright (C) 2009-2010 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 | * * |
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6 | * This program is free software; you can redistribute it and/or modify * |
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7 | * it under the terms of the GNU General Public License as published by * |
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8 | * the Free Software Foundation; either version 2 of the License. * |
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9 | * * |
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10 | * This program is distributed in the hope that it will be useful, * |
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11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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13 | * GNU General Public License for more details. * |
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14 | * * |
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15 | * You should have received a copy of the GNU General Public License * |
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16 | * along with this program; if not, write to the * |
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17 | * Free Software Foundation, Inc., * |
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18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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19 | * * |
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20 | * * |
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21 | * Credits to: * |
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22 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
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23 | * http://www.mikrokopter.de * |
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24 | * Gregor "killagreg" Stobrawa for his version of the MK code * |
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25 | * Thomas Kaiser "thkais" for the original project. See * |
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26 | * http://www.ft-fanpage.de/mikrokopter/ * |
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27 | * http://forum.mikrokopter.de/topic-4061-1.html * |
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28 | * Claas Anders "CaScAdE" Rathje for providing the font and his C-OSD code * |
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29 | * http://www.mylifesucks.de/oss/c-osd/ * |
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30 | *****************************************************************************/ |
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31 | |||
32 | #include <inttypes.h> |
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33 | #include <avr/io.h> |
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34 | #include <avr/interrupt.h> |
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35 | #include <avr/pgmspace.h> |
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36 | #include <avr/eeprom.h> |
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37 | #include <util/delay.h> |
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38 | #include <avr/wdt.h> |
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39 | |||
40 | /* Watchdog integrieren und abschalten, wird für Bootloader benötigt*/ |
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41 | void wdt_init(void) __attribute__((naked)) __attribute__((section(".init1"))); |
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42 | |||
43 | void wdt_init(void) |
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44 | { |
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45 | MCUSR = 0; |
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46 | wdt_disable(); |
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47 | |||
48 | return; |
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49 | } |
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50 | |||
51 | #include "main.h" |
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52 | #include "lcd.h" |
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53 | #include "usart.h" |
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54 | #include "uart1.h" |
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55 | #include "mk-data-structs.h" |
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56 | #include "parameter.h" |
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57 | #include "menu.h" |
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58 | #include "display.h" |
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59 | #include "timer.h" |
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60 | #include "eeprom.h" |
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61 | #include "Wi232.h" |
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62 | |||
63 | #if defined HWVERSION3_1 || defined HWVERSION1_3 |
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64 | #include "motortestI2C.h" |
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65 | #endif |
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66 | |||
67 | |||
68 | |||
69 | #define MTEST 1 // Menu Test (skip FC/NC detection) |
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70 | |||
71 | Version_t *version; |
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72 | |||
73 | volatile uint8_t mode = 0; |
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74 | |||
75 | uint8_t hardware = 0; |
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76 | uint8_t current_hardware = 0; |
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77 | //uint8_t no_hardware = 0; |
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78 | |||
79 | mk_param_struct_t *mk_param_struct; |
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80 | |||
81 | |||
82 | int main (void) |
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83 | { |
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84 | uint8_t timeout; |
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85 | uint8_t val =0; |
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86 | uint8_t spalte =0; |
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87 | |||
88 | // enable pull ups for the 4 keys |
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89 | PORTA |= (1<<PORTA4)|(1<<PORTA5)|(1<<PORTA6)|(1<<PORTA7); |
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90 | |||
91 | |||
92 | #ifdef HWVERSION1_2 |
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93 | DDRC |= (1<<DDC0)|(1<<DDC1); |
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94 | DDRD |= (1<<DDD7); |
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95 | DDRB = 0xFF; |
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96 | #endif |
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97 | #ifdef HWVERSION1_3 |
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98 | DDRC |= (1<<DDC2); |
