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• This comparison shows the changes necessary to convert path

  → /Transportables_Koptertool/branch/ @ 1931

  → /Transportables_Koptertool/branch/ @ 1932

  ↔ Reverse comparison

• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 1931 → Rev 1932

/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/.cproject
0,0 → 1,2435
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/.settings/de.innot.avreclipse.core.prefs
0,0 → 1,55
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0,0 → 1,6
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0,0 → 1,4
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/HAL_HW3_9.c
0,0 → 1,353
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef HAL_HW3_9_C_
#define HAL_HW3_9_C_
#include "cpu.h"
#include <inttypes.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <avr/eeprom.h>
#include <util/delay.h>
#include <stdbool.h>
#include <stdlib.h>
#include "main.h"
#if defined HWVERSION3_9
#include "eeprom/eeprom.h"
#include "messages.h"
#include "lcd/lcd.h"
#include "uart/usart.h"
#include "uart/uart1.h"
#include "display.h"
#include "timer/timer.h"
#include "wi232/Wi232.h"
#include "motortest/twimaster.h"
#include "bluetooth/bluetooth.h"
#include "bluetooth/error.h"
#include "connect.h"
#include "lipo/lipo.h"
#include "setup/setup.h"
#include "osd/osd.h"
#include "sound/pwmsine8bit.h"
#include "tracking/ng_servo.h"
volatile uint8_t USBBT;
volatile uint8_t U02SV2;
volatile uint8_t PCB_Version;
uint8_t PortA;
uint8_t PortB;
uint8_t PortC;
uint8_t PortD;
void CheckPCB(void)
{
DDRA = 0xFF;
DDRB = 0x00;
DDRC = 0x00;
DDRD = 0x00;
PortA = PINA;
PortB = PINB;
PortC = PINC;
PortD = PIND;
if (PINC & (1<<PINC7) ) PCB_Version = PKT39m; else PCB_Version = PKT39x;
}
//--------------------------------------------------------------
void InitHWPorts(void) // Initialisierung der Hardware fÃŒr die jeweilige Leiterplattenversion
{
CheckPCB(); // Version der Leiterplatte prüfen
PORTA |= (1<<PORTA4)|(1<<PORTA5)|(1<<PORTA6)|(1<<PORTA7); // Enable Pull Up for the 4 keys
DDRA &= ~(1<<DDA4); // Eingang: A4 auf Low setzen (Power On)
//DDRA &= ~(1<<DDA1); // Eingang: PKT Lipo Messung // MartinR so war es
if (Config.Lipomessung == true)
{
DDRA &= ~(1<<DDA1); // Eingang: PKT Lipo Messung
PORTA &= ~(1<<PORTA1);
}
DDRB = 0xFF; // Alles AusgÀnge
PORTC |= (1<<PORTC4)|(1<<PORTC7); // Enable Pull Up for LBO + Summer
DDRC |= (1<<DDC2)|(1<<DDC3)|(1<<DDC5)|(1<<DDC6|(1<<DDC7)); // Ausgang: Led2,Rs232Switch,Summer
DDRC &= ~(1<<DDC4); // Eingang: LowBat LTC1308
_BTOn(); // Erstmal USB dektivieren, damit beim versehentlichen Einschalten USB im PC ruhig bleibt
PORTD |= (1<<PORTD6); // Wi232-CMD auf High schalten
DDRD |= (1<<DDD4)|(1<<DDD5)|(1<<DDD6)|(1<<DDD7); // Ausgang: PiepserTest, Servo, Wi232-CMD und Beleuchtung
set_V_On(); // Spannung mit T3 halten
Timer0_Init (); // system
Display_on = 1;
USART_Init (UART_BAUD_SELECT(USART_BAUD,F_CPU));
uart1_init (UART_BAUD_SELECT(USART_BAUD,F_CPU)); // USB
I2C_Init(1);
LCD_Init (0); // muss vor "ReadParameter" stehen
ReadParameter (); // Aktuelle Werte aus EEProm auslesen
servoInit(SERVO_PERIODE);
// servoSetDefaultPos();
sei ();
Old_Baudrate = Config.PKT_Baudrate;
SetBaudUart1(Config.PKT_Baudrate);
SetBaudUart0(Config.PKT_Baudrate);
if (Config.DisplayLanguage > NUM_LANG) // Beim ersten Start Sprache abfragen
{ Config.DisplayLanguage = 1;
Config.DisplayLanguage = Edit_generic(Config.DisplayLanguage,0,3,DISPLAY3,Language);
// WriteParameter();
}
if ((Config.HWSound==0)&&(PCB_Version == PKT39m))
{
Timer2_Init(); // Displaybeleuchtung
OCR2A = Config.LCD_Helligkeit * 2.55;
}
if (Config.HWSound==1) InitSound();
LCD_Init (1);
set_beep ( 400, 0x0080, BeepNormal);
OSD_active = false; //keine OSD Ausgabe
ADC_Init(); // ADC für Lipomessung// MartinR: verschoben
if (PCB_Version==PKT39m)
{
lcd_printp_at (2, 0, PSTR("Hardware PKT 3.9m"),0);
lcd_printp_at (7, 1, PSTR("09.2011"),0);
}
if (PCB_Version==PKT39x)
{
lcd_printp_at (2, 0, PSTR("Hardware PKT 3.9x"),0);
lcd_printp_at (7, 1, PSTR("11.2012"),0);
}
lcd_printp_at (0, 3, PSTR("Software:"),0);
// lcd_printpj_at (8, 3, PSTR(PKTSWVersion),0);
lcd_printp_at (8, 3, PSTR(PKTSWVersion), MBIG);
lcd_puts_at(0, 5, strGet(BOOT1), 0);
lcd_puts_at(0, 6, strGet(BOOT2), 0);
_delay_ms(800);
if (PINA & (1<<PINA7)) // Spannung eingeschaltet lassen
clr_V_On();
_delay_ms(100);
set_beep ( 400, 0x0080, BeepNormal);
get_key_press(KEY_ALL);
if (Config.HWSound==1);
{
playTone(505,100,Config.Volume);
playTone(515,100,Config.Volume);
playTone(525,100,Config.Volume);
playTone(535,100,Config.Volume);
playTone(525,100,Config.Volume);
playTone(515,100,Config.Volume);
playTone(505,100,Config.Volume);
}
lcd_cls();
// servoSetPosition(1,0);
// _delay_ms(250);
// servoSetPosition(0,0);
// _delay_ms(250);
// servoSetPosition(1,400);
// _delay_ms(250);
// servoSetPosition(0,400);
// _delay_ms(250);
// servoSetPosition(1,0);
// _delay_ms(250);
// servoSetPosition(0,0);
// _delay_ms(250);
// servoSetPosition(1,400);
// _delay_ms(250);
// servoSetPosition(0,400);
set_BTOff();
if ((Config.UseWi == true) && (Config.WiIsSet == false))
{
InitWi232(Config.PKT_Baudrate); // wenn Wi232 nicht initialisiert ist, dann jetzt tun
}
lcd_cls();
// BT ausschalten
if ((Config.UseBT == true) && (Config.BTIsSet == false))
{
bt_init();
// set_USBOn();
}
bt_start();
lcd_cls();
if ((Config.UseWi == true) && (U02SV2 == 0))
{
Change_Output(Uart02Wi); // Verbindung zu Wi232 herstellen
if (Config.PKT_StartInfo == true)
{
lcd_puts_at(0, 0, strGet(BOOT_WI1), 0);
lcd_puts_at(0, 1, strGet(BOOT_WI2), 0);
_delay_ms(2000);
}
}
else
{
Change_Output(Uart02FC); // Verbindung zu SV" (Kabel) herstellen
if (Config.PKT_StartInfo == true)
{
lcd_puts_at(0, 0, strGet(BOOT_WI1), 0);
lcd_puts_at(0, 1, strGet(BOOT_SV), 0);
_delay_ms(2000);
}
}
lcd_cls();
}
//#define set_BEEP() (PORTC &= ~(1 << Summer)) // Summer
//#define clr_BEEP() (PORTC |= (1 << Summer))
void set_BEEP(void)
{
if (PCB_Version == PKT39m)
PORTC &= ~(1 << Summer); // Summer
if (PCB_Version == PKT39x)
PORTD &= ~(1 << SummerV2); // Summer
}
void clr_BEEP(void)
{
if (PCB_Version == PKT39m)
PORTC |= (1 << Summer); // Summer
if (PCB_Version == PKT39x)
PORTD |= (1 << SummerV2); // Summer
}
void set_D_LIGHT(void) /* Displaybeleuchtung ein*/
{
if (PCB_Version == PKT39m)
{
if (Config.HWSound==0)
{
// PWM einschalten
TCCR2A |= (1 << WGM21) | (1 << WGM20) | (1 << COM2A1);
TCCR2B |= (1 << CS20);
}
else
clr_DISPLAYLIGHT();
}
if (PCB_Version == PKT39x)
{
// if (HWSound==0)
// {
// // PWM einschalten
// TCCR2A |= (1 << WGM21) | (1 << WGM20) | (1 << COM2A1);
// TCCR2B |= (1 << CS20);
// }
// else
clr_DISPLAYLIGHTV2();
}
}
void clr_D_LIGHT(void) /* Displaybeleuchtung aus*/
{
if (PCB_Version == PKT39m)
{
if (Config.HWSound==0)
{
// PWM ausschalten
TCCR2A = 0;
TCCR2B = 0;
}
else
set_DISPLAYLIGHT();
}
if (PCB_Version == PKT39x)
{
// if (HWSound==0)
// {
// // PWM ausschalten
// TCCR2A = 0;
// TCCR2B = 0;
// }
// else
set_DISPLAYLIGHTV2();
}
}
uint8_t BTIsOn=0;
void set_BTOn(void)
{
if (BTIsOn == 0)
{
_BTOn();
BTIsOn = 1;
_delay_ms(2000);
}
}
void set_BTOff(void)
{
set_USBOn();
BTIsOn = 0;
}
#endif
#endif // HAL_HW3_9_C_
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/HAL_HW3_9.h
0,0 → 1,153
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef HAL_HW3_9_H_
#define HAL_HW3_9_H_
//#define PIEPSER_NERVT // Summer zu Testzwecken ganz Ausschalten
// Hardware 3.9 Portbelegung
#define KEY_PIN PINA // Port A als Input
#define Touch0 PA0 // Pin 37
#define Touch1 PA1 // Pin 36
#define Touch2 PA2 // Pin 35
#define Touch3 PA3 // Pin 34
#define KEY_EXT PINA3 // MartinR
#define Key1 PA4 // Pin 33
#define Key2 PA5 // Pin 32
#define Key3 PA6 // Pin 31
#define Key4 PA7 // Pin 30
#define USB2Wi PB0 // Pin 40 aktiv low > IC5
#define VoltageHold PB1 // Pin 41 High = Spannung T3 halten
#define Display_Reset PB2 // Pin 42
#define Display_A0 PB3 // Pin 43
#define Display_CS PB4 // Pin 44
#define Display_SI PB5 // Pin 1
#define LED1 PB6 // Pin 2 Low = LED1 (nicht benutzbar wegen SCL
#define Display_SCL PB7 // Pin 3
#define I2C_SCL PC0 // Pin 19 SCL
#define I2C_CDA PC1 // Pin 20 SDA
#define USB2FC PC2 // Pin 21 aktiv low > IC5
#define USB_BT PC3 // Pin 22 high = USB, Low = Bluetooth, LED2
#define LowBat PC4 // Pin 23 Low Bat Warning Lipo PKT,Input
#define Uart02Wi PC5 // Pin 24 aktiv Low > IC4
#define Uart02FC PC6 // Pin 25 aktiv Low > IC4
#define Summer PC7 // Pin 26 Low = Summer
#define DisplaybeleuchtungV2 PC7 // Pin 26 High = Display-LED PCB 3.9w
#define Uart0RxD PD0 // Pin 9 über IC4 =Wi | SV2
#define Uart0TxD PD1 // Pin 10 über IC4 =Wi | SV2
#define Uart1RxD PD2 // Pin 11 direkt = USB, BTM, über IC5 = Wi | SV2
#define Uart1TxD PD3 // Pin 12 direkt = USB, BTM, über IC5 = Wi | SV2
#define SERVO2 PD4 // Pin 13 PWM Servo 2
#define SERVO1 PD5 // Pin 14 PWM Servo 1
#define Wi232_CMD PD6 // Pin 15 aktiv Low = Wi232 CMD
#define Displaybeleuchtung PD7 // Pin 16 High = Display-LED
#define SummerV2 PD7 // Pin 16 Low = Summer, PCB 3.9w
#define KEY_ENTER Key1
#define KEY_ESC Key2
#define KEY_PLUS Key3
#define KEY_MINUS Key4
// |= schaltet Ausgang auf HIGH
// &= ~ schaltet Ausgang auf LOW
#define set_reset() (PORTB |= (1 << Display_Reset))
#define clr_reset() (PORTB &= ~(1 << Display_Reset))
#define set_A0() (PORTB |= (1 << Display_A0))
#define clr_A0() (PORTB &= ~(1 << Display_A0))
#define set_cs() (PORTB |= (1 << Display_CS))
#define clr_cs() (PORTB &= ~(1 << Display_CS))
#define set_si() (PORTB |= (1 << Display_SI))
#define clr_si() (PORTB &= ~(1 << Display_SI))
#define set_scl() (PORTB |= (1 << Display_SCL))
#define clr_scl() (PORTB &= ~(1 << Display_SCL))
#define _BTOn() (PORTC &= ~(1 << USB_BT)) // Bluetooth ein
#define set_USBOn() (PORTC |= (1 << USB_BT)) // USB ein
#define clr_V_On() (PORTB &= ~(1 << VoltageHold)) // Spannung mit T3 halten
#define set_V_On() (PORTB |= (1 << VoltageHold))
#define set_USB2FC() (PORTC &= ~(1 << USB2FC)) // USB mit FC-Kabel verbinden
#define clr_USB2FC() (PORTC |= (1 << USB2FC))
#define set_USB2Wi() (PORTB &= ~(1 << USB2Wi)) // USB mit Wi232 verbinden
#define clr_USB2Wi() (PORTB |= (1 << USB2Wi))
#define set_Uart02FC() (PORTC &= ~(1 << Uart02FC)) // Uart0 mit FC-Kabel verbinden
#define clr_Uart02FC() (PORTC |= (1 << Uart02FC))
#define set_Uart02Wi() (PORTC &= ~(1 << Uart02Wi)) // Uart0 mit Wi232 verbinden
#define clr_Uart02Wi() (PORTC |= (1 << Uart02Wi))
#define set_DISPLAYLIGHT() (PORTD &= ~(1 << Displaybeleuchtung)) // Displaybeleuchtung
#define clr_DISPLAYLIGHT() (PORTD |= (1 << Displaybeleuchtung))
#define set_DISPLAYLIGHTV2() (PORTC &= ~(1 << DisplaybeleuchtungV2)) // Displaybeleuchtung PCB3.9w
#define clr_DISPLAYLIGHTV2() (PORTC |= (1 << DisplaybeleuchtungV2))
#define set_WI232CMD() (PORTD &= ~(1 << Wi232_CMD)) // Wi232 Programmierpin
#define clr_WI232CMD() (PORTD |= (1 << Wi232_CMD))
#define PKT39m 1
#define PKT39x 2
void set_D_LIGHT(void); /* Displaybeleuchtung ein*/
void clr_D_LIGHT(void); /* Displaybeleuchtung aus */
void set_BEEP(void); /* Beeper ein*/
void clr_BEEP(void); /* Beeper aus*/
void InitHWPorts(void);
void set_BTOn(void); /* Bluetooth einschalten*/
void set_BTOff(void); /* Bluetooth einschalten*/
extern volatile uint8_t PCB_Version;
#endif
Property changes:
Added: svn:mime-type
+text/plain
\ No newline at end of property

/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/LICENSE.TXT
0,0 → 1,340
GNU GENERAL PUBLIC LICENSE
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Public License instead of this License.

/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/bluetooth/.directory
0,0 → 1,3
[Dolphin]
Timestamp=2012,12,28,23,42,17
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/bluetooth/bluetooth.c
0,0 → 1,1793
/**
* source for the Bluetooth driver
* @file bluetooth.c
* @author Linus Lotz<lotz@in.tum.de>
* @author Salomon Sickert
*/
//2013 Cebra, Erweiterung um BT Local-ID Abfrage
#include <string.h>
#include "../cpu.h"
#define __DELAY_BACKWARD_COMPATIBLE__
#include <util/delay.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <stdlib.h>
#include "bluetooth.h"
#include "../main.h"
#ifdef HWVERSION3_9
#include "../uart/uart1.h"
#include "../uart/usart.h"
#include "../timer/timer.h"
#include "fifo.h"
#include "error.h"
#include "../lcd/lcd.h"
#include "../eeprom/eeprom.h"
#include "../setup/setup.h"
#include "bluetooth.h"
#include "../tracking/tracking.h"
//#define SaveMem
//
// Baudrate for the UART-connection to the BTM-222 on SQUIRREL
//
#define SQUIRREL
#ifdef SQUIRREL
#define UART_BAUD_RATE 19200
#endif
#ifdef NUT
#define UART_BAUD_RATE 19200
#endif
typedef enum {
BT_RAW,
BT_DATA,
BT_CMD,
BT_NOECHO,
BT_NOANSWER
} communication_mode_t;
#define BT_CMD_TIMEOUT_MS 2000
typedef enum {
BT_TEST, // AT
BT_CONNECT, // ATA
BT_DISCONNECT, // ATH
BT_CLEAR_ADDRESS, // ATD0
BT_SET_ADDRESS, // ATD=_____
BT_GET_LOCALID, // ATB? Inquire the Local BD address
BT_FIND_DEVICES, // ATF?
