| 0,0 → 1,507 |
|---|
| /***************************************************************************** |
| * Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de * |
| * Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net * |
| * Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net * |
| * Copyright (C) 2011 Harald Bongartz * |
| * Copyright (C) 2012 Martin Runkel * |
| * * |
| * This program is free software; you can redistribute it and/or modify * |
| * it under the terms of the GNU General Public License as published by * |
| * the Free Software Foundation; either version 2 of the License. * |
| * * |
| * This program is distributed in the hope that it will be useful, * |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
| * GNU General Public License for more details. * |
| * * |
| * You should have received a copy of the GNU General Public License * |
| * along with this program; if not, write to the * |
| * Free Software Foundation, Inc., * |
| * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
| * * |
| * * |
| * Credits to: * |
| * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
| * http://www.mikrokopter.de * |
| * Gregor "killagreg" Stobrawa for his version of the MK code * |
| * Thomas Kaiser "thkais" for the original project. See * |
| * http://www.ft-fanpage.de/mikrokopter/ * |
| * http://forum.mikrokopter.de/topic-4061-1.html * |
| * Claas Anders "CaScAdE" Rathje for providing the font and his C-OSD code * |
| * http://www.mylifesucks.de/oss/c-osd/ * |
| * Harald Bongartz "HaraldB" for providing his Ideas and Code for usibility* |
| *****************************************************************************/ |
| |
| |
| #include "../cpu.h" |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <avr/pgmspace.h> |
| |
| #include <string.h> |
| #include <stdlib.h> |
| |
| #include "../lcd/lcd.h" |
| #include "../timer/timer.h" |
| //#include "../tracking/servo.h" |
| #include "../messages.h" |
| #include "../lipo/lipo.h" |
| #include "stick.h" |
| #include "stick_setup.h" |
| #include "../eeprom/eeprom.h" |
| #include "../setup/setup.h" |
| |
| #define SERVO_CORRECT 3.125 |
| |
| |
| #include <util/delay.h> |
| #include <inttypes.h> |
| #include <stdlib.h> |
| |
| #include "../main.h" |
| #include "../uart/uart1.h" |
| #include "../uart/usart.h" |
| |
| |
| #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
| |
| int16_t Pos_Stick[12]; // 1,5mS |
| int16_t Pos_alt[5]; // |
| |
| uint8_t BalkenPos = 0; |
| uint8_t Stick_Display = 0; |
| //uint8_t serialChannelRichtung = 0; |
| //uint8_t serialChannelNeutral = 0; |
| //uint8_t serialChannelConfig = 2; |
| |
| |
| //-------------------------------------------------------------- |
| // |
| void joystick (void) |
| { |
| // uint8_t chg = 0; |
| // uint8_t Pos_Stick = 150; // 1,5mS |
| // uint8_t Pos_alt = 150; // |
| |
| //int16_t Pos_Stick[12]; // 1,5mS |
| |
| uint8_t chg = 0; |
| //uint8_t BalkenPos = 0; |
| uint8_t Stick_Nr = 0; |
| //uint8_t Stick_Display = 0; |
| uint8_t i = 0; |
| |
