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| Rev | Author | Line No. | Line |
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| 1932 | - | 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 | * Copyright (C) 2012 Martin Runkel * |
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| 7 | * * |
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| 8 | * This program is free software; you can redistribute it and/or modify * |
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| 9 | * it under the terms of the GNU General Public License as published by * |
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| 10 | * the Free Software Foundation; either version 2 of the License. * |
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| 11 | * * |
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| 12 | * This program is distributed in the hope that it will be useful, * |
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| 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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| 15 | * GNU General Public License for more details. * |
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| 16 | * * |
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| 17 | * You should have received a copy of the GNU General Public License * |
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| 18 | * along with this program; if not, write to the * |
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| 19 | * Free Software Foundation, Inc., * |
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| 20 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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| 21 | * * |
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| 22 | * * |
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| 23 | * Credits to: * |
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| 24 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
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| 25 | * http://www.mikrokopter.de * |
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| 26 | * Gregor "killagreg" Stobrawa for his version of the MK code * |
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| 27 | * Thomas Kaiser "thkais" for the original project. See * |
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| 28 | * http://www.ft-fanpage.de/mikrokopter/ * |
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| 29 | * http://forum.mikrokopter.de/topic-4061-1.html * |
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| 30 | * Claas Anders "CaScAdE" Rathje for providing the font and his C-OSD code * |
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| 31 | * http://www.mylifesucks.de/oss/c-osd/ * |
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| 32 | * Harald Bongartz "HaraldB" for providing his Ideas and Code for usibility* |
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| 33 | *****************************************************************************/ |
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| 34 | |||
| 35 | |||
| 36 | #include "../cpu.h" |
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| 37 | #include <avr/io.h> |
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| 38 | #include <avr/interrupt.h> |
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| 39 | #include <avr/pgmspace.h> |
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| 40 | |||
| 41 | #include <string.h> |
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| 42 | #include <stdlib.h> |
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| 43 | |||
| 44 | #include "../lcd/lcd.h" |
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| 45 | #include "../timer/timer.h" |
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| 46 | #include "../tracking/servo.h" |
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| 47 | #include "../messages.h" |
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| 48 | #include "../lipo/lipo.h" |
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| 49 | #include "stick.h" |
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| 50 | |||
| 51 | #define SERVO_CORRECT 3.125 |
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| 52 | |||
| 53 | |||
| 54 | #include <util/delay.h> |
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| 55 | #include <inttypes.h> |
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| 56 | #include <stdlib.h> |
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| 57 | |||
| 58 | #include "../main.h" |
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| 59 | #include "../uart/uart1.h" |
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| 60 | #include "../uart/usart.h" |
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| 61 | #include "../eeprom/eeprom.h" |
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| 62 | |||
| 63 | |||
| 64 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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| 65 | |||
| 66 | int16_t Pos_Stick[12]; // 1,5mS |
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| 67 | int16_t Pos_alt[5]; // |
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| 68 | |||
| 69 | uint8_t BalkenPos = 0; |
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| 70 | uint8_t Stick_Display = 0; |
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| 71 | uint8_t serialChannelRichtung = 0; |
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| 72 | uint8_t serialChannelConfig = 2; |
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| 73 | |||
| 74 | |||
| 75 | //-------------------------------------------------------------- |
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| 76 | // |
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| 77 | void joystick (void) |
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| 78 | { |
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| 79 | // uint8_t chg = 0; |
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| 80 | // uint8_t Pos_Stick = 150; // 1,5mS |