BT_DISABLE_AUTOCONNECT, // ATO1
BT_ENABLE_AUTOCONNECT, // ATO0
BT_SET_MASTER, // ATR0
BT_SET_SLAVE, // ATR1
BT_SET_PIN, // ATP=1234
BT_SET_2400, // ATL* Baudrate 2400
BT_SET_4800, // ATL0 Baudrate 4800
BT_SET_9600, // ATL1 Baudrate 9600
BT_SET_19200, // ATL2 Baudrate 19200
BT_SET_38400, // ATL3 Baudrate 38400
BT_SET_57600, // ATL4 Baudrate 57600
BT_SET_115200, // ATL5 Baudrate 115200
BT_SET_NOANSWER, // ATQ1 Rückmeldungen aus
BT_SET_NOECHO, // ATE0 ECHO deaktivieren
BT_SET_ANSWER, // ATQ0 Rückmeldungen
BT_SET_ECHO, // ATE1 ECHO aktivieren
BT_SET_DEFAULT, // Defaultwerte setzen
BT_SET_NAME, // Devicename
BT_SET_DISPWRDOWN // disable auto Powerdown
} bt_cmd_t;
//TODO: FIFO Grösse
#define IN_FIFO_SIZE 512
char localID[15]="12345678901234";
static uint8_t bt_buffer[IN_FIFO_SIZE];
static fifo_t in_fifo;
char bt_rx_buffer[RXD_BUFFER_SIZE];
volatile uint8_t bt_rx_len;
volatile uint8_t bt_rx_ready = 0;
uint8_t rx_GPS;
static char start = '$';
static char end = '\n';
char data_decode[RXD_BUFFER_SIZE];
volatile uint16_t rx_timeout;
uint8_t EchoAnswerOn; //Merkzelle
static bt_mode_t bt_mode = BLUETOOTH_SLAVE;
static communication_mode_t comm_mode = BT_CMD;
uint8_t i = 0;
//uint8_t NoEcho = 0;
//uint8_t NoAnswer = 0;
uint8_t bt_devicecount = 0;
uint8_t bt_rxerror = 0;
device_info device_list[NUTS_LIST];
uint8_t BT_New_Baudrate = 0; //Merkzelle für zu setzende Baudrate
// Set a timeout of Y ms and a Conditon X, which have to be true while timeout
#define while_timeout(X, Y) for(uint16_t __timeout = 0; __timeout++ <= Y && (X); Delay_MS(Y ? 1 : 0))
//--------------------------------------------------------------
void Delay_MS(int count)
{
for (int i = 0; i < count; i++)
_delay_ms(1);
}
void bt_start(void)
{
if (Config.BTIsSlave == true) EchoAnswerOn = false; else EchoAnswerOn = true;
}
//--------------------------------------------------------------
void uart_receive(void)
{
unsigned int uart_data;
while (!fifo_is_full(&in_fifo))
{
uart_data = uart1_getc();
// USART_puts(".");
switch (uart_data & 0xFF00) {
// Framing Error detected, i.e no stop bit detected
case UART_FRAME_ERROR:
#ifdef DEBUG
warn_pgm(PSTR("FRM ERR"));
#endif
bt_rxerror++;
return;
// Overrun, a character already presend in the UART UDR register was
// not read by the interrupt handler before the next character arrived,
// one or more received characters have been dropped
//
case UART_OVERRUN_ERROR:
#ifdef DEBUG
warn_pgm(PSTR("OVR ERR"));
#endif
bt_rxerror++;
return;
// We are not reading the receive buffer fast enough,
// one or more received character have been dropped
//
case UART_BUFFER_OVERFLOW:
#ifdef DEBUG
warn_pgm(PSTR("BUF ERR"));
#endif
bt_rxerror++;
return;
// UART Inputbuffer empty, nothing to do
case UART_NO_DATA:
return;
default:
{
fifo_write(&in_fifo, uart_data);
#ifdef DEBUG
USART_putc(uart_data);
#endif
}
}
}
#ifdef DEBUG
warn_pgm(PSTR("FIFO OVR ERR"));
#endif
}
//--------------------------------------------------------------
static void uart_send(const char *data, const uint8_t length)
{
#ifdef SND_DEBUG
debug_pgm(PSTR("bt_uart_send"));
if (comm_mode == BT_CMD) debug_pgm(PSTR("bt_uart_send:BT_CMD")); else debug_pgm(PSTR("bt_uart_send:Wrong comm-mode"));
if (EchoAnswerOn == true) debug_pgm(PSTR("bt_uart_send:EchoAnswer ON")); else debug_pgm(PSTR("bt_uart_send:EchoAnswer OFF"));
#endif
char echo;
// lcd_printp_at (i++, 1, PSTR("."), 0);
for (uint8_t i = 0; i < length; i++)
{
#ifdef SND_DEBUG
USART_putc((data[i])); //test
#endif
// debug_pgm(PSTR("bt_init_S"));
if (uart1_putc(data[i]) == 0)
{
#ifdef SND_DEBUG
warn_pgm(PSTR("UART: Remote not ready"));
#endif
return;
}
if (comm_mode == BT_RAW)
_delay_ms(50);
if (comm_mode == BT_DATA)
_delay_ms(1);
if ((comm_mode == BT_CMD) && (EchoAnswerOn == true))
{
#ifdef SND_DEBUG
warn_pgm(PSTR ("UARTsend: get Echo"));
#endif
uint8_t x = 0;
for (; x < 3; x++)
{
while_timeout(fifo_is_empty(&in_fifo), 200)
// for(uint16_t __timeout = 0; __timeout++ <= 200 && (fifo_is_empty(&in_fifo)); _delay_ms(200 ? 1 : 0))
uart_receive();
fifo_read(&in_fifo, &echo);
if (echo != data[i]) {
if (uart1_putc(data[i]) == 0)
{
#ifdef SND_DEBUG
warn_pgm(PSTR ("UART: Remote not ready"));
#endif
return;
}
}
else
break;
}
if (x == 3)
{
error_putc(data[i]);
#ifdef DEBUG
error_pgm(PSTR("BT: WRONG ECHO"));
//_delay_ms(2000);
#endif
}
}
else
{
for(uint16_t __timeout = 0; __timeout++ <= 200 && (fifo_is_empty(&in_fifo)); _delay_ms(200 ? 1 : 0))
{
uart_receive();
}
fifo_read(&in_fifo, &echo);
#ifdef SND_DEBUG
warn_pgm(PSTR ("UARTsend: skip Echo"));
#endif
}
}
}
//--------------------------------------------------------------
static uint16_t send_cmd(const bt_cmd_t command, const char *data)
{
uint16_t CommandDelay=0; // nach BTM222 Kommandos verschiedene Verzögerungszeiten bevor es weitergehen kann
// _delay_ms(500); // org 500 300 zu wenig
char full_command[20]; // Maximum command size
switch (command)
{
case BT_SET_PIN:
strcpy_P(full_command, PSTR("ATP="));
for (uint8_t i = 0; i < bt_pin_length; i++)
{
full_command[i+4] = Config.bt_pin[i];
}
full_command[(bt_pin_length+4)] =0;
CommandDelay = 100; //100ms
break;
case BT_SET_DEFAULT:
strcpy_P(full_command, PSTR("ATZ0"));
CommandDelay = 1000;
break;
case BT_SET_2400:
strcpy_P(full_command, PSTR("ATL*"));
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("ATL*"));
#endif
break;
case BT_SET_4800:
strcpy_P(full_command, PSTR("ATL0"));
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("ATL0"));
#endif
break;
case BT_SET_9600:
strcpy_P(full_command, PSTR("ATL1"));
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("ATL1"));
#endif
break;
case BT_SET_19200:
strcpy_P(full_command, PSTR("ATL2"));
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("ATL2"));
#endif
break;
case BT_SET_38400:
strcpy_P(full_command, PSTR("ATL3"));
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("ATL3"));
#endif
break;
case BT_SET_57600:
strcpy_P(full_command, PSTR("ATL4"));
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("ATL4"));
#endif
break;
case BT_SET_115200:
strcpy_P(full_command, PSTR("ATL5"));
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("ATL5"));
#endif
break;
case BT_SET_NOANSWER:
strcpy_P(full_command, PSTR("ATQ1"));
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("ATQ1"));
#endif
break;
case BT_SET_NOECHO:
strcpy_P(full_command, PSTR("ATE0"));
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("ATE0"));
#endif
break;
case BT_SET_ANSWER:
strcpy_P(full_command, PSTR("ATQ0"));
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("ATQ0"));
#endif
break;
case BT_SET_ECHO:
strcpy_P(full_command, PSTR("ATE1"));
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("ATE1"));
#endif
break;
case BT_TEST:
strcpy_P(full_command, PSTR("AT"));
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("AT"));
#endif
break;
case BT_CONNECT:
strcpy_P(full_command, PSTR("ATA"));
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("ATA"));
#endif
break;
case BT_DISCONNECT:
strcpy_P(full_command, PSTR("ATH"));
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("ATH"));
#endif
break;
case BT_CLEAR_ADDRESS:
strcpy_P(full_command, PSTR("ATD0"));
CommandDelay = 100;
break;
case BT_SET_ADDRESS:
strcpy_P(full_command, PSTR("ATD="));
memcpy((full_command + strlen(full_command)), data, 12);
full_command[16] = 0;
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("ATLD="));
#endif
break;
case BT_FIND_DEVICES:
strcpy_P(full_command, PSTR("ATF?"));
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("ATF?"));
#endif
break;
case BT_DISABLE_AUTOCONNECT:
strcpy_P(full_command, PSTR("ATO1"));
CommandDelay = 3500;
#ifdef DEBUG
debug_pgm(PSTR("ATO1"));
#endif
break;
case BT_ENABLE_AUTOCONNECT:
strcpy_P(full_command, PSTR("ATO0"));
CommandDelay = 3500;
#ifdef DEBUG
debug_pgm(PSTR("ATO0"));
#endif
break;
case BT_SET_MASTER:
strcpy_P(full_command, PSTR("ATR0"));
CommandDelay = 3000;
#ifdef DEBUG
debug_pgm(PSTR("ATR0"));
#endif
break;
case BT_SET_SLAVE:
strcpy_P(full_command, PSTR("ATR1"));
CommandDelay = 3000;
#ifdef DEBUG
debug_pgm(PSTR("ATR1"));
#endif
break;
case BT_SET_NAME:
strcpy_P(full_command, PSTR("ATN="));
for (uint8_t i = 0; i < bt_name_len; i++)
{
full_command[i + 4] = Config.bt_name[i];
}
full_command[(bt_name_len + 4)] = 0;
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("ATN="));
#endif
break;
case BT_SET_DISPWRDOWN:
strcpy_P(full_command, PSTR("ATS1"));
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("ATS1"));
#endif
break;
case BT_GET_LOCALID:
strcpy_P(full_command, PSTR("ATB?"));
CommandDelay = 100;
#ifdef DEBUG
debug_pgm(PSTR("ATB?"));
#endif
break;
default:
warn_pgm(PSTR("CMD UNK"));
return false;
}
strcat_P(full_command, PSTR("\r"));
// throw away your television
uart_receive();
fifo_clear(&in_fifo);
// debug_pgm(PSTR("bt_init3, send command"));
// send command
uart_send(full_command, strlen(full_command));
//TODO: hier ist ein Fehler bei den Bedingungen
// if (command == (BT_SET_NOECHO||BT_SET_NOANSWER||BT_SET_ECHO||BT_SET_ANSWER))
// {
// uart_receive();
// fifo_clear(&in_fifo);
// _delay_ms(CommandDelay);
//#ifdef DEBUG
// debug_pgm(PSTR("send_cmd: Echo Answer no Response"));
//#endif
//// return true;
//
// }
// else
{
// get response
#ifdef DEBUG
debug_pgm(PSTR("send_cmd:get Response"));
#endif
while_timeout(true, BT_CMD_TIMEOUT_MS)
{
uart_receive();
if (command== BT_GET_LOCALID)
{
_delay_ms(CommandDelay);
return bt_getID();
}
if (fifo_strstr_pgm(&in_fifo, PSTR("OK\r\n")))
{
info_pgm(PSTR("CMD SEND: OK"));
_delay_ms(CommandDelay);
return true;
}
if (fifo_strstr_pgm(&in_fifo, PSTR("ERROR\r\n")))
{
#ifdef DEBUG
info_pgm(PSTR("CMD SEND: Error"));
_delay_ms(2000);
#endif
return false;
}
}
}
//#ifdef DEBUG
// if (command != BT_TEST)
// warn_pgm(PSTR("CMD SEND: TIMEOUT"));
// _delay_ms(2000);
//#endif
return false;
}
//bt_init
//--------------------------------------------------------------
//void test(void)
//{
// comm_mode = BT_RAW;
// for (uint8_t i = 0; i < 2; i++)
// if (send_cmd(BT_TEST, NULL))
// break;
// comm_mode = BT_CMD;
//}
#ifndef SaveMem
//--------------------------------------------------------------
static void clean_line(void)
{
while_timeout(true, 50)
uart_receive();
fifo_strstr_pgm(&in_fifo, PSTR("\r\n"));
}
static communication_mode_t update_comm_mode(uint16_t timeout_ms)
{
while_timeout(true, timeout_ms)
// for(uint16_t __timeout = 0; __timeout++ <= true && (timeout_ms); _delay_ms(true ? 1 : 0))
{
uart_receive();
if (fifo_strstr_pgm(&in_fifo, PSTR("DISCONNECT")))
{
clean_line();
// test();
comm_mode = BT_CMD;
send_cmd(BT_TEST, NULL);
return comm_mode;
}
if (fifo_strstr_pgm(&in_fifo, PSTR("CONNECT")))
{
_delay_ms(100); //don't delete this, else there will be no success!!!!!!!!!
comm_mode = BT_DATA;
return comm_mode;
}
if (fifo_strstr_pgm (&in_fifo, PSTR("Time out,Fail to connect!")))
{
clean_line();
#ifdef DEBUG
debug_pgm(PSTR("CONNECT FAILED\n"));
#endif
// test();
send_cmd(BT_TEST, NULL);
comm_mode = BT_CMD;
return comm_mode;
}
}
return comm_mode;
}
#endif
//--------------------------------------------------------------
uint16_t bt_setbaud(uint8_t baudrate)
{
uint8_t init_error = false;
uint8_t BT_found = 0;
i = 0;
// set_BTOn();
lcd_cls();
lcd_printp_at (0, 0, PSTR("BT set new Baudrate.."), 0);
SetBaudUart1(Old_Baudrate);
fifo_init(&in_fifo, bt_buffer, IN_FIFO_SIZE);
_delay_ms(100);
fifo_clear(&in_fifo);
// send_cmd(BT_TEST, NULL);
// comm_mode = BT_NOECHO;
// send_cmd(BT_SET_ECHO, NULL);
// send_cmd(BT_SET_ANSWER, NULL);
bt_set_EchoAnswer(true);
#ifdef DEBUG
debug_pgm(PSTR("Check with PKT Baudrate"));
#endif
if (send_cmd(BT_TEST, NULL)) // Test mit PKT_Baudrate
{
#ifdef DEBUG
debug_pgm(PSTR("BT found with PKT Baudrate"));
#endif
BT_found = 1;
}
if (BT_found == 0)
{
lcd_printp_at (0, 1, PSTR("Error1 set Baudrate.."), 0);
_delay_ms(2100);
set_BTOff();
return false;
}
else
{
/* Set comm_mode to CMD */
comm_mode = BT_CMD;
switch (baudrate)
{
// case Baud_2400 : { /* Set BTM Baudrate */
// if (!(send_cmd(BT_SET_2400, NULL))) init_error = true;
// SetBaudUart1(Baud_2400);
// _delay_ms(100);
// break;
// }
case Baud_4800 : { /* Set BTM Baudrate */
if (!(send_cmd(BT_SET_4800, NULL))) init_error = true;
SetBaudUart1(Baud_4800);
_delay_ms(100);
break;
}
case Baud_9600 : { /* Set BTM Baudrate */
if (!(send_cmd(BT_SET_9600, NULL))) init_error = true;
SetBaudUart1(Baud_9600);
_delay_ms(100);
break;
}
case Baud_19200 : { /* Set BTM Baudrate */
if (!(send_cmd(BT_SET_19200, NULL))) init_error = true;
SetBaudUart1(Baud_19200);
_delay_ms(100);
break;
}
case Baud_38400 : { /* Set BTM Baudrate */
if (!(send_cmd(BT_SET_38400, NULL))) init_error = true;
SetBaudUart1(Baud_38400);
_delay_ms(100);
break;
}
case Baud_57600 : { /* Set BTM Baudrate */
if (!(send_cmd(BT_SET_57600, NULL))) init_error = true;
SetBaudUart1(Baud_57600);
_delay_ms(100);
break;
}
case Baud_115200 : { /* Set BTM Baudrate */
if (!(send_cmd(BT_SET_115200, NULL))) init_error = true;
SetBaudUart1(Baud_115200);
_delay_ms(100);
break;
}
break;
}
// /* Set BTM Echo aus */
// send_cmd(BT_SET_NOECHO, NULL);
//// test();
// comm_mode = BT_NOECHO;
// /* Set BTM Answer aus */
// send_cmd(BT_SET_NOANSWER, NULL);
//// test();
bt_set_EchoAnswer(false);
bt_mode = BLUETOOTH_SLAVE;
// set_BTOff();
if (!init_error)
{
lcd_printp_at (0, 2, PSTR("set Baudrate ok"), 0);
_delay_ms(2100);
return true;