| memset (Pos_Stick, 150, 3); // füllt 3+1 Byte vom Pos_Stick[12] mit 150 |
| |
| //int16_t Pos_alt[5]; // |
| int16_t Poti_Summe[5]; // |
| memset (Poti_Summe, 0, 5); // füllt 3+1 Byte mit 0 |
| int16_t Poti_Neutral[5]; // |
| |
| |
| // ADC- init |
| //if (Config.Lipomessung == true) |
| //{ |
| |
| //} |
| //for (uint8_t i = 0; i < 4; i++) |
| |
| if (Config.stick_typ[0] == 0) // Poti |
| { |
| PORTA &= ~(1<<PORTA0); |
| DDRA &= ~(1<<DDA0); |
| } |
| else // Taster |
| { |
| PORTA |= (1<<PORTA0); |
| DDRA |= (1<<DDA0); |
| } |
| if (Config.Lipomessung == false) |
| { |
| if (Config.stick_typ[1] == 0) // Poti |
| { |
| PORTA &= ~(1<<PORTA1); |
| DDRA &= ~(1<<DDA1); |
| } |
| else // Taster |
| { |
| PORTA |= (1<<PORTA1); |
| DDRA |= (1<<DDA1); |
| } |
| } |
| if (Config.stick_typ[2] == 0) |
| { |
| PORTA &= ~(1<<PORTA2); |
| DDRA &= ~(1<<DDA2); |
| } |
| else |
| { |
| PORTA |= (1<<PORTA2); |
| DDRA |= (1<<DDA2); |
| } |
| if (Config.stick_typ[3] == 0) |
| { |
| PORTA &= ~(1<<PORTA3); |
| DDRA &= ~(1<<DDA3); |
| } |
| else |
| { |
| PORTA |= (1<<PORTA3); |
| DDRA |= (1<<DDA3); |
| } |
| |
| //if (Config.stick_dir[i] == 0) serialChannelRichtung &= ~(1<<i); else serialChannelRichtung |= (1<<i); |
| //if (Config.stick_neutral[i] == 0) serialChannelNeutral &= ~(1<<i); else serialChannelNeutral |= (1<<i); |
| |
| //if (Config.Lipomessung == true) |
| |
| //serialChannelConfig |
| |
| |
| // Ermittlung der Neutralposition |
| for (uint8_t i = 0; i < 4; i++) |
| { |
| ADMUX = (1<<REFS0)|(0<<MUX0); // Multiplexer selection Register: AVCC with external capacitor at AREF pin , ADC1 |
| ADMUX = (ADMUX & ~(0x1F)) | (i & 0x1F); // ADC[i] verwenden |
| |
| timer = 50; |
| while (timer > 0); |
| |
| ADCSRA = (1<<ADEN)|(1<<ADSC)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); // ADC Enable, ADC Start, Prescaler 128 |
| |
| |
| while (ADCSRA & (1<<ADSC)); // wenn ADC fertig |
| |
| Poti_Neutral[i] = ((ADCW>>2)&0xff); |
| LIMIT_MIN_MAX (Poti_Neutral[i],108,148); |
| |
| ADMUX = (ADMUX & ~(0x1F)) | (i & 0x1F); // ADC[i] verwenden |
| // Stick_Nr 1,2,3 = Potis, Stick_Nr 1= Lipo |
| ADCSRA |= (1<<ADSC); // ADC Start |
| |
| while (ADCSRA & (1<<ADSC)); // wenn ADC fertig |
| |
| Poti_Neutral[i] = ((ADCW>>2)&0xff); |
| LIMIT_MIN_MAX (Poti_Neutral[i],108,148); |
| } |
| Stick_Nr = 0; |
| ADMUX = (ADMUX & ~(0x1F)) | (Stick_Nr & 0x1F); // ADC[i] verwenden |
| ADCSRA |= (1<<ADSC); // ADC Start |
| |
| /* |
| Stick_Nr = 0; |
| ADMUX = (1<<REFS0)|(0<<MUX0); // Multiplexer selection Register: AVCC with external capacitor at AREF pin , ADC1 |
| ADMUX = (ADMUX & ~(0x1F)) | (Stick_Nr & 0x1F); // ADC[Stick_Nr] verwenden |
| |
| timer = 50; |
| while (timer > 0); |
| |
| ADCSRA = (1<<ADEN)|(1<<ADSC)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); // ADC Enable, ADC Start, Prescaler 128 |
| |
| // Stick-Neutralposition bestimmen |
| |
| while (ADCSRA & (1<<ADSC)); // wenn ADC fertig |
| |
| Poti_Neutral[Stick_Nr] = ((ADCW>>2)&0xff); |
| LIMIT_MIN_MAX (Poti_Neutral[Stick_Nr],108,148); |
| Stick_Nr = 2 ; |