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| 81 | // uint8_t Pos_alt = 150; // |
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| 82 | |||
| 83 | //int16_t Pos_Stick[12]; // 1,5mS |
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| 84 | |||
| 85 | uint8_t chg = 0; |
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| 86 | //uint8_t BalkenPos = 0; |
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| 87 | uint8_t Stick_Nr = 0; |
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| 88 | //uint8_t Stick_Display = 0; |
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| 89 | uint8_t i = 0; |
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| 90 | |||
| 91 | memset (Pos_Stick, 150, 3); // füllt 3+1 Byte vom Pos_Stick[12] mit 150 |
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| 92 | |||
| 93 | //int16_t Pos_alt[5]; // |
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| 94 | int16_t Poti_Summe[5]; // |
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| 95 | memset (Poti_Summe, 0, 5); // füllt 3+1 Byte mit 0 |
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| 96 | int16_t Poti_Neutral[5]; // |
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| 97 | |||
| 98 | |||
| 99 | // ADC- init |
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| 100 | Stick_Nr = 0; |
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| 101 | ADMUX = (1<<REFS0)|(0<<MUX0); // Multiplexer selection Register: AVCC with external capacitor at AREF pin , ADC1 |
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| 102 | ADMUX = (ADMUX & ~(0x1F)) | (Stick_Nr & 0x1F); // ADC[Stick_Nr] verwenden |
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| 103 | |||
| 104 | timer = 50; |
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| 105 | while (timer > 0); |
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| 106 | |||
| 107 | ADCSRA = (1<<ADEN)|(1<<ADSC)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); // ADC Enable, ADC Start, Prescaler 128 |
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| 108 | |||
| 109 | // Stick-Neutralposition bestimmen |
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| 110 | |||
| 111 | while (ADCSRA & (1<<ADSC)); // wenn ADC fertig |
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| 112 | |||
| 113 | Poti_Neutral[Stick_Nr] = ((ADCW>>2)&0xff); |
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| 114 | //CB LIMIT_MIN_MAX (Poti_Neutral[Stick_Nr],108,148); |
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| 115 | LIMIT_MIN_MAX (Poti_Neutral[Stick_Nr],stick_min[Stick_Nr],stick_max[Stick_Nr]); |
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| 116 | Stick_Nr = 2 ; |
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| 117 | ADMUX = (ADMUX & ~(0x1F)) | (Stick_Nr & 0x1F); // ADC[i] verwenden |
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| 118 | // Stick_Nr 1,2,3 = Potis, Stick_Nr 1= Lipo |
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| 119 | ADCSRA |= (1<<ADSC); // ADC Start |
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| 120 | |||
| 121 | while (ADCSRA & (1<<ADSC)); // wenn ADC fertig |
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| 122 | |||
| 123 | Poti_Neutral[Stick_Nr] = ((ADCW>>2)&0xff); |
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| 124 | //CB LIMIT_MIN_MAX (Poti_Neutral[Stick_Nr],108,148); |
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| 125 | LIMIT_MIN_MAX (Poti_Neutral[Stick_Nr],stick_min[Stick_Nr],stick_max[Stick_Nr]); |
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| 126 | Stick_Nr = 0; |
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| 127 | ADMUX = (ADMUX & ~(0x1F)) | (Stick_Nr & 0x1F); // ADC[i] verwenden |
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| 128 | // Stick_Nr 1,2,3 = Potis, Stick_Nr 1= Lipo |
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| 129 | ADCSRA |= (1<<ADSC); // ADC Start |
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| 130 | |||
| 131 | |||
| 132 | |||
| 133 | |||
| 134 | //OCR1A = 150 * SERVO_CORRECT; // Servomitte |
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| 135 | |||
| 136 | lcd_cls (); |
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| 137 | |||
| 138 | // Kopfzeile und Rahmen zeichnen |
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| 139 | |||
| 140 | lcd_printp (PSTR(" serielle Potis 1-5 "), 2); |
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| 141 | //lcd_printp_at (7, 5, PSTR("%"), 0); |
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| 142 | //lcd_printp_at (16, 5, PSTR("mS"), 0); |
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| 143 | |||
| 144 | lcd_puts_at(0, 7, strGet(KEYLINE3), 0); |
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| 145 | lcd_printp_at (18, 7, PSTR("\x19O\x18"), 0); |
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| 146 | |||
| 147 | |||
| 148 | for (i=0 ; i< 5 ; i++) |
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| 149 | { |
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| 150 | BalkenPos = 12 + (i*8) ; |
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| 151 | |||
| 152 | lcd_rect(3,BalkenPos, 120, 6, 1); // +-150% Rahmen |
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| 153 | lcd_line(23,BalkenPos,23,(BalkenPos+6),1); // -100% |
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| 154 | lcd_line(43,BalkenPos,43,(BalkenPos+6),1); // -50% |
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| 155 | lcd_frect(62,BalkenPos, 2, 6, 1); // 0% |
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| 156 | lcd_line(83,BalkenPos,83,(BalkenPos+6),1); // +50% |
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| 157 | lcd_line(103,BalkenPos,103,(BalkenPos+6),1); // +100% |
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| 158 | } |
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| 159 | |||
| 160 | // Reset auf Mittelstellung |
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| 161 | Pos_Stick[0] = 150; |