}
else
{
lcd_printp_at (0, 2, PSTR("set Baudrate Error"), 0);
_delay_ms(2100);
return true;
}
}
}
void bt_set_EchoAnswer (uint8_t onoff)
{
if (onoff == true)
{
// if (EchoAnswerOn==false)
// {
/* Set comm_mode to CMD */
comm_mode = BT_CMD;
send_cmd(BT_SET_ECHO, NULL);
send_cmd(BT_SET_ANSWER, NULL);
EchoAnswerOn = true;
send_cmd(BT_TEST, NULL);
// fifo_clear(&in_fifo);
// }
#ifdef DEBUG
debug_pgm(PSTR("bt_set_EchoAnswer: on"));
#endif
}
else
{
// if (EchoAnswerOn==true)
// {
/* Set comm_mode to CMD */
comm_mode = BT_CMD;
EchoAnswerOn = false;
send_cmd(BT_SET_NOECHO, NULL);
send_cmd(BT_SET_NOANSWER, NULL);
// fifo_clear(&in_fifo);
// }
#ifdef DEBUG
debug_pgm(PSTR("bt_set_EchoAnswer: off"));
#endif
}
}
//--------------------------------------------------------------
uint16_t bt_init(void)
{
uint8_t init_error = false;
uint8_t BT_found = 0;
i = 0;
set_BTOn();
lcd_cls();
lcd_printp_at (0, 0, PSTR("BT initialisieren.."), 0);
// _delay_ms(200);
for (uint8_t z = (bt_name_length); z > 0; z--)
{
if (Config.bt_name[z - 1] != ' ')
{
bt_name_len = z;
break;
}
}
// uart1_init(UART_BAUD_SELECT(57600, F_CPU));
SetBaudUart1(Config.PKT_Baudrate);
fifo_init(&in_fifo, bt_buffer, IN_FIFO_SIZE);
_delay_ms(100);
// debug_pgm(PSTR("bt_init"));
uart_receive();
// debug_pgm(PSTR("bt_init1"));
fifo_clear(&in_fifo);
bt_disconnect();
bt_set_EchoAnswer(true);
// debug_pgm(PSTR("bt_init2"));
#ifdef DEBUG
debug_pgm(PSTR("Check with PKT Baudrate"));
#endif
send_cmd(BT_TEST, NULL); // Schrott löschen
send_cmd(BT_TEST, NULL); // Schrott löschen
if (send_cmd(BT_TEST, NULL)) // Test mit 57600
{
#ifdef DEBUG
debug_pgm(PSTR("BT found with PKT Baudrate"));
#endif
BT_found = 1;
}
if (BT_found == 0)
{
#ifdef DEBUG
debug_pgm(PSTR("Check with 19200"));
#endif
// uart1_init(UART_BAUD_SELECT(19200, F_CPU));// Test mit 19200
SetBaudUart1(Baud_19200);
// _delay_ms(100);
send_cmd(BT_TEST, NULL); // Schrott löschen
send_cmd(BT_TEST, NULL); // Schrott löschen
bt_set_EchoAnswer(true);
if (send_cmd(BT_TEST, NULL))
{
#ifdef DEBUG
debug_pgm(PSTR("19200 OK"));
#endif
if (send_cmd(BT_TEST, NULL))
{
#ifdef DEBUG
debug_pgm(PSTR("BT found 19200 Baud"));
#endif
Old_Baudrate = Baud_19200;
BT_found = 2;
}
}
}
if (BT_found == 0)
{
#ifdef DEBUG
debug_pgm(PSTR("Check with 38400"));
#endif
// uart1_init(UART_BAUD_SELECT(19200, F_CPU));// Test mit 19200
SetBaudUart1(Baud_38400);
// _delay_ms(100);
send_cmd(BT_TEST, NULL); // Schrott löschen
// comm_mode = BT_NOECHO;
// send_cmd(BT_SET_ECHO, NULL);
// comm_mode = BT_NOANSWER;
// send_cmd(BT_SET_ANSWER, NULL);
// comm_mode = BT_CMD;
bt_set_EchoAnswer(true);
if (send_cmd(BT_TEST, NULL))
{
#ifdef DEBUG
debug_pgm(PSTR("38400 OK"));
#endif
if (send_cmd(BT_TEST, NULL))
{
#ifdef DEBUG
debug_pgm(PSTR("BT found 38400 Baud"));
#endif
Old_Baudrate = Baud_38400;
BT_found = 2;
}
}
}
if (BT_found == 0)
{
#ifdef DEBUG
debug_pgm(PSTR("Check with 9600"));
#endif
// uart1_init(UART_BAUD_SELECT(9600, F_CPU));//test mit 9600
SetBaudUart1(Baud_9600);
// _delay_ms(100);
send_cmd(BT_TEST, NULL);
// comm_mode = BT_NOECHO;
// send_cmd(BT_SET_ECHO, NULL);
// comm_mode = BT_NOANSWER;
// send_cmd(BT_SET_ANSWER, NULL);
// comm_mode = BT_CMD;
bt_set_EchoAnswer(true);
if (send_cmd(BT_TEST, NULL));
{
#ifdef DEBUG
debug_pgm(PSTR("9600 OK"));
#endif
if (send_cmd(BT_TEST, NULL))
{
#ifdef DEBUG
debug_pgm(PSTR("BT found 9600 Baud"));
#endif
Old_Baudrate = Baud_9600;
BT_found = 3;
}
}
}
if (BT_found == 0)
{
#ifdef DEBUG
debug_pgm(PSTR("Check with 57600"));
#endif
// uart1_init(UART_BAUD_SELECT(9600, F_CPU));//test mit 9600
SetBaudUart1(Baud_57600);
// _delay_ms(100);
send_cmd(BT_TEST, NULL);
// comm_mode = BT_NOECHO;
// send_cmd(BT_SET_ECHO, NULL);
// comm_mode = BT_NOANSWER;
// send_cmd(BT_SET_ANSWER, NULL);
// comm_mode = BT_CMD;
bt_set_EchoAnswer(true);
if (send_cmd(BT_TEST, NULL));
{
#ifdef DEBUG
debug_pgm(PSTR("57600 OK"));
#endif
if (send_cmd(BT_TEST, NULL))
{
#ifdef DEBUG
debug_pgm(PSTR("BT found 57600 Baud"));
#endif
Old_Baudrate = Baud_57600;
BT_found = 4;
}
}
}
if (BT_found == 0)
{
#ifdef DEBUG
debug_pgm(PSTR("Check with 4800"));
#endif
// uart1_init(UART_BAUD_SELECT(4800, F_CPU));//test mit 4800
SetBaudUart1(Baud_4800);
// _delay_ms(100);
send_cmd(BT_TEST, NULL);
// comm_mode = BT_NOECHO;
// send_cmd(BT_SET_ECHO, NULL);
// comm_mode = BT_NOANSWER;
// send_cmd(BT_SET_ANSWER, NULL);
// comm_mode = BT_CMD;
bt_set_EchoAnswer(true);
if (send_cmd(BT_TEST, NULL));
{
#ifdef DEBUG
debug_pgm(PSTR("4800 OK"));
#endif
if (send_cmd(BT_TEST, NULL))
{
#ifdef DEBUG
debug_pgm(PSTR("BT found 4800 Baud"));
#endif
Old_Baudrate = Baud_4800;
BT_found = 5;
}
}
}
if (BT_found > 0)
{
#ifdef DEBUG
debug_pgm(PSTR("BT found !"));
#endif
/* Set comm_mode to CMD */
comm_mode = BT_CMD;
// test();
// if (BTIsSlave==false)
// {
// fifo_init(&in_fifo, bt_buffer, IN_FIFO_SIZE);
_delay_ms(100);
// test();
/* Clear remote address */
if(!(send_cmd(BT_CLEAR_ADDRESS, NULL)))
init_error = true;
// test();
/* Set BTM to SLAVE */
if (!(send_cmd(BT_SET_SLAVE, NULL)))
init_error = true;
// test();
/* Set BTM PIN */
if(!(send_cmd(BT_SET_PIN, NULL)))
init_error = true;
// test();
/* Set BTM Name */
if(!(send_cmd(BT_SET_NAME, NULL)))
init_error = true;
_delay_ms(300);
// test();
if(!(send_cmd(BT_SET_DISPWRDOWN, NULL)))
init_error = true;
if(!(send_cmd(BT_GET_LOCALID, NULL)))
init_error = true;
// }
/* Set BTM Baudrate */
// if (!(send_cmd(BT_SET_57600, NULL)))
// init_error = true;
if (!bt_setbaud(Config.PKT_Baudrate)) init_error = true;
// uart1_init(UART_BAUD_SELECT(57600, F_CPU));
SetBaudUart1(Config.PKT_Baudrate);
// /* Set BTM Echo aus */
// send_cmd(BT_SET_NOECHO, NULL);
//// test();
// comm_mode = BT_NOECHO;
// /* Set BTM Answer aus */
// send_cmd(BT_SET_NOANSWER, NULL);
//// test();
bt_set_EchoAnswer (false);
bt_mode = BLUETOOTH_SLAVE;
set_BTOff();
if (!init_error)
{
WriteBTInitFlag(); // Init merken
WriteBTSlaveFlag();
bt_start();
return true;
}
else
return false;
}
else
{
set_BTOff();
return false;
}
}
#ifndef SaveMem
//--------------------------------------------------------------
uint8_t bt_set_mode(const bt_mode_t mode)
{
#ifdef DEBUG
debug_pgm(PSTR("bt_setmode: set Mode"));
#endif
// if (update_comm_mode(0) == BT_DATA) // 30.1.2012 CB
// return false;
if (mode == bt_mode)
return true;
if (mode == BLUETOOTH_MASTER)
{
comm_mode = BT_CMD;
bt_set_EchoAnswer(true);
// _delay_ms(1000);
if (send_cmd(BT_SET_MASTER, NULL))
{
bt_mode = BLUETOOTH_MASTER;
send_cmd(BT_DISABLE_AUTOCONNECT, NULL);
WriteBTMasterFlag();
#ifdef DEBUG
debug_pgm(PSTR("bt_setmode: Master is set"));
#endif
}
}
if (mode == BLUETOOTH_SLAVE)
{
comm_mode = BT_CMD;
bt_set_EchoAnswer(true);
if (send_cmd(BT_ENABLE_AUTOCONNECT, NULL))
{
bt_mode = BLUETOOTH_SLAVE;
send_cmd(BT_SET_SLAVE, NULL);
WriteBTSlaveFlag();
bt_set_EchoAnswer(false);
comm_mode = BT_CMD;
#ifdef DEBUG
debug_pgm(PSTR("bt_setmode: Slave is set"));
#endif
}
}
// if (bt_mode == BLUETOOTH_MASTER) debug_pgm(PSTR("bt_mode:BLUETOOTH_MASTER "));
// if (bt_mode == BLUETOOTH_SLAVE) debug_pgm(PSTR("bt_mode:BLUETOOTH_SLAVE"));
// if (mode == BLUETOOTH_MASTER) debug_pgm(PSTR("mode:BLUETOOTH_MASTER "));
// if (mode == BLUETOOTH_SLAVE) debug_pgm(PSTR("mode:BLUETOOTH_SLAVE"));
return (mode == bt_mode);
}
//--------------------------------------------------------------
uint16_t bt_receive(void *data, uint8_t length, uint16_t timeout_ms)
{
uint8_t rec_length = 0;
uint8_t i = 0;
// while_timeout(true, timeout_ms);
for(uint16_t __timeout = 0; __timeout++ <= true && (timeout_ms); _delay_ms(true ? 1 : 0))
{
if (i == length)
return true;
uart_receive();
if (fifo_is_empty(&in_fifo))
continue;
if (update_comm_mode(0) != BT_DATA)
{
#ifdef DEBUG
debug_pgm(PSTR("not connected"));
#endif
return false;
}
// We have a connection
if (timeout_ms == 0)
timeout_ms += 2000;
if (fifo_is_empty(&in_fifo))
continue;
// Find starting point of packet
if (!rec_length)
{
fifo_read(&in_fifo, (char *)&rec_length);
if (rec_length != length)
{
rec_length = 0;
}
else
{
// You've got mail!
timeout_ms += 2000;
}
}
else
{
fifo_read(&in_fifo, (char *)data + i);
i++;
}
}
return false;
}
#endif
#ifndef SaveMem
//--------------------------------------------------------------
uint16_t bt_send(void *data, const uint8_t length)
{
if (update_comm_mode(0) == BT_CMD)
return false;
uart_send((const char *)&length, 1);
uart_send((char *)data, length);
return (update_comm_mode(0) == BT_DATA);
}
#ifdef SQUIRREL
//--------------------------------------------------------------
uint16_t bt_connect(const char *address)
{
fifo_init(&in_fifo, bt_buffer, IN_FIFO_SIZE);
uart_receive();
fifo_clear(&in_fifo);
// Maybe we already disconnected???
if (BT_DATA == update_comm_mode(0))
{
#ifdef DEBUG
debug_pgm(PSTR("We are still connected..."));
#endif
return false;
}
// test();
send_cmd(BT_TEST, NULL);
/*
if (!send_cmd(BT_DISABLE_AUTOCONNECT, address))
return false;
*/
// Test();
send_cmd(BT_TEST, NULL);
#ifdef DEBUG
debug_pgm (PSTR ("SET_ADD"));
#endif
if (!send_cmd(BT_SET_ADDRESS, address))
return false;
// test();
send_cmd(BT_TEST, NULL);
#ifdef DEBUG
debug_pgm (PSTR ("CONNECT"));
#endif
if (!send_cmd(BT_CONNECT, NULL))
return false;
#ifdef DEBUG
debug_pgm (PSTR ("WAIT FOR COMM"));
#endif
return (BT_DATA == update_comm_mode(20000));
}
//--------------------------------------------------------------
uint16_t bt_disconnect(void)
{
if (BT_CMD == update_comm_mode(0))
{
fifo_clear(&in_fifo);
return true;
}
// Switch to online cmd mode
for (uint8_t i = 0; i < 4; i++)
{
const char plus = '+';
uart_send(&plus, 1);
_delay_ms(1000);
}
comm_mode = BT_CMD;
if (!send_cmd(BT_DISCONNECT, NULL))
return false;
// test();
if (!send_cmd(BT_CLEAR_ADDRESS, NULL))
return false;
// test();
if (BT_CMD == update_comm_mode(10000))
{
fifo_clear(&in_fifo);
return true;
}
#ifdef DEBUG
debug_pgm(PSTR("Still in DATA??"));
#endif
return false;
}
/*
BTM-222 Softwareversion 4.35
Inquiry Results:
111111111222222222233333333334
01234567890123456789012345678901234567890
1 LE091452 0024-2C-BEB0CA
2 E71 c 0024-7C-3EC9B9
BTM-222 Softwareversion 6.26
Inquiry Results:
1 E71 c 0024-7C-3EC9B9 N.A.
2 LE091452 0024-2C-BEB0CA N.A.
*/
//--------------------------------------------------------------
void copy_mac(const char *src, char *dst)
{
uint8_t off = 0;
for (uint8_t i = 0; i < 40; i++)
{
if (src[i] == '-') if (src[i+3] == '-')// MAC Adresse suchen
{
off = i-4;
break;
}
}
for (uint8_t i = 0; i < 14; i++)
{
if (src[i + off] == '-')
off++;
dst[i] = src[i + off];
}
}
//--------------------------------------------------------------
void copy_localID(const char *src, char *dst)
{
uint8_t off = 0;
// for (uint8_t i = 0; i < 40; i++)
// {
// if (src[i] == '-') if (src[i+3] == '-')// MAC Adresse suchen
// {
// off = i-4;
// break;
// }
// }
for (uint8_t i = 0; i < 14; i++)
{
if (src[i + off] == '-')
off++;
dst[i] = src[i + off];
}
}
//--------------------------------------------------------------
void copy_DevName(const char *src, char *dst)
{
uint8_t off = 0;
for (uint8_t i = 0; i < 14; i++)
{
if (src[i] == ' ') if (src[i+1] == ' ') break; // nach zwei Leerzeichen ist der Name zuende
dst[i] = src[i + off];
}
}
//--------------------------------------------------------------
uint16_t bt_discover(char result[8][12])
{
if (!bt_set_mode(BLUETOOTH_MASTER))
return false;
send_cmd(BT_TEST, NULL);
if (!send_cmd(BT_FIND_DEVICES, NULL))
{
return false;
}
char buffer[255]; //oversized, but who cares?
char *bufferhead = buffer;
uint16_t pos = 0;
uint16_t Timeout = 40000;
uint16_t pos1 = 0;
uint16_t posC = 0;
#ifdef DEBUG
debug_pgm(PSTR("discover2"));
#endif
do
{
uart_receive();
Timeout--;
pos1++;
posC++;
_delay_ms(1);
write_ndigit_number_u(0,5,fifo_getcount(&in_fifo),5,0,0);
if (posC ==1000)
{
lcd_printp_at (i++, 1, PSTR("."), 0);
posC = 0;
}
if (fifo_is_full(&in_fifo)) break;
#ifdef DEBUG
if (fifo_search(&in_fifo, PSTR("Found."))) debug_pgm(PSTR("Suchen ende1"));
#endif
}
// while (((Timeout > 0) ||(!fifo_strstr_pgm(&in_fifo, PSTR("Inquiry Results:\r\n")))) && (!fifo_strstr_pgm(&in_fifo, PSTR("Found"))));
while ((Timeout > 0)||(!fifo_strstr_pgm(&in_fifo, PSTR("Inquiry Results:\r\n"))));
#ifdef DEBUG
debug_pgm(PSTR("Suchen ende2"));
if (Timeout == 0) debug_pgm(PSTR("Timeout"));
if (fifo_is_full(&in_fifo)) debug_pgm(PSTR("Fifo Overrun, zuviele BT Devices"));
#endif
while (!fifo_is_empty(&in_fifo))
{
// Get next line
while (!fifo_cmp_pgm(&in_fifo, PSTR("\r\n")))
{
fifo_read(&in_fifo, bufferhead);
bufferhead++;
}
// terminate string
*bufferhead = 0;
//reset bufferhead
bufferhead = buffer;
if (strlen(buffer) == 0)
continue; //the empty line before end of inquiry
if (strstr_P(buffer, PSTR("Inquiry End")))
// if (searchend)
{
fifo_clear(&in_fifo);
// test();
return true;
}
copy_DevName(&buffer[3],device_list[pos].DevName);
device_list[pos].DevName[14] = 0; // Stringende
copy_mac(&buffer[3], device_list[pos].mac);
// for (uint16_t i = 0; i < 15; i++)
// {
//
//// USART_putc((device_list[pos].DevName[i]));
// lcd_print_hex((device_list[pos].DevName[i]),0);
// }
// USART_putc('\n');
//
//
// for (uint16_t i = 0; i < 12; i++)
// {
//
// USART_putc((device_list[pos].mac[i]));
//
// }
//
// USART_putc('\n');
// USART_putc('\r');
pos++;
}
return false;
}
//--------------------------------------------------------------
uint8_t bt_getID (void)
{
char buffer[255]; //oversized, but who cares?