| ADMUX = (ADMUX & ~(0x1F)) | (Stick_Nr & 0x1F); // ADC[i] verwenden |
| // Stick_Nr 1,2,3 = Potis, Stick_Nr 1= Lipo |
| ADCSRA |= (1<<ADSC); // ADC Start |
| |
| while (ADCSRA & (1<<ADSC)); // wenn ADC fertig |
| |
| Poti_Neutral[Stick_Nr] = ((ADCW>>2)&0xff); |
| LIMIT_MIN_MAX (Poti_Neutral[Stick_Nr],108,148); |
| Stick_Nr = 0; |
| ADMUX = (ADMUX & ~(0x1F)) | (Stick_Nr & 0x1F); // ADC[i] verwenden |
| // Stick_Nr 1,2,3 = Potis, Stick_Nr 1= Lipo |
| ADCSRA |= (1<<ADSC); // ADC Start |
| */ |
| |
| |
| |
| //OCR1A = 150 * SERVO_CORRECT; // Servomitte |
| |
| lcd_cls (); |
| |
| // Kopfzeile und Rahmen zeichnen |
| |
| lcd_printp (PSTR(" serielle Potis 1-5 "), 2); |
| //lcd_printp_at (7, 5, PSTR("%"), 0); |
| //lcd_printp_at (16, 5, PSTR("mS"), 0); |
| |
| lcd_printp_at(0, 7, strGet(KEYLINE3), 0); |
| lcd_printp_at (18, 7, PSTR("\x19O\x18"), 0); |
| |
| |
| for (i=0 ; i< 5 ; i++) |
| { |
| BalkenPos = 12 + (i*8) ; |
| |
| lcd_rect(3,BalkenPos, 120, 6, 1); // +-150% Rahmen |
| lcd_line(23,BalkenPos,23,(BalkenPos+6),1); // -100% |
| lcd_line(43,BalkenPos,43,(BalkenPos+6),1); // -50% |
| lcd_frect(62,BalkenPos, 2, 6, 1); // 0% |
| lcd_line(83,BalkenPos,83,(BalkenPos+6),1); // +50% |
| lcd_line(103,BalkenPos,103,(BalkenPos+6),1); // +100% |
| } |
| |
| // Reset auf Mittelstellung |
| Pos_Stick[0] = 150; |
| Poti_Summe[0] = 0; |
| Pos_Stick[2] = 150; |
| Poti_Summe[2] = 0; |
| Pos_Stick[4] = 150; |
| Poti_Summe[4] = 0; |
| |
| chg = 255; |
| |
| do |
| { |
| if (!(ADCSRA & (1<<ADSC))) // wenn ADC fertig |
| { |
| |
| //Pos_Stick[Stick_Nr] = 150 + 128 - ((ADCW>>2)&0xff); |
| //if (serialChannelRichtung & (1<<Stick_Nr)) |
| if (Config.stick_dir[Stick_Nr] > 0) |
| Pos_Stick[Stick_Nr] = Poti_Neutral[Stick_Nr] - ((ADCW>>2)&0xff); |
| else |
| Pos_Stick[Stick_Nr] = ((ADCW>>2)&0xff) - Poti_Neutral[Stick_Nr]; |
| |
| |
| LIMIT_MIN_MAX (Pos_Stick[Stick_Nr],-120,120); |
| //if ((Stick_Nr==0) || (Stick_Nr==2)) // nur die Potis 1,2 sind nicht neutralisierend |
| if (Config.stick_neutral[Stick_Nr]==0) // nicht neutralisierend |
| { |
| Poti_Summe[Stick_Nr] += (Pos_Stick[Stick_Nr]/8) * abs(Pos_Stick[Stick_Nr]/8); |
| LIMIT_MIN_MAX (Poti_Summe[Stick_Nr],-(120*128),(120*128)); |
| Pos_Stick[Stick_Nr]= Poti_Summe[Stick_Nr] / 128; // nicht neutralisierend |
| } |
| Pos_Stick[Stick_Nr] += 150; |
| //LIMIT_MIN_MAX (Pos_Stick[Stick_Nr],30,270); // war 75 , 225 |
| LIMIT_MIN_MAX (Pos_Stick[Stick_Nr],Config.stick_min[Stick_Nr],Config.stick_max[Stick_Nr]); // war 30, 270 |
| if (Pos_Stick[Stick_Nr] != Pos_alt[Stick_Nr]) // nur bei Änderung |
| { |
| chg |= (1<<Stick_Nr) ; |
| //Pos_alt=Pos_Stick ; // verschoben |
| } |
| Stick_Nr ++ ; |
| //if (Stick_Nr==1) Stick_Nr=2; // Lipo überspringen |
| |
| if (Stick_Nr==3) // Taster |
| { |
| if (Config.stick_dir[Stick_Nr] > 0) |
| { |
| if (PINA & (1 << KEY_EXT)) Pos_Stick[Stick_Nr] = Config.stick_min[Stick_Nr]; |
| else Pos_Stick[Stick_Nr] = Config.stick_max[Stick_Nr]; |
| } |
| else |
| { |
| if (PINA & (1 << KEY_EXT)) Pos_Stick[Stick_Nr] = Config.stick_max[Stick_Nr]; |