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| 162 | Poti_Summe[0] = 0; |
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| 163 | Pos_Stick[2] = 150; |
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| 164 | Poti_Summe[2] = 0; |
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| 165 | Pos_Stick[4] = 150; |
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| 166 | Poti_Summe[4] = 0; |
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| 167 | |||
| 168 | chg = 255; |
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| 169 | |||
| 170 | do |
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| 171 | { |
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| 172 | if (!(ADCSRA & (1<<ADSC))) // wenn ADC fertig |
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| 173 | { |
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| 174 | |||
| 175 | //Pos_Stick[Stick_Nr] = 150 + 128 - ((ADCW>>2)&0xff); |
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| 176 | //CB if (serialChannelRichtung & (1<<Stick_Nr)) |
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| 177 | if (stick_dir[Stick_Nr] & (1<<Stick_Nr)) |
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| 178 | Pos_Stick[Stick_Nr] = Poti_Neutral[Stick_Nr] - ((ADCW>>2)&0xff); |
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| 179 | else |
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| 180 | Pos_Stick[Stick_Nr] = ((ADCW>>2)&0xff) - Poti_Neutral[Stick_Nr]; |
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| 181 | |||
| 182 | // LIMIT_MIN_MAX (Pos_Stick[Stick_Nr],-120,120); |
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| 183 | LIMIT_MIN_MAX (Pos_Stick[Stick_Nr],stick_min[Stick_Nr],stick_max[Stick_Nr]); |
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| 184 | |||
| 185 | if ((Stick_Nr==0) || (Stick_Nr==2)) // nur die Potis 1,2 sind nicht neutralisierend |
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| 186 | { |
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| 187 | Poti_Summe[Stick_Nr] += (Pos_Stick[Stick_Nr]/8) * abs(Pos_Stick[Stick_Nr]/8); |
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| 188 | LIMIT_MIN_MAX (Poti_Summe[Stick_Nr],-(120*128),(120*128)); |
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| 189 | Pos_Stick[Stick_Nr]= Poti_Summe[Stick_Nr] / 128; // nicht neutralisierend |
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| 190 | } |
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| 191 | Pos_Stick[Stick_Nr] += 150; |
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| 192 | // LIMIT_MIN_MAX (Pos_Stick[Stick_Nr],30,270); // war 75 , 225 |
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| 193 | LIMIT_MIN_MAX (Pos_Stick[Stick_Nr],stick_min[Stick_Nr],stick_max[Stick_Nr]); // war 75 , 225 |
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| 194 | if (Pos_Stick[Stick_Nr] != Pos_alt[Stick_Nr]) // nur bei Änderung |
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| 195 | { |
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| 196 | chg |= (1<<Stick_Nr) ; |
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| 197 | //Pos_alt=Pos_Stick ; // verschoben |
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| 198 | } |
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| 199 | Stick_Nr ++ ; |
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| 200 | //if (Stick_Nr==1) Stick_Nr=2; // Lipo überspringen |
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| 201 | |||
| 202 | //CB if (Stick_Nr==3) // Taster |
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| 203 | if (stick_typ[Stick_Nr]==1) // Taster |
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| 204 | { |
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| 205 | // if (get_key_press (1 << KEY_EXT)) Pos_Stick[Stick_Nr] = 225; |
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| 206 | //CB if (serialChannelRichtung & (1<<Stick_Nr)) |
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| 207 | if (stick_dir[Stick_Nr] & (1<<Stick_Nr)) |
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| 208 | { |
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| 209 | if (PINA & (1 << KEY_EXT)) Pos_Stick[Stick_Nr] = 30; |
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| 210 | else Pos_Stick[Stick_Nr] = 270; |
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| 211 | } |
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| 212 | else |
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| 213 | { |
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| 214 | if (PINA & (1 << KEY_EXT)) Pos_Stick[Stick_Nr] = 270; |
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| 215 | else Pos_Stick[Stick_Nr] = 30; |
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| 216 | } |
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| 217 | |||
| 218 | if (Pos_Stick[Stick_Nr] != Pos_alt[Stick_Nr]) |
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| 219 | { |
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| 220 | chg |= (1<<Stick_Nr) ; |
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| 221 | } |
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| 222 | |||
| 223 | Stick_Nr=0; |
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| 224 | } |
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| 225 | |||
| 226 | /* |
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| 227 | #ifndef ohne_Lipo // MartinR |
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| 228 | Stick_Nr = 1; // MartinR AD-Kanal 1 überspringen wegen Lipo Überwachung |
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| 229 | #endif |
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| 230 | */ |
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| 231 | |||
| 232 | ADMUX = (ADMUX & ~(0x1F)) | (Stick_Nr & 0x1F); // ADC[i] verwenden |
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| 233 | // Stick_Nr 1,2,3 = Potis, Stick_Nr 0= Lipo |
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| 234 | ADCSRA |= (1<<ADSC); // ADC Start |