char *bufferhead = buffer;
// uint16_t pos = 0;
#ifdef DEBUG
debug_pgm(PSTR("bt_getID1"));
#endif
while_timeout(!fifo_strstr_pgm(&in_fifo, PSTR("r\n")),
2000)
uart_receive();
#ifdef DEBUG
debug_pgm(PSTR("bt_getID:Suchen ende2"));
// if (Timeout == 0) debug_pgm(PSTR("Timeout"));
if (fifo_is_full(&in_fifo)) debug_pgm(PSTR("bt_getID:Fifo Overrun"));
#endif
while (!fifo_is_empty(&in_fifo))
{
// Get next line
while (!fifo_cmp_pgm(&in_fifo, PSTR("\r\n")))
{
fifo_read(&in_fifo, bufferhead);
bufferhead++;
// write_ndigit_number_u(10,4,fifo_getcount(&in_fifo),5,0,0);
}
// terminate string
*bufferhead = 0;
//reset bufferhead
bufferhead = buffer;
if (strlen(buffer) == 0)
continue; //the empty line before end of inquiry
copy_localID(&buffer[0], &localID[0]);
for(uint8_t i = 0; i < 13; i++)
{
lcd_putc (i, 6, localID[i],0);
Config.bt_Mac[i] = localID[i];
}
// lcd_printp_at (0, 7, PSTR("lokale ID hier"), 0);
//// write_ndigit_number_u(0,4,fifo_getcount(&in_fifo),5,0,0);
// while (!get_key_press (1 << KEY_ENTER));
#ifdef DEBUG
debug_pgm(PSTR("bt_getID:Copy ID"));
#endif
if ( fifo_strstr_pgm(&in_fifo, PSTR("OK")))
{
fifo_clear(&in_fifo);
#ifdef DEBUG
debug_pgm(PSTR("bt_getID:OK found"));
#endif
return true;
}
else return false;
return true;
// pos++;
}
return false;
}
device_info device_list[NUTS_LIST];
void bt_downlink_init(void)
{
fifo_init(&in_fifo, bt_buffer, IN_FIFO_SIZE);
_delay_ms(100);
// debug_pgm(PSTR("bt_downlink_init"));
uart_receive();
fifo_clear(&in_fifo);
// send_cmd(BT_TEST, NULL);
#ifdef DEBUG
debug_pgm(PSTR("downlink_init Start"));
#endif
if (Config.BTIsSlave == true) // nur Init wenn BT ist Slave
{
#ifdef DEBUG
debug_pgm(PSTR("downlink_init:try to set Master"));
#endif
// comm_mode = BT_NOECHO;
//
// if (!send_cmd (BT_SET_ECHO,NULL)) {
//#ifdef DEBUG
// debug_pgm(PSTR("downlink_init:Couldn't set Echo!"));
//#endif
// }
//
// comm_mode = BT_NOANSWER;
// if (!send_cmd(BT_SET_ANSWER,NULL)) {
//#ifdef DEBUG
// debug_pgm(PSTR("downlink_init:Couldn't set Answer!"));
//#endif
//
// }
comm_mode = BT_CMD;
// send_cmd(BT_TEST, NULL);
bt_set_EchoAnswer(true);
if (!bt_set_mode(BLUETOOTH_MASTER))
{
#ifdef DEBUG
debug_pgm(PSTR("downlink_init:Couldn't set master!"));
#endif
return;
}
#ifdef DEBUG
debug_pgm(PSTR("downlink_init:master is set "));
#endif
// WriteBTMasterFlag(); // Master merken
comm_mode = BT_CMD;
}
else
{
#ifdef DEBUG
debug_pgm(PSTR("downlink_init:Master was set"));
#endif
comm_mode = BT_CMD;
}
}
void bt_searchDevice(void) //Bluetoothgeräte suchen
{
char result[8][12];
for (uint8_t i = 0; i < 8; i++) // alte Liste löschen
for (uint8_t j = 0; j < 12; j++)
result[i][j] = 0;
#ifdef DEBUG
debug_pgm(PSTR("Search Device:BT_discover"));
#endif
if (bt_discover(result))
{
bt_devicecount = 0;
#ifdef DEBUG
debug_pgm(PSTR("Search Device:Search ok"));
#endif
for (uint8_t i = 0; i < 8; i++)
{
if (valid(i))
bt_devicecount++;
else break;
}
}
#ifdef DEBUG
else
debug_pgm(PSTR("Search Device:Search failed"));
#endif
// }
}
//
//--------------------------------------------------------------
volatile uint8_t bt_receiveNMEA(void)
{
char received;
static uint8_t line_flag = 1;
static char* ptr_write = bt_rx_buffer;
uint32_t timeout=400000;
while(!timeout == 0){
if (bt_rx_ready == 1)
return true;
uart_receive();
if (fifo_is_empty(&in_fifo)) timeout--;
if (fifo_is_empty(&in_fifo)) continue;
timeout = 400000;
fifo_read(&in_fifo, &received);
//#ifdef DEBUG
// USART_putc(received);
//#endif
// Find starting point of packet
if (bt_rx_ready == 0)
{
if ((received == start) && (line_flag==1))
{ // start '$'
line_flag = 0; // New line has begun
ptr_write = bt_rx_buffer; // Begin at start of buffer
bt_rx_len = 0;
//#ifdef DEBUG
// debug_pgm(PSTR("NMEA $"));
//#endif
}
if (line_flag == 0)
{ // Are we receiving a line?
*ptr_write = received; // Add current byte
bt_rx_len++;
// GPS Datensatzende
if (received == end)
{ // End of MK-GPS or NMEA-line?
line_flag = 1; // Yes, start new line
bt_rx_ready = 1; // Lock buffer until line has been processed
//#ifdef DEBUG
// debug_pgm(PSTR("NMEA End"));
//#endif
return true;
}
}
ptr_write++;
if(bt_rx_len == RXD_BUFFER_SIZE) line_flag = 1; // Line too long? Try again
}//if (bt_rx_ready == 0)
}
#ifdef DEBUG
debug_pgm(PSTR("bt_receiveNMEA: Timeout"));
#endif
return false;
}
//
////--------------------------------------------------------------
//uint16_t bt_receiveNMEA2(void)
//{
//
// char received;
// static uint8_t line_flag = 1;
// static char* ptr_write = bt_rx_buffer;
// uint16_t timeout_ms=2000;
//
//// while_timeout(true, timeout_ms) {
//while(1){
//
// uart_receive();
// if (fifo_is_empty(&in_fifo))
// continue;
// fifo_read(&in_fifo, &received);
// USART_putc(received);
//// _delay_ms(1);
// }
////
//return true;
//}
#endif
#endif
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/bluetooth/bluetooth.h
0,0 → 1,156
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef _BLUETOOTH_H_
#define _BLUETOOTH_H_
#include <avr/io.h>
//#include <common.h>
#define SQUIRREL
#define NUTS_LIST 16
#define EXTENSIONS_LIST 16
#define RXD_BUFFER_SIZE 150
//void InitBT(void);
extern char bt_rx_buffer[RXD_BUFFER_SIZE];
extern volatile uint8_t bt_rx_len;
extern volatile uint8_t bt_rx_ready;
extern uint8_t rx_GPS;
//extern static char start = '$';
//extern static char end = '\n';
extern char data_decode[RXD_BUFFER_SIZE];
extern volatile uint16_t rx_timeout;
extern uint8_t bt_rxerror;
extern uint8_t BT_New_Baudrate; //Merkzelle für zu setzende Baudrate
typedef struct _device_info device_info;
// device info struct, holds mac , class and extensions + values of a device
struct _device_info
{
char DevName[20];
char mac[14];
// uint8_t class;
// uint8_t extension_types[EXTENSIONS_LIST];
// uint16_t values_cache[EXTENSIONS_LIST];
};
extern uint8_t bt_devicecount;
extern device_info device_list[NUTS_LIST];
extern char localID[15];
#define valid(num) (num < NUTS_LIST && (device_list[num].mac[0] != 0 || device_list[num].mac[1] != 0 || device_list[num].mac[2] != 0 || device_list[num].mac[3] != 0 || device_list[num].mac[4] != 0 || device_list[num].mac[5] != 0 || device_list[num].mac[6] != 0 || device_list[num].mac[7] != 0 || device_list[num].mac[8] != 0 || device_list[num].mac[9] != 0 || device_list[num].mac[10] != 0 || device_list[num].mac[11] != 0))
extern volatile uint8_t bt_receiveNMEA(void);
extern void bt_start(void); // EchoAnswervariable setzen
void bt_set_EchoAnswer (uint8_t onoff);
extern uint8_t bt_getID (void);
//extern static communication_mode_t update_comm_mode(uint16_t timeout_ms);
// Bluetooth mode ENUM
typedef enum
{
BLUETOOTH_MASTER, // < Master Mode (to create outgoinng connections).
BLUETOOTH_SLAVE // < Slave Mode (to wait for incoming connections).
} bt_mode_t;
// set baudrate bluetooth
// @return true = ok
// false = error
//extern uint16_t bt_setbaud (uint8_t baudrate);
uint16_t bt_setbaud(uint8_t baudrate);
// init bluetooth driver
// @return always true
//
//extern uint16_t bt_init (void (*upate_percentage) (uint16_t));
extern uint16_t bt_init (void);
// Set the Bluetooth mode
// @param mode bt_mode_t Bluetooth Mode ENUM (BLUETOOTH_MASTER or BLUETOOTH_SLAVE)
// @return true if mode change was succesful, false if not
//
extern uint8_t bt_set_mode (const bt_mode_t mode);
// recieve data over bluetooth
// @param data pointer to memory for data storage
// @param length value of length after call holds the actual recived data length
// @param timeout_ms timeout in ms after the recive function aborts and returns with false
// @return false if recived length > length parameter or it timeouted, true otherwise
//
extern uint16_t bt_receive (void * data, uint8_t length, uint16_t timeout_ms);
// send data over bluetooth
// @param data pointer to the data to send
// @param length length of the data to be send
// @return true if sendingn was successful, false otherwise
//
extern uint16_t bt_send (void * data, const uint8_t length);
// squirrelt only functions
#ifdef SQUIRREL
// open bluetoot connection (only one at a time possible)
// @param address connection is opened to this device mac address
// @return true if connection was established, false otherwise
//
extern uint16_t bt_connect (const char *address);
// closes bluetooth connection
// @return false if failed, true otherwise
//
extern uint16_t bt_disconnect (void);
// discover bluetooth devices
// @param result in a 2 dimensional array first index are devicecs (max 8) second is mac address string
// @param update_callback to inform of progress (in % from 0 to 100)
// @return true if successful, false if error occured
//
extern uint16_t bt_discover (char result[8][12]);
//extern uint16_t bt_discover (char result[8][12], void (*update_callback)(const uint16_t progress));
extern void bt_downlink_init(void); // Auf Master stellen für Devicesuche und GPS Empfang
extern void bt_searchDevice(void); //Bluetoothgeräte suchen
#endif // SQUIRREL
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/bluetooth/error.c
0,0 → 1,208
/*
___ ___ ___ ___ _____
/ /\ /__/\ / /\ /__/\ / /::\
/ /::\ | |::\ / /::\ \ \:\ / /:/\:\
/ /:/\:\ ___ ___ | |:|:\ / /:/\:\ \ \:\ / /:/ \:\
/ /:/~/::\ /__/\ / /\ __|__|:|\:\ / /:/ \:\ _____\__\:\ /__/:/ \__\:|
/__/:/ /:/\:\ \ \:\ / /:/ /__/::::| \:\ /__/:/ \__\:\ /__/::::::::\ \ \:\ / /:/
\ \:\/:/__\/ \ \:\ /:/ \ \:\~~\__\/ \ \:\ / /:/ \ \:\~~\~~\/ \ \:\ /:/
\ \::/ \ \:\/:/ \ \:\ \ \:\ /:/ \ \:\ ~~~ \ \:\/:/
\ \:\ \ \::/ \ \:\ \ \:\/:/ \ \:\ \ \::/
\ \:\ \__\/ \ \:\ \ \::/ \ \:\ \__\/
\__\/ \__\/ \__\/ \__\/
___ ___ ___ ___ ___ ___
/ /\ / /\ /__/\ /__/\ / /\ /__/\
/ /:/ / /::\ | |::\ | |::\ / /::\ \ \:\
/ /:/ / /:/\:\ | |:|:\ | |:|:\ / /:/\:\ \ \:\
/ /:/ ___ / /:/ \:\ __|__|:|\:\ __|__|:|\:\ / /:/ \:\ _____\__\:\
/__/:/ / /\ /__/:/ \__\:\ /__/::::| \:\ /__/::::| \:\ /__/:/ \__\:\ /__/::::::::\
\ \:\ / /:/ \ \:\ / /:/ \ \:\~~\__\/ \ \:\~~\__\/ \ \:\ / /:/ \ \:\~~\~~\/
\ \:\ /:/ \ \:\ /:/ \ \:\ \ \:\ \ \:\ /:/ \ \:\ ~~~
\ \:\/:/ \ \:\/:/ \ \:\ \ \:\ \ \:\/:/ \ \:\
\ \::/ \ \::/ \ \:\ \ \:\ \ \::/ \ \:\
\__\/ \__\/ \__\/ \__\/ \__\/ \__\/
**
* Error handling functions
*/
#include <stdbool.h>
#include <avr/pgmspace.h>
#include "error_driver.h"
#include "../main.h"
//--------------------------------------------------------------
inline void _send_msg(const char *msg)
{
for (uint8_t i=0; i<255 && msg[i]!='\0'; i++)
{
errordriver_write_c(msg[i]);
}
errordriver_write_c('\n');
}
//--------------------------------------------------------------
void send_pgm(const prog_char *msg)
{
uint8_t myByte;
myByte = pgm_read_byte(msg);
for(int i = 1; myByte != '\0'; i++)
{
errordriver_write_c(myByte);
myByte = pgm_read_byte(msg+i);
}
}
#ifdef DEBUG
//--------------------------------------------------------------
void error_init(void)
{
error_driver_Init();
}
//--------------------------------------------------------------
void error_putc(const char c)
{
errordriver_write_c(c);
}
//--------------------------------------------------------------
void assert (bool condition, const char *msg)
{
if (!condition)
{
send_pgm(PSTR("ASS:"));
_send_msg(msg);
}
}
//--------------------------------------------------------------
void info (const char *msg)
{
send_pgm(PSTR("INF:"));
_send_msg(msg);
}
//--------------------------------------------------------------
void warn (const char *msg)
{
send_pgm(PSTR("WARN:"));
_send_msg(msg);
}
//--------------------------------------------------------------
void debug (const char *msg)
{
send_pgm(PSTR("DBG:"));
_send_msg(msg);
}
//--------------------------------------------------------------
void Error (const char *msg)
{
send_pgm(PSTR("ERR:"));
_send_msg(msg);
}
#endif
#ifdef DEBUG
//--------------------------------------------------------------
void assert_pgm(bool condition, const prog_char *msg)
{
if (condition) {
send_pgm(PSTR("ASS:"));
send_pgm(msg);
errordriver_write_c('\n');
}
}
//--------------------------------------------------------------
void info_pgm(const prog_char *msg)
{
send_pgm(PSTR("INF:"));
send_pgm(msg);
errordriver_write_c('\n');
}
//--------------------------------------------------------------
void warn_pgm(const prog_char *msg)
{
send_pgm(PSTR("WARN:"));
send_pgm(msg);
errordriver_write_c('\n');
errordriver_write_c('\r');
}
//--------------------------------------------------------------
void error_pgm(const prog_char *msg)
{
send_pgm(PSTR("ERR:"));
send_pgm(msg);
errordriver_write_c('\n');
errordriver_write_c('\r');
}
//--------------------------------------------------------------
void debug_pgm(const prog_char *msg)
{
send_pgm(PSTR("DBG:"));
send_pgm(msg);
errordriver_write_c('\n');
errordriver_write_c('\r');
}
////--------------------------------------------------------------
//void print_hex(uint8_t num)
//{
// if (num<10)
// error_putc(num+48);
// else
// {
// switch (num)
// {
// case 10:
// error_putc('A'); break;
// case 11:
// error_putc('B'); break;
// case 12:
// error_putc('C'); break;
// case 13:
// error_putc('D'); break;
// case 14:
// error_putc('E'); break;
// case 15:
// error_putc('F'); break;
// default:
// error_putc('#'); break;
// }
// }
//}
//
//
////--------------------------------------------------------------
//void byte_to_hex(uint8_t byte)
//{
// uint8_t b2 = (byte & 0x0F);
// uint8_t b1 = ((byte & 0xF0)>>4);
// print_hex(b1);
// print_hex(b2);
//}
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/bluetooth/error.h
0,0 → 1,79
/*
___ ___ ___ ___ _____
/ /\ /__/\ / /\ /__/\ / /::\
/ /::\ | |::\ / /::\ \ \:\ / /:/\:\
/ /:/\:\ ___ ___ | |:|:\ / /:/\:\ \ \:\ / /:/ \:\
/ /:/~/::\ /__/\ / /\ __|__|:|\:\ / /:/ \:\ _____\__\:\ /__/:/ \__\:|
/__/:/ /:/\:\ \ \:\ / /:/ /__/::::| \:\ /__/:/ \__\:\ /__/::::::::\ \ \:\ / /:/
\ \:\/:/__\/ \ \:\ /:/ \ \:\~~\__\/ \ \:\ / /:/ \ \:\~~\~~\/ \ \:\ /:/
\ \::/ \ \:\/:/ \ \:\ \ \:\ /:/ \ \:\ ~~~ \ \:\/:/
\ \:\ \ \::/ \ \:\ \ \:\/:/ \ \:\ \ \::/
\ \:\ \__\/ \ \:\ \ \::/ \ \:\ \__\/
\__\/ \__\/ \__\/ \__\/
___ ___ ___ ___ ___ ___
/ /\ / /\ /__/\ /__/\ / /\ /__/\
/ /:/ / /::\ | |::\ | |::\ / /::\ \ \:\
/ /:/ / /:/\:\ | |:|:\ | |:|:\ / /:/\:\ \ \:\
/ /:/ ___ / /:/ \:\ __|__|:|\:\ __|__|:|\:\ / /:/ \:\ _____\__\:\
/__/:/ / /\ /__/:/ \__\:\ /__/::::| \:\ /__/::::| \:\ /__/:/ \__\:\ /__/::::::::\
\ \:\ / /:/ \ \:\ / /:/ \ \:\~~\__\/ \ \:\~~\__\/ \ \:\ / /:/ \ \:\~~\~~\/
\ \:\ /:/ \ \:\ /:/ \ \:\ \ \:\ \ \:\ /:/ \ \:\ ~~~
\ \:\/:/ \ \:\/:/ \ \:\ \ \:\ \ \:\/:/ \ \:\
\ \::/ \ \::/ \ \:\ \ \:\ \ \::/ \ \:\
\__\/ \__\/ \__\/ \__\/ \__\/ \__\/
*
* Error handling functions.