| else Pos_Stick[Stick_Nr] = Config.stick_min[Stick_Nr]; |
| } |
| |
| if (Pos_Stick[Stick_Nr] != Pos_alt[Stick_Nr]) |
| { |
| chg |= (1<<Stick_Nr) ; |
| } |
| |
| Stick_Nr=0; |
| } |
| |
| /* |
| #ifndef ohne_Lipo // MartinR |
| Stick_Nr = 1; // MartinR AD-Kanal 1 überspringen wegen Lipo Überwachung |
| #endif |
| */ |
| |
| ADMUX = (ADMUX & ~(0x1F)) | (Stick_Nr & 0x1F); // ADC[i] verwenden |
| // Stick_Nr 1,2,3 = Potis, Stick_Nr 0= Lipo |
| ADCSRA |= (1<<ADSC); // ADC Start |
| |
| //serialPotis (); |
| } |
| |
| |
| |
| if ((get_key_press (1 << KEY_PLUS) | get_key_long_rpt_sp ((1 << KEY_PLUS), 3))) |
| //if (get_key_press (1 << KEY_PLUS)) |
| //if (PINA & (1 << KEY_PLUS)) |
| { |
| if (Config.stick_neutral[4]==0) // nicht neutralisierend |
| { |
| if (Config.stick_dir[4] == 0) Pos_Stick[4] ++ ; else Pos_Stick[4] -- ; |
| LIMIT_MIN_MAX (Pos_Stick[4],Config.stick_min[4],Config.stick_max[4]); // war 30, 270 |
| } |
| else |
| { |
| if (Config.stick_dir[4] == 0) Pos_Stick[4] = Config.stick_max[4] ; else Pos_Stick[4] = Config.stick_min[4] ; |
| } |
| chg |= (1<<4) ; |
| } |
| |
| |
| else if ((get_key_press (1 << KEY_MINUS) | get_key_long_rpt_sp ((1 << KEY_MINUS), 3))) |
| { |
| if (Config.stick_neutral[4]==0) // nicht neutralisierend |
| { |
| if (Config.stick_dir[4] == 0) Pos_Stick[4] -- ; else Pos_Stick[4] ++ ; |
| LIMIT_MIN_MAX (Pos_Stick[4],Config.stick_min[4],Config.stick_max[4]); // war 30, 270 |
| //LIMIT_MIN_MAX (Pos_Stick[Stick_Nr],30,270); // war 75 , 225 |
| } |
| else |
| { |
| if (Config.stick_dir[4] == 0) Pos_Stick[4] = Config.stick_min[4] ; else Pos_Stick[4] = Config.stick_max[4] ; |
| } |
| chg |= (1<<4) ; |
| } |
| |
| if (Config.stick_neutral[4]!= 0 && Pos_Stick[4]!= 150 && (PINA &(1 << KEY_PLUS)) && (PINA &(1 << KEY_MINUS))) |
| { |
| Pos_Stick[4] = 150 ; |
| chg |= (1<<4) ; |
| } |
| |
| if (get_key_press (1 << KEY_ENTER)) |
| { |
| /* |
| for (i=0 ; i< 4 ; i++) |
| { |
| BalkenPos = 12 + (i*8) ; |
| |
| lcd_frect (4, (BalkenPos+1), 118, 4, 0); // Balken löschen |
| lcd_frect(62, BalkenPos, 2, 6, 1); // 0% |
| } |
| */ |
| Pos_Stick[0] = 150; |
| Poti_Summe[0] = 0; |
| Pos_Stick[2] = 150; |
| Poti_Summe[2] = 0; |
| Pos_Stick[4] = 150; |
| Poti_Summe[4] = 0; |
| BeepTime = 200; |
| BeepMuster = 0x0080; |
| chg = 255; |
| } |
| |
| if (chg) |
| { |
| if (chg & (1<<0)); // Stick 1 |
| { |
| BalkenPos = 12 + (0*8) ; |
| Stick_Display = 0; |
| Balken_Zeichnen () ; |
| |
| Pos_alt[Stick_Display]=Pos_Stick[Stick_Display]; |
| } |
| // Stick 2 = Lipo |
| if (chg & (1<<1)); // Stick 2 |
| { |
| BalkenPos = 12 + (1*8) ; |
| Stick_Display = 1; |
| //if (serialChannelConfig & (0<<1)) Balken_Zeichnen () ; // nur wenn keine Lipo-Spannung |
| if (Config.Lipomessung == false) Balken_Zeichnen () ; // nur wenn keine Lipo-Spannung |
| |
| Pos_alt[Stick_Display]=Pos_Stick[Stick_Display]; |
| } |
| |
| |
| if (chg & (1<<2)); // Stick 3 |
| { |
| BalkenPos = 12 + (2*8) ; |
| Stick_Display = 2; |
| Balken_Zeichnen () ; |
| |
| Pos_alt[Stick_Display]=Pos_Stick[Stick_Display]; |