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| 235 | |||
| 236 | //serialPotis (); |
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| 237 | |||
| 238 | } |
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| 239 | |||
| 240 | |||
| 241 | |||
| 242 | if ((get_key_press (1 << KEY_PLUS) || get_key_long_rpt_sp ((1 << KEY_PLUS), 3)) && (Pos_Stick[4] < 271)) |
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| 243 | { |
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| 244 | Pos_Stick[4] ++ ; |
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| 245 | //LIMIT_MIN_MAX (Pos_Stick[Stick_Nr],30,270); // war 75 , 225 |
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| 246 | chg |= (1<<4) ; |
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| 247 | } |
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| 248 | |||
| 249 | |||
| 250 | else if ((get_key_press (1 << KEY_MINUS) || get_key_long_rpt_sp ((1 << KEY_MINUS), 3)) && (Pos_Stick[4] > 29)) |
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| 251 | { |
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| 252 | Pos_Stick[4] -- ; |
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| 253 | //LIMIT_MIN_MAX (Pos_Stick[Stick_Nr],30,270); // war 75 , 225 |
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| 254 | chg |= (1<<4) ; |
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| 255 | } |
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| 256 | |||
| 257 | |||
| 258 | |||
| 259 | else if (get_key_press (1 << KEY_ENTER)) |
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| 260 | { |
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| 261 | /* |
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| 262 | for (i=0 ; i< 4 ; i++) |
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| 263 | { |
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| 264 | BalkenPos = 12 + (i*8) ; |
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| 265 | |||
| 266 | lcd_frect (4, (BalkenPos+1), 118, 4, 0); // Balken löschen |
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| 267 | lcd_frect(62, BalkenPos, 2, 6, 1); // 0% |
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| 268 | } |
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| 269 | */ |
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| 270 | Pos_Stick[0] = 150; |
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| 271 | Poti_Summe[0] = 0; |
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| 272 | Pos_Stick[2] = 150; |
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| 273 | Poti_Summe[2] = 0; |
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| 274 | Pos_Stick[4] = 150; |
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| 275 | Poti_Summe[4] = 0; |
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| 276 | BeepTime = 200; |
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| 277 | BeepMuster = 0x0080; |
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| 278 | chg = 255; |
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| 279 | } |
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| 280 | |||
| 281 | if (chg) |
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| 282 | { |
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| 283 | if (chg & (1<<0)); // Stick 1 |
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| 284 | { |
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| 285 | BalkenPos = 12 + (0*8) ; |
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| 286 | Stick_Display = 0; |
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| 287 | Balken_Zeichnen () ; |
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| 288 | |||
| 289 | Pos_alt[Stick_Display]=Pos_Stick[Stick_Display]; |
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| 290 | } |
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| 291 | // Stick 2 = Lipo |
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| 292 | if (chg & (1<<1)); // Stick 2 |
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| 293 | { |
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| 294 | BalkenPos = 12 + (1*8) ; |
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| 295 | Stick_Display = 1; |
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| 296 | if (serialChannelConfig & (0<<1)) Balken_Zeichnen () ; // nur wenn keine Lipo-Spannung |
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| 297 | |||
| 298 | Pos_alt[Stick_Display]=Pos_Stick[Stick_Display]; |
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| 299 | } |
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| 300 | |||
| 301 | |||
| 302 | if (chg & (1<<2)); // Stick 3 |
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| 303 | { |
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| 304 | BalkenPos = 12 + (2*8) ; |
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| 305 | Stick_Display = 2; |
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| 306 | Balken_Zeichnen () ; |
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| 307 | |||
| 308 | Pos_alt[Stick_Display]=Pos_Stick[Stick_Display]; |
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| 309 | } |
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| 310 | |||
| 311 | if (chg & (1<<3)); // Stick 4 = Taster |
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| 312 | { |
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| 313 | BalkenPos = 12 + (3*8) ; |
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| 314 | Stick_Display = 3; |
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| 315 | Balken_Zeichnen () ; |
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| 316 | |||
| 317 | Pos_alt[Stick_Display]=Pos_Stick[Stick_Display]; |
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| 318 | } |
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| 319 | |||
| 320 | if (chg & (1<<4)); // Stick 5 = Taster vom PKT |
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| 321 | { |
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| 322 | BalkenPos = 12 + (4*8) ; |