*/
#ifndef __ERROR__
#define __ERROR__
#include <avr/pgmspace.h>
#include <stdbool.h>
#include "../main.h"
#ifdef DEBUG
void error_init(void);
void error_putc(const char c);
void assert (bool condition, const char *msg);
void info (const char *msg);
void warn(const char *msg);
void debug(const char *msg);
void Error(const char *msg);
void assert_pgm(bool condition, const prog_char *msg);
void info_pgm (const prog_char *msg);
void warn_pgm(const prog_char *msg);
void debug_pgm(const prog_char *msg);
void error_pgm(const prog_char *msg);
void byte_to_hex(uint8_t byte);
#else
#define error_init() {}
#define error_putc(c) {}
#define assert(cond, msg) {}
#define info(msg) {}
#define warn(msg) {}
#define debug(msg) {}
#define error(msg) {}
#define assert_pgm(cond, msg) {}
#define info_pgm(msg) {}
#define warn_pgm(msg) {}
#define debug_pgm(msg) {}
#define error_pgm(msg) {}
#define byte_to_hex(byte) {}
#endif
#endif //__ERROR__
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/bluetooth/error_driver.c
0,0 → 1,27
#include <avr/pgmspace.h>
#include <stdbool.h>
//#include "cpu.h"
#include "error_driver.h"
#include "../main.h"
#ifdef DEBUG
#include "../uart/usart.h"
#include "../uart/uart1.h"
void errordriver_write_c(char c)
{
USART_putc(c);
}
void error_driver_Init(void)
{
// USART_Init(UART_BAUD_SELECT(USART_BAUD,F_CPU));
}
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/bluetooth/error_driver.h
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/*
* Functions to write error message to FTDI or USART
*/
#ifndef __ERROR_DRIVER__
#define __ERROR_DRIVER__
#include <avr/io.h>
#include "../main.h"
#ifdef DEBUG
extern void errordriver_write_c(char c);
extern void error_driver_Init(void);
#else
#define errordriver_write_c(c) {}
#define error_driver_init() {}
#endif
#endif //__ERROR_DRIVER__
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/bluetooth/fifo.c
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/**
* a simple Fifo
* @file fifo.c
* @author Pascal Schnurr
*/
#include "fifo.h"
//#if defined HWVERSION1_3W || defined HWVERSION3_9 || defined HWVERSION1_2W
//--------------------------------------------------------------
void fifo_init (fifo_t * fifo, uint8_t * buffer, uint16_t size)
{
fifo->size = size;
fifo->buffer = buffer;
fifo->head = 0;
fifo->count = 0;
}
//--------------------------------------------------------------
uint16_t fifo_getcount (const fifo_t * fifo)
{
return fifo->count;
}
//--------------------------------------------------------------
bool fifo_is_empty (const fifo_t * fifo)
{
return (fifo->count == 0);
}
//--------------------------------------------------------------
bool fifo_is_full (const fifo_t * fifo)
{
return (fifo->size - fifo->count == 0);
}
//--------------------------------------------------------------
bool fifo_read (fifo_t * fifo, char *data)
{
if (fifo_is_empty (fifo))
return false;
uint8_t *head = fifo->buffer + fifo->head;
*data = (char) * head;
fifo->head = ( (fifo->head + 1) % fifo->size);
fifo->count--;
return true;
}
//--------------------------------------------------------------
bool fifo_write (fifo_t * fifo, const char data)
{
if (fifo_is_full (fifo))
return false;
uint8_t *end = fifo->buffer + ( (fifo->head + fifo->count) % fifo->size);
*end = (uint8_t) data;
fifo->count++;
return true;
}
//--------------------------------------------------------------
bool fifo_clear (fifo_t * fifo)
{
fifo->count = 0;
fifo->head = 0;
return true;
}
//--------------------------------------------------------------
static bool fifo_cmp_pgm_at (fifo_t * fifo, const prog_char * pgm, const uint16_t index)
{
uint16_t i;
uint8_t fifo_byte;
uint8_t pgm_byte;
for (i = 0; pgm_read_byte (pgm + i) != 0; i++)
{
if (fifo->count <= (i + index))
return false;
pgm_byte = pgm_read_byte (pgm + i);
fifo_byte = * (fifo->buffer + ( (fifo->head + i + index) % fifo->size));
if (fifo_byte != pgm_byte)
return false;
}
// We found the string, lets move the pointer
fifo->head = ( (fifo->head + i + index) % fifo->size);
fifo->count -= (i + index);
return true;
}
//--------------------------------------------------------------
bool fifo_search (fifo_t * fifo, const prog_char * pgm)
{
uint16_t i;
uint8_t fifo_byte;
uint8_t pgm_byte;
for (i = 0; pgm_read_byte (pgm + i) != 0; i++)
{
if (fifo->count <= i)
return false;
pgm_byte = pgm_read_byte (pgm + i);
fifo_byte = * (fifo->buffer + ( (fifo->head + i) % fifo->size));
if (fifo_byte != pgm_byte)
return false;
}
// // We found the string, lets move the pointer
// fifo->head = ( (fifo->head + i + index) % fifo->size);
//
// fifo->count -= (i + index);
return true;
}
//--------------------------------------------------------------
bool fifo_cmp_pgm (fifo_t * fifo, const prog_char * pgm)
{
return fifo_cmp_pgm_at (fifo, pgm, 0);
}
//--------------------------------------------------------------
bool fifo_strstr_pgm (fifo_t * fifo, const prog_char * pgm)
{
for (uint16_t i = 0; i < fifo->count; i++)
{
if (fifo_cmp_pgm_at (fifo, pgm, i))
return true;
}
return false;
}
//#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/bluetooth/fifo.h
0,0 → 1,93
/**
* a simple Fifo
* @file fifo.h
* @author Pascal Schnurr
*/
#include <avr/pgmspace.h>
#include <stdbool.h>
#ifndef _FIFO_H_
#define _FIFO_H_
/**
*fifo data structure all vital fifo information
*/
typedef struct
{
uint16_t count; /**< current number of elements */
uint16_t head; /**< position of the head element */
uint16_t size; /**< size equals max number of entrys*/
uint8_t* buffer; /**< pointer to memory area where the fifo is to be saved */
} fifo_t;
uint16_t fifo_getcount (const fifo_t * fifo);
/** \brief initialize of a fifo
* sets all the information in your given fifo structure
* @param fifo pointer to an allocated fifo_t structure
* @param buffer pointer to an a allocated memory space for the fifo of size = sizeof(uint8_t) * size
* @param size max number of entrys the fifo will hold
*/
void fifo_init (fifo_t *fifo, uint8_t *buffer, uint16_t size);
/** \brief checks if fifo is empty
* @param fifo pointer to your initialized fifo_t structure
* @return true if empty otherwise false
*/
bool fifo_is_empty (const fifo_t *fifo);
/** \brief checks if fifo is full
* @param fifo pointer to your initialized fifo_t structure
* @return true if full otherwise false
*/
bool fifo_is_full (const fifo_t *fifo);
/** \brief clears the fifo
* resets your fifo structure to 0 elements
* @param fifo pointer to your initialized fifo_t structure
* @return always true (never fails)
*/
bool fifo_clear (fifo_t *fifo);
/** \brief reads head of fifo
* reads the first element and removes it
* @param fifo pointer to your initialized fifo_t structure
* @return false if fifo is empty false otherwise
*/
bool fifo_read (fifo_t *fifo, char *data);
/** \brief inserts a char into the fifo
* adds a char to the end of the fifo
* @param fifo pointer to your initialized fifo_t structure
* @param data the char data to be inserted
* @return false if fifo is full true otherwise
*/
bool fifo_write (fifo_t *fifo, const char data);
/** \brief compares first elements with prog_char string
* if pgm equals the first elements of the fifo these elements are removed
* @param fifo pointer to your initialized fifo_t structure
* @param pgm a prog_char string for comparison
* @return true if pgm is equal to the first entrys in the fifo, false otherwise
*/
bool fifo_cmp_pgm (fifo_t* fifo, const prog_char* pgm);
/** \brief searches a string in the whole fifo
* starts at the beginning and searches for the pgm string in the fifo,
*
* @param fifo pointer to your initialized fifo_t structure
* @param pgm a prog_char with the search string
* @return true if found, false otherwise
*/
bool fifo_search (fifo_t * fifo, const prog_char * pgm);
/** \brief searches a string in the whole fifo
* starts at the beginning and searches for the pgm string in the fifo,
* if they are found previous entrys and the string are removed from the fifo
* @param fifo pointer to your initialized fifo_t structure
* @param pgm a prog_char with the search string
* @return true if found, false otherwise
*/
bool fifo_strstr_pgm (fifo_t *fifo, const prog_char *pgm);
#endif /* _FIFO_H_ */
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/connect.c
0,0 → 1,332
/*****************************************************************************
* 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 *
* *
* 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/pgmspace.h>
#include <util/delay.h>
#include "lcd/lcd.h"
#include "timer/timer.h"
#include "eeprom/eeprom.h"
#include "messages.h"
#include "lipo/lipo.h"
#include "main.h"
#include "bluetooth/bluetooth.h"
#if defined HWVERSION3_9
//--------------------------------------------------------------
void Change_Output(uint8_t UartMode) // Schaltet die Rx/Tx Richtungen
{
// hiermit werden die 74HTC125 (IC5) Gatter geschaltet
clr_USB2FC(); // PC2 aus
clr_USB2Wi(); // PB0 aus
clr_Uart02FC(); // PC6 aus
clr_Uart02Wi(); // PC5 aus
switch (UartMode)
{
case USB2FC:
UCSR1B &= ~(1<<RXEN1);
UCSR1B &= ~(1<<TXEN1);
UCSR1B &= ~(1<<RXCIE1);
DDRD &= ~(1<<DDD2); // Pins auf Eingang setzen
DDRD &= ~(1<<DDD3);
PORTD &= ~(1<<PD2); // Pullup aus
PORTD &= ~(1<<PD3);
set_USB2FC();
break;
case Uart02Wi:
set_Uart02Wi();
break;
case Uart02FC:
set_Uart02FC();
break;
case USB2Wi:
UCSR1B &= ~(1<<RXEN1);
UCSR1B &= ~(1<<TXEN1);
UCSR1B &= ~(1<<RXCIE1);
DDRD &= ~(1<<DDD2); // Pins auf Eingang setzen
DDRD &= ~(1<<DDD3);
PORTD &= ~(1<<PD2); // Pullup aus
PORTD &= ~(1<<PD3);
set_USB2Wi();
break;
}
}
//--------------------------------------------------------------
// Function: BT2FC()
// Purpose: Connect BT direct to FC-Kabel (SV2 as MKUSB)
// Returns:
//--------------------------------------------------------------
void Port_BT2FC(void)
{
lcd_cls ();
if(Config.UseBT == true)
{
lcd_puts_at(0, 0, strGet(CONNECT14), 2);
lcd_puts_at(0, 1, strGet(CONNECT15), 0);
lcd_puts_at(0, 3, strGet(CONNECT16), 0);
lcd_puts_at(0, 4, strGet(CONNECT17), 0);
lcd_puts_at(0, 5, strGet(CONNECT23), 0);
lcd_printp_at (0, 6, PSTR("Baudrate: "), 0);
show_baudrate (10,6,Config.PKT_Baudrate,0);
lcd_puts_at(12, 7, strGet(ESC), 0);
set_BTOn();
_delay_ms(2000);
if (!Config.BTIsSlave==true) bt_set_mode(BLUETOOTH_SLAVE);
Change_Output(USB2FC);
do
{
show_Lipo();
}
while(!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
if (Config.U02SV2 == 1)
Change_Output(Uart02FC);
else
Change_Output(Uart02Wi);
set_BTOff();
return;
}
else
{
lcd_puts_at(0, 1, strGet(CONNECT12), 0);
lcd_puts_at(0, 1, strGet(CONNECT13), 0);
lcd_puts_at(0, 2, strGet(CONNECT7), 0);
lcd_puts_at(0, 3, strGet(CONNECT8), 0);
lcd_puts_at(0, 4, strGet(CONNECT9), 0);
lcd_puts_at(12, 7, strGet(ENDE), 0);
// lcd_printp_at (12, 7, PSTR("Ende"), 0);
while(!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
return;
}
}
//--------------------------------------------------------------
// Function: BT2Wi()
// Purpose: Connect BT direct to Wi.232
// Returns:
//--------------------------------------------------------------
void Port_BT2Wi(void)
{
lcd_cls ();
lcd_puts_at(0, 0, strGet(CONNECT14), 2);
lcd_puts_at(0, 1, strGet(CONNECT18), 2);
lcd_printp_at (5, 2, PSTR("RE-ID: "), 0);
for (uint8_t i = 0; i < RE_ID_length; i++)
{
lcd_putc (12+i,2, Config.RE_ID[i], 0);
}
lcd_puts_at(0, 3, strGet(CONNECT16), 0);
lcd_puts_at(0, 4, strGet(CONNECT19), 0);
lcd_puts_at(0, 5, strGet(CONNECT23), 0);
lcd_printp_at (0, 6, PSTR("Baudrate: "), 0);
show_baudrate (10,6,Config.PKT_Baudrate,0);
lcd_puts_at(12, 7, strGet(ESC), 0);
set_BTOn();
_delay_ms(2000);
if (!Config.BTIsSlave==true) bt_set_mode(BLUETOOTH_SLAVE);
Change_Output(USB2Wi);
do
{
show_Lipo();
}
while(!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
if (Config.U02SV2 == 1)
Change_Output(Uart02FC);
else
Change_Output(Uart02Wi);
set_BTOff();
return;
}
//--------------------------------------------------------------
// Function: FC2CFG_BT()
// Purpose: Connect FC (Tx1 Pin3, Rx1 Pin4) direct to BT
// Returns:
//--------------------------------------------------------------
void Port_FC2CFG_BT(void)
{
lcd_cls ();
lcd_printp_at (0, 0, PSTR("BTM-222 Konfigurieren"), 2);
lcd_printp_at (0, 1, PSTR("FC > MK-USB > BTM-222"), 2);
lcd_printp_at (0, 3, PSTR("MK-USB an PC anschl. "), 0);
lcd_printp_at (0, 4, PSTR("Zwischen MK-USB und "), 0);
lcd_printp_at (0, 5, PSTR("PKT ein gekreuztes "), 0);
lcd_printp_at (0, 6, PSTR("Kabel anschliessen. "), 0);
lcd_puts_at(12, 7, strGet(ESC), 0);
set_BTOn();
Change_Output(USB2FC);
while(!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
if (Config.U02SV2 == 1)
Change_Output(Uart02FC);
else
Change_Output(Uart02Wi);
set_BTOff();
return;
}
//--------------------------------------------------------------
// Function: USB2FC()
// Purpose: Connect USB direct to FC-Kabel (SV2 as MKUSB)
// Returns:
//--------------------------------------------------------------
void Port_USB2FC(void)
{
lcd_cls ();
lcd_puts_at(0, 0, strGet(CONNECT14), 2);
lcd_puts_at(0, 1, strGet(CONNECT20), 0);
lcd_puts_at(0, 3, strGet(CONNECT21), 0);
lcd_puts_at(0, 4, strGet(CONNECT17), 0);
lcd_puts_at(0, 5, strGet(CONNECT23), 0);
lcd_puts_at(12, 7, strGet(ESC), 0);
Change_Output(USB2FC);
do
{
show_Lipo();
}
while(!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
if (Config.U02SV2 == 1)
Change_Output(Uart02FC);
else
Change_Output(Uart02Wi);
return;
}
//--------------------------------------------------------------
// Function: USB2Wi()
// Purpose: Connect USB direct to Wi.232
// Returns:
//--------------------------------------------------------------
void Port_USB2Wi(void)
{
lcd_cls ();
lcd_puts_at(0, 0, strGet(CONNECT14), 2);
lcd_puts_at(0, 1, strGet(CONNECT22), 2);
lcd_puts_at(0, 3, strGet(CONNECT21), 0);
lcd_puts_at(0, 4, strGet(CONNECT19), 0);
lcd_puts_at(0, 5, strGet(CONNECT23), 0);
lcd_printp_at (0, 6, PSTR("Baudrate: "), 0);
show_baudrate (10,6,Config.PKT_Baudrate,0);
lcd_puts_at(12, 7, strGet(ESC), 0);
Change_Output(USB2Wi);
do
{
show_Lipo();
}
while(!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
if (Config.U02SV2 == 1)
Change_Output(Uart02FC);
else
Change_Output(Uart02Wi);
return;
}
//--------------------------------------------------------------
// Function: USB2CFG_Wi()
// Purpose: Connect USB direct to Wi.232 in Progmode
// Returns:
//--------------------------------------------------------------
void Port_USB2CFG_Wi(void)
{
lcd_cls ();
lcd_puts_at(0, 0, strGet(CONNECT24), 2);
lcd_puts_at(0, 1, strGet(CONNECT22), 2);
lcd_puts_at(0, 3, strGet(CONNECT21), 0);
lcd_printp_at (0, 4, PSTR("Radiotronix Wi.232DTS"), 0);
lcd_printp_at (0, 5, PSTR("Evaluation (868MHz) "), 0);
lcd_puts_at(0, 6, strGet(CONNECT25), 0);
lcd_puts_at(12, 7, strGet(ESC), 0);
Change_Output(USB2Wi);
set_WI232CMD(); // Port D6 = CMD
while(!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
clr_WI232CMD(); // Port D6 = CMD
if (Config.U02SV2 == 1)
Change_Output(Uart02FC);
else
Change_Output(Uart02Wi);
return;
}
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/connect.h
0,0 → 1,48
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef _CONNECT_H
#define _CONNECT_H
void Change_Output(uint8_t UartMode);
void Port_BT2Wi(void);
void Port_BT2FC(void);
void Port_FC2CFG_BT(void);
void Port_USB2FC(void);
void Port_USB2Wi(void);
void Port_USB2CFG_Wi(void);
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/cpu.h
0,0 → 1,41
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef _CPU_H
#define _CPU_H
// Quarz Frequenz in Hz
#define F_CPU 20000000UL
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/debug.c
0,0 → 1,378
/*****************************************************************************
* 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 *
* *
* 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/pgmspace.h>
#include <util/delay.h>
#include <string.h>
#include "main.h"
#ifdef analognames
//#include "menu.h"
#include "lcd/lcd.h"
#include "uart/usart.h"
#include "debug.h"
#include "timer/timer.h"
#include "messages.h"
#include "mk-data-structs.h"
#ifdef HWVERSION3_9
#define TIMEOUT 200 // 2 sec
#define ANALOGTIME 20 // 200 ms
// WARNING: this work for NC & FC only
// if current_hardware == MK3MAG or MKGPS the access is outside of the array...