| } |
| |
| if (chg & (1<<3)); // Stick 4 = Taster |
| { |
| BalkenPos = 12 + (3*8) ; |
| Stick_Display = 3; |
| Balken_Zeichnen () ; |
| |
| Pos_alt[Stick_Display]=Pos_Stick[Stick_Display]; |
| } |
| |
| if (chg & (1<<4)); // Stick 5 = Taster vom PKT |
| { |
| BalkenPos = 12 + (4*8) ; |
| Stick_Display = 4; |
| Balken_Zeichnen () ; |
| //OCR1A = (((Pos_Stick[Stick_Display]-150)/1.6)+150) * SERVO_CORRECT; // Servostellung , 1.6=0.8*0.5 |
| |
| Pos_alt[Stick_Display]=Pos_Stick[Stick_Display]; |
| } |
| |
| chg = 0; |
| serialPotis (); |
| } |
| } |
| while (!get_key_press (1 << KEY_ESC)); |
| get_key_press(KEY_ALL); |
| |
| //#ifdef HWVERSION3_9 |
| //#ifndef ohne_Lipo // MartinR |
| if (Config.Lipomessung == true) // MartinR: geändert |
| { |
| //DDRA &= ~(1<<DDA1); // Eingang: PKT Lipo Messung |
| //PORTA &= ~(1<<PORTA1); |
| ADC_Init(); // ADC für Lipomessung wieder aktivieren |
| } |
| |
| //ADC_Init(); // ADC für Lipomessung wieder aktivieren |
| //#endif |
| //#endif |
| |
| } |
| |
| //-------------------------------------------------------------- |
| // |
| void serialPotis (void) |
| { |
| uint8_t i = 0; |
| |
| memset (buffer, 0, 12); // füllt die 12+1 Byte vom buffer mit 0 |
| |
| for (i=0 ; i< 5 ; i++) |
| { |
| buffer[i] = Pos_Stick[i]-150 ; |
| } |
| |
| SendOutData('y', ADDRESS_FC, 1, buffer, 12); |
| } |
| //-------------------------------------------------------------- |
| // |
| void Balken_Zeichnen (void) |
| { |
| // Balken löschen |
| |
| if ((Pos_Stick[Stick_Display] > Pos_alt[Stick_Display])&&(Pos_alt[Stick_Display] < 150)) // Balken links löschen |
| lcd_frect ((63-((150 -Pos_alt[Stick_Display]) * 0.5)), (BalkenPos+1), (63-((150- Pos_Stick[Stick_Display]) * 0.5)), 4, 0); |
| if ((Pos_Stick[Stick_Display] < Pos_alt[Stick_Display])&&(Pos_alt[Stick_Display] > 150)) // Balken rechts löschen |
| lcd_frect ((63+((Pos_Stick[Stick_Display] - 150) * 0.5)), (BalkenPos+1), (63+((Pos_alt[Stick_Display] - 150) * 0.5)), 4, 0); |
| |
| // Balken zeichnen |
| if (Pos_Stick[Stick_Display] >= 150) |
| { |
| lcd_frect (63, (BalkenPos+1), ((Pos_Stick[Stick_Display] - 150) * 0.5), 4, 1); |
| //write_ndigit_number_u (4, 5, ((Pos_Stick[Stick_Display] - 150) * 1.25), 3, 0, 0); // Pulse width in % |
| lcd_frect(62, (BalkenPos), 2, 6, 1); // 0% |
| } |
| else |
| { |
| lcd_frect (63 - ((150 - Pos_Stick[Stick_Display]) * 0.5), (BalkenPos+1), ((150 - Pos_Stick[Stick_Display]) * 0.5), 4, 1); |
| //write_ndigit_number_u (4, 5, ((150 - Pos_Stick[Stick_Display]) * 1.25), 3, 0, 0); // Pulse width in % |
| lcd_frect(62, (BalkenPos), 2, 6, 1); // 0% |
| } |
| // Raster zeichnen |
| lcd_line(3, BalkenPos,3, (BalkenPos+6),1); // -150% |
| lcd_line(23, BalkenPos,23, (BalkenPos+6),1); // -100% |
| lcd_line(43, BalkenPos,43, (BalkenPos+6),1); // -50% |
| lcd_line(83, BalkenPos,83, (BalkenPos+6),1); // +50% |
| lcd_line(103,BalkenPos,103,(BalkenPos+6),1); // +100% |
| lcd_line(123,BalkenPos,123,(BalkenPos+6),1); // +150% |
| } |
| |
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