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| 323 | Stick_Display = 4; |
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| 324 | Balken_Zeichnen () ; |
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| 325 | //OCR1A = (((Pos_Stick[Stick_Display]-150)/1.6)+150) * SERVO_CORRECT; // Servostellung , 1.6=0.8*0.5 |
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| 326 | |||
| 327 | Pos_alt[Stick_Display]=Pos_Stick[Stick_Display]; |
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| 328 | } |
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| 329 | |||
| 330 | chg = 0; |
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| 331 | serialPotis (); |
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| 332 | } |
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| 333 | } |
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| 334 | while (!get_key_press (1 << KEY_ESC)); |
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| 335 | get_key_press(KEY_ALL); |
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| 336 | |||
| 337 | #ifdef HWVERSION3_9 |
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| 338 | #ifndef ohne_Lipo // MartinR |
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| 339 | ADC_Init(); // ADC für Lipomessung wieder aktivieren |
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| 340 | #endif |
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| 341 | #endif |
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| 342 | |||
| 343 | } |
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| 344 | |||
| 345 | //-------------------------------------------------------------- |
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| 346 | // |
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| 347 | void serialPotis (void) |
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| 348 | { |
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| 349 | uint8_t i = 0; |
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| 350 | |||
| 351 | memset (buffer, 0, 12); // füllt die 12+1 Byte vom buffer mit 0 |
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| 352 | |||
| 353 | for (i=0 ; i< 5 ; i++) |
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| 354 | { |
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| 355 | buffer[i] = Pos_Stick[i]-150 ; |
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| 356 | } |
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| 357 | |||
| 358 | SendOutData('y', ADDRESS_FC, 1, buffer, 12); |
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| 359 | } |
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| 360 | //-------------------------------------------------------------- |
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| 361 | // |
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| 362 | void Balken_Zeichnen (void) |
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| 363 | { |
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| 364 | // Balken löschen |
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| 365 | |||
| 366 | if ((Pos_Stick[Stick_Display] > Pos_alt[Stick_Display])&&(Pos_alt[Stick_Display] < 150)) // Balken links löschen |
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| 367 | lcd_frect ((63-((150 -Pos_alt[Stick_Display]) * 0.5)), (BalkenPos+1), (63-((150- Pos_Stick[Stick_Display]) * 0.5)), 4, 0); |
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| 368 | if ((Pos_Stick[Stick_Display] < Pos_alt[Stick_Display])&&(Pos_alt[Stick_Display] > 150)) // Balken rechts löschen |
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| 369 | lcd_frect ((63+((Pos_Stick[Stick_Display] - 150) * 0.5)), (BalkenPos+1), (63+((Pos_alt[Stick_Display] - 150) * 0.5)), 4, 0); |
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| 370 | |||
| 371 | // Balken zeichnen |
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| 372 | if (Pos_Stick[Stick_Display] >= 150) |
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| 373 | { |
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| 374 | lcd_frect (63, (BalkenPos+1), ((Pos_Stick[Stick_Display] - 150) * 0.5), 4, 1); |
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| 375 | //write_ndigit_number_u (4, 5, ((Pos_Stick[Stick_Display] - 150) * 1.25), 3, 0, 0); // Pulse width in % |
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| 376 | lcd_frect(62, (BalkenPos), 2, 6, 1); // 0% |
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| 377 | } |
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| 378 | else |
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| 379 | { |
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| 380 | lcd_frect (63 - ((150 - Pos_Stick[Stick_Display]) * 0.5), (BalkenPos+1), ((150 - Pos_Stick[Stick_Display]) * 0.5), 4, 1); |
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| 381 | //write_ndigit_number_u (4, 5, ((150 - Pos_Stick[Stick_Display]) * 1.25), 3, 0, 0); // Pulse width in % |
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| 382 | lcd_frect(62, (BalkenPos), 2, 6, 1); // 0% |
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| 383 | } |
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| 384 | // Raster zeichnen |
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| 385 | lcd_line(3, BalkenPos,3, (BalkenPos+6),1); // -150% |
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| 386 | lcd_line(23, BalkenPos,23, (BalkenPos+6),1); // -100% |
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| 387 | lcd_line(43, BalkenPos,43, (BalkenPos+6),1); // -50% |
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| 388 | lcd_line(83, BalkenPos,83, (BalkenPos+6),1); // +50% |
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| 389 | lcd_line(103,BalkenPos,103,(BalkenPos+6),1); // +100% |
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| 390 | lcd_line(123,BalkenPos,123,(BalkenPos+6),1); // +150% |
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| 391 | } |
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| 392 |