uint8_t AnalogNames[2][32][16 + 1]; // 32 names, 16 characters + 1 0x00
uint8_t AnalogNamesRead[2] = {0,0};
//--------------------------------------------------------------
//
void GetAnalogNames (void)
{
uint8_t i = AnalogNamesRead[current_hardware - 1];
uint8_t t = 0;
lcd_cls ();
lcd_printp_at (0, 3, PSTR("Reading"), 0);
lcd_printp_at (0, 4, PSTR("Analog Names: "), 0);
mode = 'A'; // read Names
_delay_ms(200);
rxd_buffer_locked = FALSE;
timer = ANALOGTIME;
while (i < 32)
{
SendOutData ('a', ADDRESS_ANY, 1, &i, 1);
while (!rxd_buffer_locked && timer);
if (timer)
{
Decode64 ();
if (i == *pRxData)
{
write_ndigit_number_u(14, 4, i, 2, 0,0);
memcpy (AnalogNames[current_hardware - 1][*pRxData], (uint8_t *) pRxData + 1, 16);
AnalogNames[current_hardware - 1][*pRxData][16] = 0;
i++;
t = 0;
}
else
{
_delay_ms (100);
}
timer = ANALOGTIME;
rxd_buffer_locked = FALSE;
}
else
{ // timeout occured
t++;
timer = ANALOGTIME;
if (t >= 50)
{
lcd_printp_at (0, 2, PSTR("ERROR: no data"), 0);
timer = 100;
while (timer > 0);
break;
}
}
}
AnalogNamesRead[current_hardware - 1] = i;
#if 0
if (timer)
{
for (page = 0; page < 5; page++)
{
for (i = 0; i < 7; i++)
{
lcd_print_at (0, i, AnalogNames[current_hardware - 1][i + page * 7], 0);
}
while (!get_key_press (1 << KEY_ESC)); // ESC
get_key_press(KEY_ALL);
}
}
//return;
#endif
}
//--------------------------------------------------------------
//
void display_debug (void)
{
uint8_t i = 0;
uint8_t tmp_dat;
uint8_t page = 0;
DebugData_t *DebugData;
lcd_cls ();
timer = TIMEOUT;
if (AnalogNamesRead[current_hardware - 1] < 32)
{
GetAnalogNames ();
}
if (!timer)
{
return;
}
mode = 'D'; // Debug Data
rxd_buffer_locked = FALSE;
timer = TIMEOUT;
tmp_dat = 10;
SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
abo_timer = ABO_TIMEOUT;
for (i = 0; i < 7; i++)
{
lcd_print_at (0, i, AnalogNames[current_hardware - 1][i + page * 7], 0);
if (page == 4 && i > 3)
{
for (i = 4; i < 7; i++) // Linie 4, 5, 6 loeschen
{
lcd_cls_line (0, i, 21);
}
i = 7;
}
}
do
{
if (rxd_buffer_locked)
{
Decode64 ();
DebugData = (DebugData_t *) pRxData;
// lcd_printp_at (0, 7, PSTR(KEY_LINE_3), 0);
lcd_puts_at(0, 7, strGet(KEYLINE3), 0);
lcd_write_number_u_at (5, 7, page + 1);
switch (current_hardware)
{
case FC:
lcd_printp_at (3, 7, PSTR("FC"), 0);
lcd_printp_at (19, 7, PSTR("NC"), 0);
break;
case NC:
lcd_printp_at (3, 7, PSTR("NC"), 0);
lcd_printp_at (19, 7, PSTR("FC"), 0);
break;
default:
lcd_printp_at (19, 7, PSTR("?"), 0);
break;
}
for (i = 0; i < 7; i++)
{
//lcd_print_at (0, i, AnalogNames[i + page * 7], 0);
uint8_t size =0;
if( DebugData->Analog[i + page * 7] < -9999)
{
size = 6;
}
else if ( DebugData->Analog[i + page * 7] < -999)
{
size = 5;
}
else if ( DebugData->Analog[i + page * 7] < -99)
{
size = 4;
}
else if ( DebugData->Analog[i + page * 7] < 999)
{
size = 3;
}
else if ( DebugData->Analog[i + page * 7] < 9999)
{
size = 4;
}
else
{
size = 5;
}
write_ndigit_number_s (21-size, i, DebugData->Analog[i + page * 7], size, 0,0);
if (page == 4 && i > 3)
{
for (i = 4; i < 7; i++) // Linie 4, 5, 6 loeschen
{
lcd_cls_line (0, i, 21);
}
i = 7;
}
}
timer = TIMEOUT;
rxd_buffer_locked = FALSE;
}
if (!abo_timer)
{ // renew abo every 3 sec
// request OSD Data from NC every 100ms
// RS232_request_mk_data (1, 'o', 100);
tmp_dat = 10;
SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
abo_timer = ABO_TIMEOUT;
}
if (get_key_press (1 << KEY_MINUS))
{
page--;
if (page > 4)
{
page = 4;
}
lcd_cls ();
for (i = 0; i < 7; i++)
{
lcd_print_at (0, i, AnalogNames[current_hardware - 1][i + page * 7], 0);
if (page == 4 && i > 3)
{
for (i = 4; i < 7; i++) // Linie 4, 5, 6 loeschen
{
lcd_cls_line (0, i, 21);
}
i = 7;
}
}
}
else if (get_key_press (1 << KEY_PLUS))
{
page++;
if (page > 4)
{
page = 0;
}
lcd_cls ();
for (i = 0; i < 7; i++)
{
lcd_print_at (0, i, AnalogNames[current_hardware - 1][i + page * 7], 0);
if (page == 4 && i > 3)
{
for (i = 4; i < 7; i++) // Linie 4, 5, 6 loeschen
{
lcd_cls_line (0, i, 21);
}
i = 7;
}
}
}
if ((hardware == NC) && get_key_press (1 << KEY_ENTER))
{
tmp_dat = 0;
SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
_delay_ms (200);
if (current_hardware == NC)
{
SwitchToFC();
timer = TIMEOUT;
}
else
{
SwitchToNC();
timer = TIMEOUT;
}
_delay_ms (200);
if (AnalogNamesRead[current_hardware - 1] < 32)
{
GetAnalogNames ();
}
mode = 'D'; // Debug Data
rxd_buffer_locked = FALSE;
timer = TIMEOUT;
tmp_dat = 10;
SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
lcd_cls ();
page = 0;
for (i = 0; i < 7; i++)
{
lcd_print_at (0, i, AnalogNames[current_hardware - 1][i + page * 7], 0);
if (page == 4 && i > 3)
{
for (i = 4; i < 7; i++) // Linie 4, 5, 6 loeschen
{
lcd_cls_line (0, i, 21);
}
i = 7;
}
}
}
}
while (!get_key_press (1 << KEY_ESC) && timer); // ESC
get_key_press(KEY_ALL);
tmp_dat = 0;
SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
mode = 0;
rxd_buffer_locked = FALSE;
if (!timer)
{ // timeout occured
lcd_cls ();
lcd_printp_at (0, 2, PSTR("ERROR: no data"), 0);
timer = 100;
while (timer > 0);
}
SwitchToNC();
}
#endif
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/debug.h
0,0 → 1,42
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef _DEBUG_H
#define _DEBUG_H
extern uint8_t AnalogNamesRead[2];
void display_debug(void);
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/display.c
0,0 → 1,180
/*****************************************************************************
* 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 *
* *
* 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/pgmspace.h>
#include <util/delay.h>
#include "main.h"
#include "lcd/lcd.h"
#include "uart/usart.h"
#include "timer/timer.h"
#include "messages.h"
#include "mk-data-structs.h"
#define TIMEOUT 500 // 5 sec
void display_data (void)
{
uint8_t cmd;
uint8_t flag = 0;;
mode = 'H';
lcd_cls ();
// lcd_printp_at (0, 7, PSTR(KEY_LINE_3), 0);
lcd_puts_at(0, 7, strGet(KEYLINE3), 0);
if (current_hardware == NC)
{
lcd_printp_at (0, 0, PSTR(" Navi-Ctrl Display "), 2);
lcd_printp_at (19, 7, PSTR("FC"), 0);
}
else
{
if (hardware == FC)
{
lcd_printp_at (0, 0, PSTR(" Display "), 2);
lcd_printp_at (19, 7, PSTR(" "), 0);
}
else
{
lcd_printp_at (0, 0, PSTR(" Flight-Ctrl Display "), 2);
lcd_printp_at (19, 7, PSTR("NC"), 0);
}
}
rxd_buffer_locked = FALSE;
timer = TIMEOUT;
cmd = 0xfc; // Home = first page
do
{
SendOutData('h', ADDRESS_ANY, 1, &cmd, 1);
cmd = 0xff;
//LED6_TOGGLE;
_delay_ms (250);
if (rxd_buffer_locked)
{
Decode64 ();
flag = 1;
if (!hardware)
{ // hardware was not detected at startup
hardware = rxd_buffer[1] - 'a';
if (hardware == NC)
{
lcd_printp_at (0, 0, PSTR(" Navi-Ctrl Display "), 2);
lcd_printp_at (19, 7, PSTR("FC"), 0);
current_hardware = NC;
}
else
{
lcd_printp_at (0, 0, PSTR(" Display "), 2);
lcd_printp_at (19, 7, PSTR(" "), 0);
current_hardware = FC;
}
}
#if 0
rxd_buffer[24] = 0;
lcd_print_at (0, rxd_buffer[3] + 1, (uint8_t *) &rxd_buffer[4], 0);
#else
rxd_buffer[83] = 0;
print_display_at (0, 2, (uint8_t *) &rxd_buffer[3]);
#endif
rxd_buffer_locked = FALSE;
timer = TIMEOUT;
}
if (get_key_press (1 << KEY_MINUS) || get_key_long_rpt_sp ((1 << KEY_MINUS), 2))
{
cmd = 0xfe; // next page
//SendOutData('h', ADDRESS_ANY, 1, &cmd, 1);
//cmd = 0;
}
else if (get_key_press (1 << KEY_PLUS) || get_key_long_rpt_sp ((1 << KEY_PLUS), 2))
{
cmd = 0xfd; // previous page
//SendOutData('h', ADDRESS_ANY, 1, &cmd, 1);
//cmd = 0;
}
else if ((hardware == NC) && get_key_press (1 << KEY_ENTER))
{
if (current_hardware == NC)
{
SwitchToFC();
//timer = TIMEOUT;
lcd_printp_at (0, 0, PSTR(" Flight-Ctrl Display "), 2);
lcd_printp_at (19, 7, PSTR("NC"), 0);
}
else
{
SwitchToNC();
//timer = TIMEOUT;
lcd_printp_at (0, 0, PSTR(" Navi-Ctrl Display "), 2);
lcd_printp_at (19, 7, PSTR("FC"), 0);
}
cmd = 0xfc; // Home = first page
//SendOutData('h', ADDRESS_ANY, 1, &cmd, 1);
//cmd = 0;
}
}
while (!get_key_press (1 << KEY_ESC) && timer);
get_key_press(KEY_ALL);
mode = 0;
rxd_buffer_locked = FALSE;
if (!timer)
{ // timeout occured
if (flag)
{
lcd_cls ();
}
lcd_printp_at (0, 2, PSTR("Fehler: Keine Daten"), 0);
timer = 100;
while (timer > 0);
}
SwitchToNC();
}
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/display.h
0,0 → 1,42
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef _DISPLAY_H
#define _DISPLAY_H
void display_data (void);
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/eeprom/eeprom.c
0,0 → 1,329
/*****************************************************************************
* Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de *
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* Copyright (C) 2013 Christian "Cebra" Brandtner, brandtner@brandtner.net *
* Copyright (C) 2011 Harald Bongartz *
* *
* 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/pgmspace.h>
#include <util/delay.h>
#include <stdlib.h>
#include <string.h>
#include <avr/interrupt.h>
#include <avr/eeprom.h>
#include <stdbool.h>
#include <avr/wdt.h>
#include "../lcd/lcd.h"
#include "../main.h"
#include "../timer/timer.h"
#include "eeprom.h"
#include "../wi232/Wi232.h"
#include "../setup/setup.h"
#include "../bluetooth/bluetooth.h"
#include "../mk-data-structs.h"
#include "../connect.h"
#include "../tracking/ng_servo.h"
#include "../tracking/tracking.h"
//------------------------------------------------------------------------------------------
ST EEMEM EEStruct;
ST Config;
//------------------------------------------------------------------------------------------
void WriteWiInitFlag(void)
{
Config.WiIsSet = true;
// WriteParameter();
}
//--------------------------------------------------------------
//
void WriteBTInitFlag(void)
{
Config.BTIsSet = true;
// WriteParameter();
}
//--------------------------------------------------------------
//
void WriteBTSlaveFlag(void)
{
Config.BTIsSlave = true;
// WriteParameter();
}
//--------------------------------------------------------------
//
void WriteBTMasterFlag(void)
{
Config.BTIsSlave = false;
// WriteParameter();
}
//--------------------------------------------------------------
//
void WriteLastPosition(uint32_t ELongitude,uint32_t ELatitude)
{
Config.LastLongitude = ELongitude;
Config.LastLatitude = ELatitude;
// WriteParameter();
}
//--------------------------------------------------------------
//
void ReadParameter (void)
{
uint8_t update=false;
eeprom_read_block((void*)&Config, (const void*)&EEStruct, sizeof(ST));
if (Config.Version != EEpromVersion)
{
switch (Config.Version)
{
case 0x77: // PKT Version 3.6.6a
PointList_Clear();
update = true;
break;
case 0x78: // PKT Version 3.6.6b
/* Do necessary steps to perform upgrade */
update = true;
break;
default:Delete_EEPROM(); //wenn kein Update möglich alles auf Default setzen
break;
}
if (update)
{
Config.Version = EEpromVersion; /* Update the EEPROM version number */
sei();
lcd_cls();
lcd_printp_at (0, 2, PSTR("EEPromUpdate to new"), 0);
lcd_printp_at (0, 3, PSTR(" Version "), 0);
lcd_printp_at (0, 5, PSTR("check the settings!"), 0);
lcd_printp_at (18, 7, PSTR("OK"), 0);
while (!get_key_press (1 << KEY_ENTER));
WriteParameter();
cli();
}
}
}
void WriteParameter (void)
{
copy_line(7);
lcd_printp_at (0, 7, PSTR(" Write EEPROM "), 0);
eeprom_update_block((const void*)&Config, (void*)&EEStruct, sizeof(ST));
paste_line(7);
}
//--------------------------------------------------------------
void Delete_EEPROM(void)
{
// EEPROM auf Default setzen
lcd_cls();
lcd_printp_at (0, 0, PSTR(" EEPROM Parameter "), 2);
lcd_printp_at (0, 1, PSTR("werden auf"), 0);
lcd_printp_at (0, 2, PSTR("Standardwerte gesetzt"), 0);
Config.MK_LowBat = 137; // 13,7V
Config.DisplayTimeout = 0; // Display immer an
Config.DisplayLanguage = 5; // default undefined
Config.WiTXRXChannel = 1; // Kanal 1 MK Standard
Config.WiNetworkGroup = 66; // Gruppe 66 MK Standard
Config.WiNetworkMode = NetMode_Normal; // MK Standard
Config.WiTXTO = TWaitTime16; // MK Standard
Config.WiUartMTU = UartMTU64; // MK Standard
Config.LCD_ORIENTATION = 0; // normale Ansicht
Config.LCD_DisplayMode = 0; // Normal
Config.LCD_Kontrast = 20; // Kontrast normal
Config.LCD_Helligkeit = 100; // Helligkeit in %
Config.USBBT = 0; // USB Betrieb
Config.U02SV2 = 0; // SV2 (Kabel) Standard
Config.Debug = 0; // kein Debug
Config.UseWi = false; // Wi.232 eingebaut?
Config.UseBT = false; // BT-222 eingebaut?
Config.WiIsSet = true; // Flag für die Initialisierung Wi232
Config.BTIsSet = true; // Flag für die Initialisierung Bluetooth
Config.BTIsSlave = true; // Slave Flag setzen
Config.PKT_IdleBeep = 0; // kein Piepsen bei Inaktivität
Config.PKT_StartInfo = false; // Startinformationen anzeigen
Config.PKT_Accutyp = true; // True = Lipo, False= LiON
Config.OSD_RCErrorbeep = true; // OSD Receiveerrorbeep
Config.OSD_InvertOut = false; // LED Anzeige invertiren
Config.OSD_LEDform = 1; // Form der Anzeige ( + oder schwarz)
Config.OSD_SendOSD = false; // OSD Daten an SV2
Config.OSD_Fallspeed = 40; // maximale Sinkrate
Config.OSD_VarioBeep = 1; // Vario Beep ein
Config.OSD_HomeMKView = true; // Home Circle from MK View
Config.OSD_mAh_Warning = 10000; //mAh Warnschwelle
Config.OSD_ScreenMode = 0; // Variante des OSD Screen
Config.OSD_LipoBar = 0; //Bargraphanzeige für MK Lipo
Config.PKT_Baudrate = Baud_57600; //Baudrate für BT und Wi232
Config.Lipo_UOffset = 6000; // Offset für PKT-Lipomessung
Config.FM_Refresh = 500; // FollowMe interval
Config.FM_Speed = 30; // FollowMe Speed in m/s *0.1
Config.FM_Radius = 5; // Waypoint Tolerance Radius in meter
Config.HWSound = 0; // Hardware Sounderweiterung an PD7
Config.HWBeeper = 1; // Hardware Beeper an PC7
Config.Volume = 0; //Lautstärke
Config.LastLongitude = 88199720;
Config.LastLatitude = 522039630;
strcpy_P(Config.bt_pin, PSTR("0000"));
strcpy_P(Config.bt_name, PSTR("PKT Cebra ")); // Wenn Name kürzer als "bt_name_length" mit Leerzeichen auffüllen
strcpy_P(Config.bt_Mac, PSTR("0000-00-000000"));
strcpy_P(Config.RE_ID, PSTR("0000"));
for(uint8_t i = 0; i < 20; i++)
{
Config.gps_UsedDevName[i] = 0; // benutztes GPS Device Name
}
for(uint8_t i = 0; i < 14; i++)
{
Config.gps_UsedMac[i] = '0'; // benutztes GPS Device Mac Adresse
}
Config.gps_UseGPS = false; // ist GPS aktiv?