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99 | DDRD |= (1<<DDD6) |(1<<DDD7); |
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100 | DDRB = 0xFF; |
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101 | #endif |
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102 | |||
103 | #ifdef HWVERSION3_1 |
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104 | |||
105 | DDRD |= (1<<DDD7)|(1<<DDD6); |
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106 | |||
107 | DDRC = 0xFF; |
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108 | DDRB = 0xFF; |
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109 | set_LED1(); |
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110 | set_LED2(); |
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111 | set_LED3(); |
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112 | set_LED4(); |
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113 | set_BEEP(); |
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114 | set_D_LIGHT(); |
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115 | clr_WI232CMD(); |
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116 | _delay_ms(250); |
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117 | |||
118 | clr_LED1(); |
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119 | clr_LED2(); |
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120 | clr_LED3(); |
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121 | clr_LED4(); |
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122 | clr_BEEP(); |
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123 | |||
124 | |||
125 | #endif |
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126 | |||
127 | Display_on = 1; |
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128 | |||
129 | LCD_Init (); |
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130 | USART_Init (UART_BAUD_SELECT(USART_BAUD,F_CPU)); |
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131 | |||
132 | |||
133 | |||
134 | #if defined HWVERSION3_1 || defined HWVERSION1_3 |
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135 | |||
136 | uart1_init (UART_BAUD_SELECT(USART_BAUD,F_CPU)); /* USB*/ |
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137 | uart1_putc('R'); |
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138 | I2C_Init(); |
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139 | #endif |
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140 | |||
141 | |||
142 | TIMER0_Init (); |
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143 | TIMER1_Init (); // pwm |
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144 | |||
145 | sei (); |
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146 | |||
147 | ReadParameter (); |
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148 | LCD_Init (); |
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149 | |||
150 | |||
151 | #ifdef HWVERSION3_1 |
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152 | InitWi232(); |
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153 | |||
154 | hardware = NO; |
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155 | current_hardware = 0; |
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156 | #endif |
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157 | |||
158 | |||
159 | // switch to NC |
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160 | USART_putc (0x1b); |
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161 | USART_putc (0x1b); |
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162 | USART_putc (0x55); |
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163 | USART_putc (0xaa); |
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164 | USART_putc (0x00); |
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165 | |||
166 | mode = 'V'; |
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167 | |||
168 | lcd_cls (); |
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169 | lcd_printpns_at (0,0,PSTR("Portables Koptertool"), 0); |
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170 | lcd_printpns_at (0,1,PSTR("for FC V "), 0); |
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171 | lcd_printpns_at (10,1,PSTR(FC_Version),0); |
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172 | lcd_printpns_at (0,2,PSTR("GNU GPL License"), 0); |
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173 | |||
174 | #ifdef HWVERSION3_1 |
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175 | lcd_printpns_at (0,3,PSTR("Hardware 3.2, 644P"), 0); |
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176 | #endif |
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177 | #ifdef HWVERSION1_2 |
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178 | lcd_printpns_at (0,3,PSTR("Hardware 1.2, 644"), 0); |
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179 | #endif |
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180 | #ifdef HWVERSION1_3 |
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181 | lcd_printpns_at (0,3,PSTR("Hardware 1.3, 644P"), 0); |
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182 | #endif |
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183 | _delay_ms(2000); |
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184 | |||
185 | |||
186 | |||
187 | #if MTEST |
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188 | do |
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189 | { |
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190 | timeout = 50; |
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191 | |||
192 | lcd_printpns_at (0,4,PSTR("suche FC..."), 0); |
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193 | lcd_printpns_at (0, 7, PSTR("Skip FC-Check"), 0); |
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194 | |||
195 | while (!rxd_buffer_locked && timeout) |
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196 | |||
197 | { |
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198 | |||
199 | SendOutData('v', ADDRESS_ANY, 0); |
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200 | |||
201 | timer = 20; |
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202 | while (timer > 0); |
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203 | timeout--; |
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204 | if (spalte <= 20) |
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205 | { |
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206 | lcd_printpns_at (spalte,6,PSTR("?"),0); |
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207 | spalte++; |
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208 | } |
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209 | else |
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210 | { |
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211 | lcd_printpns_at (0,6,PSTR(" "),0); |
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212 | spalte=0; |
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213 | } |