Config.gps_UsedGPSMouse = GPS_Bluetoothmouse1;
Config.WiIsSet = false;
Config.BTIsSet = false;
Config.Version = EEpromVersion;
Config.sIdxSteps= STEPS_255;
Config.servo[0].rev = SERVO_REV;
Config.servo[0].min = SERVO_I0_RIGHT;
Config.servo[0].max = SERVO_I0_LEFT;
Config.servo[0].mid = SERVO_I0_MIDDLE;
Config.servo[1].rev = SERVO_REV;
Config.servo[1].min = SERVO_I0_RIGHT;
Config.servo[1].max = SERVO_I0_LEFT;
Config.servo[1].mid = SERVO_I0_MIDDLE;
Config.servo_frame = SERVO_PERIODE;
Config.single_step= SINGLE_STEP; // nur bei Test-Servo
Config.repeat= REPEAT; // nur bei Test-Servo
Config.pause = PAUSE; // nur bei Test-Servo
Config.pause_step= PAUSE_STEP; // nur bei Test-Servo
Config.tracking = TRACKING_MIN;
Config.track_hyst = TRACKING_HYSTERESE;
Config.track_tx = 0;
for (uint8_t i = 0; i < 5; i++) {
Config.stick_min[i] = 30+i;
Config.stick_max[i] = 270+i;
Config.stick_typ[i] = 0;
Config.stick_dir[i] = 0;
Config.stick_neutral[i] = 0;
}
Config.Lipomessung = true;
PointList_Clear();
WriteParameter();
// lcd_printp_at (0, 4, PSTR("Waypoints loeschen"), 0);
// EEWayPointList_Clear();
lcd_printp_at (0, 6, PSTR("!!Check Parameter!! "), 0);
lcd_printp_at (18, 7, PSTR("OK"), 0);
sei ();
set_beep ( 200, 0x0080, BeepNormal);
do{}
while (!(get_key_press (1 << KEY_ENTER)));
#if defined HWVERSION3_9
clr_V_On();
#else
wdt_enable( WDTO_250MS );
while (1)
{;}
#endif
}
//--------------------------------------------------------------
//
//void EEWayPointList_Clear(void) // löschen der Waypointliste im EEProm
//{
// uint8_t i;
// PKTWayPoint.Waypoint.Position.Latitude = 0;
// PKTWayPoint.Waypoint.Position.Longitude = 0;
// PKTWayPoint.Waypoint.Position.Altitude = 0;
// PKTWayPoint.Waypoint.Heading = 361;
// for(i = 0; i < MAX_WPLIST_LEN; i++)
// {
// PKTWayPointDirectory.WPList.WPDirectory[i] = 0;
// }
// for(i = 0; i < NumberOfWaypoints; i++)
// {
// lcd_printp (PSTR("."), 0);
// eeprom_write_byte (&EEWayPointList[i].WPIndex, i);
// eeprom_write_byte (&EEWayPointList[i].Waypoint.Position.Status, INVALID);
// eeprom_write_block ((const void*)&PKTWayPoint.Waypoint.Position.Latitude, (void*)&EEWayPointList[i].Waypoint.Position.Latitude, sizeof(EEWayPointList[i].Waypoint.Position.Latitude));
// eeprom_write_block ((const void*)&PKTWayPoint.Waypoint.Position.Longitude, (void*)&EEWayPointList[i].Waypoint.Position.Longitude, sizeof(EEWayPointList[i].Waypoint.Position.Longitude));
// eeprom_write_block ((const void*)&PKTWayPoint.Waypoint.Position.Altitude, (void*)&EEWayPointList[i].Waypoint.Position.Altitude, sizeof(EEWayPointList[i].Waypoint.Position.Altitude));
// eeprom_write_block ((const void*)&PKTWayPoint.Waypoint.Heading, (void*)&EEWayPointList[i].Waypoint.Heading, sizeof(EEWayPointList[i].Waypoint.Heading));
//
// eeprom_write_byte (&EEWayPointList[i].Waypoint.ToleranceRadius, 0); // in meters, if the MK is within that range around the target, then the next target is triggered
// eeprom_write_byte (&EEWayPointList[i].Waypoint.HoldTime, 0); // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered
// eeprom_write_byte (&EEWayPointList[i].Waypoint.Type, POINT_TYPE_INVALID);
// eeprom_write_byte (&EEWayPointList[i].Waypoint.Event_Flag, 0); // future implementation
// eeprom_write_byte (&EEWayPointList[i].Waypoint.AltitudeRate, 0); // no change of setpoint
// }
// for(i = 0; i < NumberOfWPLists; i++)
// {
// lcd_printp (PSTR("."), 0);
// eeprom_write_byte (&EEWPDirectory[i].WPList.WPListnumber, i);
// eeprom_write_byte (&EEWPDirectory[i].WPList.WPListAktiv, false);
// eeprom_write_byte (&EEWPDirectory[i].WPList.POI_CAM_NICK_CTR, 0);
// eeprom_write_byte (&EEWPDirectory[i].WPList.UsePOI, 0);
// eeprom_write_block ((const void*)&PKTWayPointDirectory.WPList.WPDirectory, (void*)&EEWPDirectory[i].WPList.WPDirectory, sizeof(EEWPDirectory[i].WPList.WPDirectory));
//
// }
// lcd_printp (PSTR("\r\n"), 0);
//}
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/eeprom/eeprom.h
0,0 → 1,218
/*****************************************************************************
* Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de *
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* Copyright (C) 2013 Christian "Cebra" Brandtner, brandtner@brandtner.net *
* Copyright (C) 2011 Harald Bongartz *
* *
* 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*
*****************************************************************************/
#ifndef _EEPROM_H
#define _EEPROM_H
#include <stdbool.h>
#include "../mk-data-structs.h"
#include "../connect.h"
#include "../tracking/ng_servo.h"
#include "../waypoints/waypoints.h"
//[General]
//FileVersion = 2
//NumberOfWaypoints = 15
//UsePOI = 0
//POI_CAM_NICK_CTRL = 0
//[POI]
//Altitude = 1
//Latitude = 46.7140763
//Longitude = 19.2507334
//[Waypoint1]
//Latitude = 46.7145686
//Longitude = 19.2515702
//Radius = 10
//Altitude = 15
//ClimbRate = 0
//DelayTime = 4
//WP_Event_Channel_Value = 96
//Heading = 180
#define EEpromVersion 0x78 //wird nach jeder Parametererweiterung hochgezählt
#define NumberOfWaypoints 55 //Anzahl der Waypoints in der EEPromliste
#define NumberOfWPLists 5 //Anzahl WP Listen im PKT
#define MAX_LIST_LEN 31 // Länge Waypointlist
#define bt_pin_length 4
#define RE_ID_length 4 // Länge der RE-ID
#define bt_name_length 10
#define bt_mac_length 14
#define GPS_Bluetoothmouse1 0 //NMEA BT-Mouse
#define GPS_Mikrokopter 1 // GPS Daten vom MK für Tracking
#define POINT_TYPE_INVALID 255
#define POINT_TYPE_WP 0
#define POINT_TYPE_POI 1
#define INVALID 0x00
#define MAX_WPLIST_LEN 31
typedef struct {
uint8_t rev;
uint16_t min;
uint16_t max;
uint16_t mid;
} servo_t;
typedef struct
{
uint8_t WPIndex; // Index in der EEpromliste
Point_t Waypoint; // Waypoint
} WayPoints;
typedef struct
{
uint8_t WPListnumber; // Nummer der WP Liste im PKT
uint8_t WPListAktiv; // Liste aktiv
uint8_t WPDirectory[31]; // Enthält die Indexe der Waypoints im EEPROM
uint8_t UsePOI;
uint8_t POI_CAM_NICK_CTR;
} WPListHeader;
typedef struct
{
WPListHeader WPList; // Waypointliste im PKT
} WPListDirectory;
typedef struct SStructure{
uint8_t Version;
uint8_t MK_LowBat;
volatile uint8_t DisplayTimeout;
volatile uint8_t DisplayLanguage;
volatile uint8_t WiTXRXChannel;
volatile uint8_t WiNetworkGroup;
volatile uint8_t WiNetworkMode;
volatile uint8_t WiTXTO;
volatile uint8_t WiUartMTU;
volatile uint8_t LCD_ORIENTATION;
volatile uint8_t LCD_DisplayMode;
volatile uint8_t LCD_Kontrast;
volatile uint8_t LCD_Helligkeit;
volatile uint8_t USBBT;
volatile uint8_t U02SV2;
volatile uint8_t Debug;
volatile uint8_t UseWi; // Wi232 wird genutzt
volatile uint8_t UseBT; // BT wird genutzt
volatile uint8_t WiIsSet; // Wi232 ist initialisiert
volatile uint8_t BTIsSet; // BT ist initialisiert
volatile uint8_t BTIsSlave; // Slave Flag
char bt_pin[bt_pin_length + 1]; // BT Pinnummer
char bt_name[bt_name_length + 1]; // BT Name
char RE_ID[RE_ID_length + 1]; // RE-ID
char bt_Mac[bt_mac_length + 1]; // MAC-Adresse BTM222
char gps_UsedDevName[20]; // benutztes GPS Device Name
char gps_UsedMac[14]; // benutztes GPS Device Mac Adresse
volatile uint8_t gps_UseGPS; // ist GPS aktiv?
volatile uint8_t gps_UsedGPSMouse; // GPS Maustyp
volatile uint32_t LastLongitude; // Letzte Position
volatile uint32_t LastLatitude;
volatile uint8_t PKT_IdleBeep;
volatile uint8_t PKT_StartInfo;
volatile uint16_t Lipo_UOffset; // Offset für die Lipospannugsmessung
volatile uint8_t PKT_Accutyp; // verwendeter Akkutyp
volatile uint8_t OSD_RCErrorbeep; //Empfangsausffallwarnung im OSD Screen
volatile uint8_t OSD_InvertOut; // Out1/2 invertiert anzeigen
volatile uint8_t OSD_LEDform; // Form der Anzeige ( + oder schwarz)
volatile uint8_t OSD_SendOSD; // OSD Daten an SV2 senden
volatile uint8_t OSD_Fallspeed; // maximale Sinkrate
volatile uint8_t OSD_VarioBeep; // Vario Beep im OSD Screen
volatile uint8_t OSD_HomeMKView; // Home Circle from MK-View
volatile uint16_t OSD_mAh_Warning; // mAh Warnschwelle
volatile uint8_t OSD_ScreenMode; //Variante des OSD-Screen
volatile uint8_t OSD_LipoBar; //Bargraphanzeige für MK Lipo
volatile uint8_t PKT_Baudrate; // Baudrate für BT und Wi232
volatile uint16_t FM_Refresh; // FollowMe interval
volatile uint16_t FM_Speed; // FollowMe Speed in m/s *0.1
volatile uint16_t FM_Radius; // Waypoint Tolerance Radius in meter
volatile uint8_t HWSound; // Hardware Sounderweiterung an PD7
volatile uint8_t HWBeeper; // Hardware Beeper an PC7
volatile uint8_t Volume; // Lautstärke
volatile servo_t servo[2];
volatile uint8_t sIdxSteps;
volatile uint16_t hyst_u_min;
volatile uint8_t servo_frame;
volatile uint8_t single_step;
volatile uint8_t repeat;
volatile uint8_t pause;
volatile uint8_t pause_step;
volatile uint8_t tracking;
volatile uint8_t track_hyst;
volatile uint8_t track_tx;
// Stickparameter
volatile uint16_t stick_min[5];
volatile uint16_t stick_max[5];
volatile uint8_t stick_typ[5];
volatile uint8_t stick_dir[5];
volatile uint8_t stick_neutral[5]; // ja/nein
volatile uint8_t Lipomessung; // wenn Lipomessung deaktiviert(Lötbrücke öffnen), kann der Kanal als Stick verwendet werden
Point_t PointList[MAX_LIST_LEN]; // ab 3.6.6b EEPROM Version 78
//!!!neue Parameter immer am Ende anfügen!!!!!!
} ST;
extern ST Config;
void ReadParameter (void);
void WriteParameter (void);
void ReadLastPosition(void);
void WriteLastPosition(uint32_t ELongitude,uint32_t ELatitude);
void WriteWiInitFlag(void);
void WriteBTInitFlag(void);
void WriteBTSlaveFlag(void);
void WriteBTMasterFlag(void);
void Delete_EEPROM(void);
//void EEWayPointList_Clear(void); // l�schen der Waypointliste im EEProm
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/followme/followme.c
0,0 → 1,338
/*
* FollowMe.c
*
* Created on: 18.05.2012
* Author: cebra
*/
/*****************************************************************************
* Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net *
* *
* 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 <inttypes.h>
#include <stdlib.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
#include "../main.h"
#include "../followme/followme.h"
#include "../osd/osd.h"
#include "../lcd/lcd.h"
#include "../timer/timer.h"
#include "../uart/usart.h"
#include "../eeprom/eeprom.h"
#include "../messages.h"
#include "../parameter.h"
#include "../mk-data-structs.h"
#define COSD_WASFLYING 4
#define TIMEOUT 200 // 2 sec
// global definitions and global vars
NaviData_t *naviData;
mk_param_struct_t *mk_param_struct;
//uint16_t old_hh = 0;
uint8_t Flags_ExtraConfig;
uint8_t Flags_GlobalConfig;
uint8_t Flags_GlobalConfig3;
unsigned char Element;
uint16_t heading_home;
// Hier Höhenanzeigefehler Korrigieren
#define AltimeterAdjust 1.5
// Positionen der Anzeigeelemente im Bildschirm
#define OSD_ALTITUDE_CONTROL 1
#define OSD_ALTITUDE 2
#define OSD_BATTERY_LEVEL 3
#define OSD_CAPACITY 4
#define OSD_CARE_FREE 5
#define OSD_COMPASS_DEGREE 6
#define OSD_COMPASS_DIRECTION 7
#define OSD_COMPASS_ROSE 8
#define OSD_CURRENT 9
#define OSD_FLYING_TIME 10
#define OSD_GROUND_SPEED 11
#define OSD_HOME_CIRCLE 12
#define OSD_HOME_DEGREE 13
#define OSD_HOME_DISTANCE 14
#define OSD_LED1_OUTPUT 15
#define OSD_LED2_OUTPUT 16
#define OSD_MANUELL 17
#define OSD_NAVI_MODE 18
#define OSD_RC_INTENSITY 19
#define OSD_SATS_IN_USE 20
#define OSD_STATUS_FLAGS 21
#define OSD_VARIOMETER 22
// Flags
//uint8_t COSD_FLAGS2 = 0;
//
//GPS_Pos_t last5pos[7];
uint8_t FM_error = 0;
//--------------------------------------------------------------
void FollowMe (void)
{
uint8_t flag;
uint8_t tmp_dat;
// uint8_t OSD_Mode;
// uint8_t info_3D = 0;
uint8_t status;
// Clear statistics
// max_Altimeter = 0;
// max_GroundSpeed = 0;
// max_Distance = 0;
// min_UBat = 255;
// max_FlyingTime = 0;
// flags from last round to check for changes
uint8_t old_FCFlags = 0;
// uint8_t old_AngleNick = 0;
// uint8_t old_AngleRoll = 0;
lcd_cls();
if (hardware == FC)
{
lcd_puts_at(0, 3, strGet(ONLY_NC), 0); // Nur mit NC
timer = 100;
while (timer > 0);
return;
}
SwitchToFC();
status = load_setting(0xff);
if(status == 255)
{
lcd_puts_at(0, 0, strGet(NO_SETTINGS), 0); // Keine Setings
_delay_ms(2000);
}
Flags_ExtraConfig = mk_param_struct->ExtraConfig;
Flags_GlobalConfig = mk_param_struct->GlobalConfig;
Flags_GlobalConfig3 = mk_param_struct->GlobalConfig3;
SwitchToNC();
mode = 'O';
// disable debug...
// RS232_request_mk_data (0, 'd', 0);
tmp_dat = 0;
SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
// request OSD Data from NC every 100ms
// RS232_request_mk_data (1, 'o', 100);
tmp_dat = 10;
// OSD_active = true; // benötigt für Navidata Ausgabe an SV2
SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
flag = 0;
timer = TIMEOUT;
abo_timer = ABO_TIMEOUT;
do
{
if (rxd_buffer_locked)
{
timer = TIMEOUT;
Decode64 ();
naviData = (NaviData_t *) pRxData;
if(FM_error == 1)
lcd_cls();
FM_error = 0;
GPS_Pos_t currpos;
currpos.Latitude = naviData->CurrentPosition.Latitude;
currpos.Longitude = naviData->CurrentPosition.Longitude;
flag = 1;
{
//-------------------------------------------
// OSD_Screen_Element() is depricated!
// USE NEW OSD_Element_xyz() FUNCTIONS!