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214 | |||
215 | if (get_key_press (1 << KEY_MINUS)) |
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216 | { |
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217 | for (;;) |
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218 | { |
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219 | hardware = NO; |
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220 | main_menu (); |
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221 | } |
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222 | } |
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223 | |||
224 | //#ifdef HWVERSION1_3 |
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225 | // debug1(); |
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226 | //#endif |
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227 | } |
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228 | if(timeout == 0) |
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229 | { |
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230 | |||
231 | lcd_printpns_at (0,5,PSTR("FC nicht gefunden"), 0); |
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232 | timer = 90; |
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233 | //#ifdef HWVERSION1_3 |
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234 | // debug1(); |
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235 | //#endif |
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236 | while (timer > 0); |
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237 | } |
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238 | |||
239 | } |
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240 | |||
241 | |||
242 | |||
243 | while(timeout == 0); |
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244 | |||
245 | Decode64 (); |
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246 | version = (Version_t *) pRxData; |
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247 | |||
248 | lcd_cls (); |
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249 | lcd_printp (PSTR("PMK-Tool GNU GPL\r\n"), 0); |
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250 | lcd_printp (PSTR("found:\r\n\n"), 0); |
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251 | |||
252 | if ((rxd_buffer[1] - 'a') == ADDRESS_FC) |
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253 | { |
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254 | lcd_printp (PSTR("Flight-Ctrl\r\n"), 0); |
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255 | hardware = FC; |
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256 | current_hardware = hardware; |
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257 | } |
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258 | else if ((rxd_buffer[1] - 'a') == ADDRESS_NC) |
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259 | { |
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260 | lcd_printp (PSTR("Navi-Ctrl\r\n"), 0); |
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261 | hardware = NC; |
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262 | current_hardware = hardware; |
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263 | } |
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264 | |||
265 | lcd_printp (PSTR("Version: "), 0); |
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266 | lcd_write_number_u (version->SWMajor); |
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267 | lcd_printp (PSTR("."), 0); |
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268 | lcd_write_number_u (version->SWMinor); |
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269 | lcd_putc (lcd_xpos, lcd_ypos, version->SWPatch + 'a', 0); |
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270 | #else |
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271 | lcd_cls (); |
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272 | lcd_printp (PSTR("PKT-Test\r\n"), 0); |
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273 | |||
274 | #endif |
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275 | |||
276 | timer = 50; |
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277 | while (timer > 0); |
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278 | SwitchToFC(); |
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279 | //Delay |
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280 | timer = 50; |
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281 | while (timer > 0); |
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282 | #if MTEST |
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283 | // EEprom Version / Struktur prüfen |
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284 | val = load_setting(1); //Parameterset 1 holen |
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285 | if (mk_param_struct->Revision != EEProm_Version) |
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286 | { |
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287 | lcd_cls (); |
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288 | lcd_printp (PSTR("EEPromRev."), 0); |
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289 | lcd_write_number_u (EEProm_Version); |
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290 | lcd_printp (PSTR(" erwartet\r\n"), 0); |
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291 | lcd_printp (PSTR("EEPromRev."), 0); |
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292 | lcd_write_number_u (mk_param_struct->Revision); |
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293 | lcd_printp (PSTR(" gefunden\r\n"), 0); |
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294 | lcd_printp (PSTR("PMK-Tool nur mit\r\n"), 0); |
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295 | lcd_printp (PSTR("FC Software "), 0); |
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296 | lcd_printp (PSTR(FC_Version),0); |
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297 | lcd_printp (PSTR("\r\nkompatibel"), 0); |
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298 | while (mk_param_struct->Revision != EEProm_Version); |
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299 | } |
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300 | |||
301 | #endif |
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302 | mode = 0; |
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303 | rxd_buffer_locked = FALSE; |
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304 | |||
305 | timer = 200; |
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306 | while (timer > 0); |
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307 | for (;;) |
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308 | { |
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309 | main_menu (); |
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310 | } |
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311 | } |