//-------------------------------------------
// Altitude Control
//OSD_Screen_Element (0, 3, OSD_ALTITUDE_CONTROL,Config.OSD_ScreenMode);
OSD_Element_AltitudeControl( 0, 0 );
//
// // Altitude
// OSD_Screen_Element (11, 3, OSD_ALTITUDE);
// Battery level
//OSD_Screen_Element (0, 7, OSD_BATTERY_LEVEL,Config.OSD_ScreenMode);
OSD_Element_BatteryLevel( 0, 7, Config.OSD_ScreenMode );
// Capacity
//OSD_Screen_Element (13, 7, OSD_CAPACITY,Config.OSD_ScreenMode);
OSD_Element_Capacity( 13, 7 );
// Care Free
//OSD_Screen_Element (12, 2, OSD_CARE_FREE,Config.OSD_ScreenMode);
OSD_Element_CareFree( 12, 2 );
// // Compass Degree
// OSD_Screen_Element (13, 0, OSD_COMPASS_DEGREE);
//
// // Compass Direction
// OSD_Screen_Element (18, 0, OSD_COMPASS_DIRECTION);
//
// // Compass Rose
// OSD_Screen_Element (12, 1, OSD_COMPASS_ROSE);
// Current
//OSD_Screen_Element (7, 7, OSD_CURRENT,Config.OSD_ScreenMode);
OSD_Element_Current( 7, 7 );
// Flying time
lcd_printp_at (0, 1, PSTR("Flytime:"), 0);
//OSD_Screen_Element (8, 1, OSD_FLYING_TIME,Config.OSD_ScreenMode);
OSD_Element_FlyingTime( 8, 1 );
// Ground Speed
lcd_printp_at (0, 0, PSTR("Speed:"), 0);
//OSD_Screen_Element (6, 0, OSD_GROUND_SPEED,Config.OSD_ScreenMode);
OSD_Element_GroundSpeed( 6, 0 );
// Sats in use
//OSD_Screen_Element (16, 0, OSD_SATS_IN_USE,Config.OSD_ScreenMode);
OSD_Element_SatsInUse( 16, 0, Config.OSD_ScreenMode );
// // Home Circle
// OSD_Screen_Element (16, 4, OSD_HOME_CIRCLE);
//
// // Home Degree
// OSD_Screen_Element (12, 4, OSD_HOME_DEGREE);
// Home Distance
lcd_printp_at (11, 3, PSTR("Dist:"), 0);
//OSD_Screen_Element (17, 3, OSD_HOME_DISTANCE,Config.OSD_ScreenMode);
OSD_Element_HomeDistance( 17, 3, Config.OSD_ScreenMode );
//
// // LED1 Output
// OSD_Screen_Element (0, 6, OSD_LED1_OUTPUT);
//
// // LED2 Output
// OSD_Screen_Element (5, 6, OSD_LED2_OUTPUT);
// Manuell
// OSD_Screen_Element (7, 0, OSD_MANUELL);
// Navi Mode
//OSD_Screen_Element (0, 2, OSD_NAVI_MODE,Config.OSD_ScreenMode);
OSD_Element_NaviMode( 0, 2 );
// RC Intensity
// OSD_Screen_Element (11, 6, OSD_RC_INTENSITY);
// Status Flags
// OSD_Screen_Element (0, 2, OSD_STATUS_FLAGS);
// // Variometer
// OSD_Screen_Element (9, 0, OSD_VARIOMETER);
lcd_printp_at (0, 4, PSTR("MK:"), 0);
write_ndigit_number_u (3, 4, (uint16_t)(currpos.Latitude/10000000), 2, 0,0);
lcd_printp_at (5, 4, PSTR("."), 0);
write_ndigit_number_u (6, 4, (uint16_t)((currpos.Latitude/1000) % 10000), 4, 1,0);
write_ndigit_number_u (10, 4, (uint16_t)((currpos.Latitude/10) % 100), 2, 1,0);
write_ndigit_number_u (12, 4, (uint16_t)(currpos.Longitude/10000000), 2, 0,0);
lcd_printp_at (14, 4, PSTR("."), 0);
write_ndigit_number_u (15, 4, (uint16_t)((currpos.Longitude/1000) % 10000), 4, 1,0);
write_ndigit_number_u (19, 4, (uint16_t)((currpos.Longitude/10) % 100), 2, 1,0);
lcd_printp_at (0, 5, PSTR("!!!not implemented!!!"), 2);
// Akku Warnung
if (naviData->UBat < Config.MK_LowBat)
{ //Beeper ein
set_beep ( 3000, 0x0020, BeepNormal);
}
if (naviData->UBat > Config.MK_LowBat) //bei kurzzeitigen Schwankungen Beeper erst wieder aus wenn UBat 0,2 V höher als Warnschwelle
{ //Beeper aus
set_beep ( 0, 0, BeepOff);
}
// Akku Warnung Ende
old_FCFlags = naviData->FCStatusFlags;
rxd_buffer_locked = FALSE;
}
if (!abo_timer)
{ // renew abo every 3 sec
// request OSD Data from NC every 100ms
// RS232_request_mk_data (1, 'o', 100);
tmp_dat = 10;
SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
abo_timer = ABO_TIMEOUT;
}
}
if (!timer)
{
OSD_Timeout(flag);
flag = 0;
FM_error = 1;
}
}
while (!get_key_press (1 << KEY_ESC));
OSD_active = false;
}
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/followme/followme.h
0,0 → 1,13
/*
* FollowMe.h
*
* Created on: 18.05.2012
* Author: cebra
*/
#ifndef FOLLOWME_H_
#define FOLLOWME_H_
void FollowMe (void);
#endif /* FOLLOWME_H_ */
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/gps/gps.c
0,0 → 1,366
/*****************************************************************************
* 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 *
* *
* 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 <avr/io.h>
#include <inttypes.h>
#include <stdlib.h>
#include <avr/pgmspace.h>
#include "../main.h"
#include "../lcd/lcd.h"
#include "../timer/timer.h"
#include "../uart/usart.h"
#if defined HWVERSION1_3W || defined HWVERSION3_9 || defined HWVERSION1_2W
#define TIMEOUT 200 // 2 sec
uint8_t ck_a = 0;
uint8_t ck_b = 0;
uint8_t UBX_class = 0;
uint8_t UBX_id = 0;
uint8_t UBX_buffer[250];
uint8_t UBX_payload_counter = 0;
void checksum(uint8_t);
void UBX_process(void);
uint32_t join_4_bytes(uint8_t*);
uint8_t display_mode = 0;
//--------------------------------------------------------------
void gps(void)
{
lcd_cls();
display_mode = 2;
if (hardware == FC)
{
lcd_printp_at(0, 3, PSTR("Nur mit NC !"), 0);
timer = 100;
while (timer > 0);
return;
}
if(current_hardware != NC)
SwitchToNC();
SwitchToGPS();
uint8_t mode = 0;
// SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
timer = TIMEOUT;
uint8_t data = 0;
uint8_t length = 0;
uint8_t UBX_ck_a = 0;
do
{
// if (rxFlag == 1)
if (uart_getc_nb(&data))
{
//rxFlag = 0;
//data = rx_byte;
timer = TIMEOUT;
switch(mode)
{
case 0: // init 1
if(data == 0xB5)
{
UBX_payload_counter = 0;
UBX_id = 0;
UBX_class = 0;
ck_a = 0;
ck_b = 0;
mode++;
}
break;
case 1: // init 2
if(data == 0x62)
mode++;
else
mode = 0;
break;
case 2: //class
if(data != 1)
mode = 0;
else
{
checksum(data);
UBX_class = data;
mode++;
}
break;
case 3: // id
if((data != 48)&&(data != 6)&&(data != 18)&&(data != 2))
mode = 0;
else
{
UBX_id = data;
checksum(data);
mode++;
}
break;
case 4: // length lo
if(data > 250)
mode = 0;
else
{
checksum(data);
length = data;
mode++;
}
break;
case 5: // length hi
if(data != 0)
mode = 0;
else
{
checksum(data);
mode++;
}
break;
case 6: // length hi
length--;
UBX_buffer[UBX_payload_counter] = data;
checksum(data);
UBX_payload_counter++;
if(length==0)
{
mode++;
};
break;
case 7: // check lo
mode++;
UBX_ck_a = data;
break;
case 8: // check hi
mode=0;
if((UBX_ck_a == ck_a) && (data == ck_b))
UBX_process();
}
// write_ndigit_number_u (14, 0, data, 3, 0);
}
}
while (!get_key_press (1 << KEY_ESC) && timer);
get_key_press(KEY_ALL);
SwitchToNC();
}
//--------------------------------------------------------------
void UBX_process()
{
if ((get_key_press (1 << KEY_MINUS))||(display_mode == 2))
{
if (display_mode != 1)
{
lcd_cls();
lcd_printp_at (0,0, PSTR("Fix Type : "), 0);
lcd_printp_at (0,1, PSTR("Sat : "), 0);
lcd_printp_at (0,2, PSTR("Accuracy : "), 0);
lcd_printp_at (0,3, PSTR("PDOP : "), 0);
lcd_printp_at (0,4, PSTR("Speed : "), 0);
lcd_printp_at (0,5, PSTR("Long : "), 0);
lcd_printp_at (0,6, PSTR("Lat : "), 0);
lcd_printp_at (0,7, PSTR("Alt : "), 0);
}
display_mode = 1;
}
if((UBX_class == 1) && (UBX_id == 48)&&(display_mode == 0))
{
uint8_t channels = UBX_buffer[4];
uint8_t i = 0;
for(i = 0; i < channels; i++)
{
if (i > 15)
break;
uint8_t line;
uint8_t col;
if (i > 7)
{
line = i-7;
col = 11;
}
else
col = 0; line = i;
write_ndigit_number_u (col, line, UBX_buffer[9 + 12*i], 3, 0,0);
write_ndigit_number_u (col+4, line, UBX_buffer[12 + 12*i], 2, 0,0);
if((UBX_buffer[10 + 12*i] & 3) == 3)
lcd_printp_at (col+7,line, PSTR("O"), 0);
else if((UBX_buffer[10 + 12*i] & 1) == 1)
lcd_printp_at (col+7,line, PSTR("X"), 0);
else if(UBX_buffer[11 + 12*i] > 4)
lcd_printp_at (col+7,line, PSTR("x"), 0);
else if(UBX_buffer[11 + 12*i] > 1)
lcd_printp_at (col+7,line, PSTR("-"), 0);
else
lcd_printp_at (col+7,line, PSTR(" "), 0);
}
}
if(display_mode == 1)
{
if((UBX_class == 1) && (UBX_id == 6)) //SVINFO
{
switch (UBX_buffer[10])
{
case 4:
case 3:
lcd_printp_at (11,0, PSTR("3D"), 0);
break;
case 2:
lcd_printp_at (11,0, PSTR("2D"), 0);
break;
default:
lcd_printp_at (11,0, PSTR("no"), 0);
}
if((UBX_buffer[11] & 3) == 3)
lcd_printp_at (17,0, PSTR("D"), 0);
else
lcd_printp_at (17,0, PSTR(" "), 0);
if((UBX_buffer[11] & 1) == 1)
lcd_printp_at (14,0, PSTR("ok"), 0);
else
lcd_printp_at (14,0, PSTR(" "), 0);
// lcd_write_number_u_at (11, 1, UBX_buffer[47]);
write_ndigit_number_u (11, 1, UBX_buffer[47], 2,0,0);
uint16_t acc = (uint16_t)join_4_bytes(&UBX_buffer[24]);
write_ndigit_number_u (11, 2, acc, 5, 0,0);
lcd_printp_at (17,2, PSTR("cm"), 0);
uint16_t pdop = UBX_buffer[44]+UBX_buffer[45]*255;
write_ndigit_number_u (11, 3, pdop/100, 2, 0,0);
lcd_printp_at (13,3, PSTR("."), 0);
write_ndigit_number_u (14, 3, (pdop % 100),2, 1,0);
}
if((UBX_class == 1) && (UBX_id == 18)) //VELNED
{
uint16_t speed = (uint16_t)((join_4_bytes(&UBX_buffer[20])*60*60)/100000);
write_ndigit_number_u (11, 4, speed, 3, 0,0);
lcd_printp_at (15,4, PSTR("km/h"), 0);
}
if((UBX_class == 1) && (UBX_id == 2)) //POSLLH
{
uint32_t lon = join_4_bytes(&UBX_buffer[4]);
write_ndigit_number_u (10, 5, (uint16_t)(lon/10000000), 2, 0,0);
lcd_printp_at (12,5, PSTR("."), 0);
write_ndigit_number_u (13, 5, (uint16_t)((lon/1000) % 10000), 4, 1,0);
write_ndigit_number_u (17, 5, (uint16_t)((lon/10) % 100), 2, 1,0);
uint32_t lat = join_4_bytes(&UBX_buffer[8]);
write_ndigit_number_u (10, 6, (uint16_t)(lat/10000000), 2, 0,0);
lcd_printp_at (12,6, PSTR("."), 0);
write_ndigit_number_u (13, 6, (uint16_t)((lat/1000) % 10000), 4, 1,0);
write_ndigit_number_u (17, 6, (uint16_t)((lat/10) % 100), 2, 1,0);
uint16_t height = (uint16_t)(join_4_bytes(&UBX_buffer[16])/1000);
write_ndigit_number_u (11, 7, height, 4, 0,0);
lcd_printp_at (16,7, PSTR("m"), 0);
}
}
}
//--------------------------------------------------------------
union long_union
{
uint32_t dword;
uint8_t byte[4];
} longUnion;
//--------------------------------------------------------------
union int_union
{
uint16_t dword;
uint8_t byte[2];
} intUnion;
//--------------------------------------------------------------
uint32_t join_4_bytes(uint8_t Buffer[])
{
longUnion.byte[0] = *Buffer;
longUnion.byte[1] = *(Buffer+1);
longUnion.byte[2] = *(Buffer+2);
longUnion.byte[3] = *(Buffer+3);
return (longUnion.dword);
}
//--------------------------------------------------------------
void checksum(uint8_t data)
{
ck_a += data;
ck_b += ck_a;
}
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/gps/gps.h
0,0 → 1,40
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef _GPS_H
#define _GPS_H
void gps (void);
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/lcd/.directory
0,0 → 1,3
[Dolphin]
Timestamp=2013,3,7,9,13,59
ViewMode=1

/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/lcd/Font8x8.c
0,0 → 1,273
/*
* font8x8.c
* LCD-OSD
*
* Created by Peter Mack on 26.12.09.
* Copyright 2009 SCS GmbH & Co. KG. All rights reserved.
*
*/
#include <avr/pgmspace.h>
const uint8_t Font8x8[256][8]PROGMEM=
{
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // 0x00
{0x7E,0x81,0x95,0xB1,0xB1,0x95,0x81,0x7E}, // 0x01
{0x7E,0xFF,0xEB,0xCF,0xCF,0xEB,0xFF,0x7E}, // 0x02
{0x0E,0x1F,0x3F,0x7E,0x3F,0x1F,0x0E,0x00}, // 0x03
{0x08,0x1C,0x3E,0x7F,0x3E,0x1C,0x08,0x00}, // 0x04
{0x38,0x3A,0x9F,0xFF,0x9F,0x3A,0x38,0x00}, // 0x05
{0x10,0x38,0xBC,0xFF,0xBC,0x38,0x10,0x00}, // 0x06
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // 0x07
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // 0x08
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // 0x09
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // 0x0A
{0x70,0xF8,0x88,0x88,0xFD,0x7F,0x07,0x0F}, // 0x0B
{0x00,0x4E,0x5F,0xF1,0xF1,0x5F,0x4E,0x00}, // 0x0C
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // 0x0D
{0xC0,0xFF,0x7F,0x05,0x05,0x65,0x7F,0x3F}, // 0x0E
{0x99,0x5A,0x3C,0xE7,0xE7,0x3C,0x5A,0x99}, // 0x0F
{0x7F,0x3E,0x3E,0x1C,0x1C,0x08,0x08,0x00}, // 0x10
{0x08,0x08,0x1C,0x1C,0x3E,0x3E,0x7F,0x00}, // 0x11
{0x00,0x24,0x66,0xFF,0xFF,0x66,0x24,0x00}, // 0x12
{0x00,0x5F,0x5F,0x00,0x00,0x5F,0x5F,0x00}, // 0x13
{0x06,0x0F,0x09,0x7F,0x7F,0x01,0x7F,0x7F}, // 0x14
{0xDA,0xBF,0xA5,0xA5,0xFD,0x59,0x03,0x02}, // 0x15
{0x00,0x70,0x70,0x70,0x70,0x70,0x70,0x00}, // 0x16
{0x80,0x94,0xB6,0xFF,0xFF,0xB6,0x94,0x80}, // 0x17
{0x00,0x04,0x06,0x7F,0x7F,0x06,0x04,0x00}, // 0x18
{0x00,0x10,0x30,0x7F,0x7F,0x30,0x10,0x00}, // 0x19
{0x08,0x08,0x08,0x2A,0x3E,0x1C,0x08,0x00}, // 0x1A
{0x08,0x1C,0x3E,0x2A,0x08,0x08,0x08,0x00}, // 0x1B
{0x3C,0x3C,0x20,0x20,0x20,0x20,0x20,0x00}, // 0x1C
{0x08,0x1C,0x3E,0x08,0x08,0x3E,0x1C,0x08}, // 0x1D
{0x30,0x38,0x3C,0x3E,0x3E,0x3C,0x38,0x30}, // 0x1E
{0x06,0x0E,0x1E,0x3E,0x3E,0x1E,0x0E,0x06}, // 0x1F
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // 0x20
{0x00,0x06,0x5F,0x5F,0x06,0x00,0x00,0x00}, // 0x21
{0x00,0x07,0x07,0x00,0x07,0x07,0x00,0x00}, // 0x22
{0x14,0x7F,0x7F,0x14,0x7F,0x7F,0x14,0x00}, // 0x23
{0x24,0x2E,0x6B,0x6B,0x3A,0x12,0x00,0x00}, // 0x24
{0x46,0x66,0x30,0x18,0x0C,0x66,0x62,0x00}, // 0x25
{0x30,0x7A,0x4F,0x5D,0x37,0x7A,0x48,0x00}, // 0x26
{0x04,0x07,0x03,0x00,0x00,0x00,0x00,0x00}, // 0x27
{0x00,0x1C,0x3E,0x63,0x41,0x00,0x00,0x00}, // 0x28
{0x00,0x41,0x63,0x3E,0x1C,0x00,0x00,0x00}, // 0x29
{0x08,0x2A,0x3E,0x1C,0x1C,0x3E,0x2A,0x08}, // 0x2A
{0x08,0x08,0x3E,0x3E,0x08,0x08,0x00,0x00}, // 0x2B
{0x00,0xA0,0xE0,0x60,0x00,0x00,0x00,0x00}, // 0x2C
{0x08,0x08,0x08,0x08,0x08,0x08,0x00,0x00}, // 0x2D
{0x00,0x00,0x60,0x60,0x00,0x00,0x00,0x00}, // 0x2E
{0x60,0x30,0x18,0x0C,0x06,0x03,0x01,0x00}, // 0x2F
{0x3E,0x7F,0x59,0x4D,0x7F,0x3E,0x00,0x00}, // 0x30
{0x42,0x42,0x7F,0x7F,0x40,0x40,0x00,0x00}, // 0x31
{0x62,0x73,0x59,0x49,0x6F,0x66,0x00,0x00}, // 0x32
{0x22,0x63,0x49,0x49,0x7F,0x36,0x00,0x00}, // 0x33
{0x18,0x1C,0x16,0x13,0x7F,0x7F,0x10,0x00}, // 0x34
{0x27,0x67,0x45,0x45,0x7D,0x39,0x00,0x00}, // 0x35
{0x3C,0x7E,0x4B,0x49,0x79,0x30,0x00,0x00}, // 0x36
{0x03,0x63,0x71,0x19,0x0F,0x07,0x00,0x00}, // 0x37
{0x36,0x7F,0x49,0x49,0x7F,0x36,0x00,0x00}, // 0x38
{0x06,0x4F,0x49,0x69,0x3F,0x1E,0x00,0x00}, // 0x39
{0x00,0x00,0x6C,0x6C,0x00,0x00,0x00,0x00}, // 0x3A
{0x00,0xA0,0xEC,0x6C,0x00,0x00,0x00,0x00}, // 0x3B
{0x08,0x1C,0x36,0x63,0x41,0x00,0x00,0x00}, // 0x3C
{0x14,0x14,0x14,0x14,0x14,0x14,0x00,0x00}, // 0x3D
{0x00,0x41,0x63,0x36,0x1C,0x08,0x00,0x00}, // 0x3E
{0x02,0x03,0x51,0x59,0x0F,0x06,0x00,0x00}, // 0x3F
{0x3E,0x7F,0x41,0x5D,0x5D,0x1F,0x1E,0x00}, // 0x40
{0x7C,0x7E,0x13,0x13,0x7E,0x7C,0x00,0x00}, // 0x41
{0x41,0x7F,0x7F,0x49,0x49,0x7F,0x36,0x00}, // 0x42
{0x1C,0x3E,0x63,0x41,0x41,0x63,0x22,0x00}, // 0x43
{0x41,0x7F,0x7F,0x41,0x63,0x7F,0x1C,0x00}, // 0x44
{0x41,0x7F,0x7F,0x49,0x5D,0x41,0x63,0x00}, // 0x45
{0x41,0x7F,0x7F,0x49,0x1D,0x01,0x03,0x00}, // 0x46
{0x1C,0x3E,0x63,0x41,0x51,0x73,0x72,0x00}, // 0x47
{0x7F,0x7F,0x08,0x08,0x7F,0x7F,0x00,0x00}, // 0x48
{0x00,0x41,0x7F,0x7F,0x41,0x00,0x00,0x00}, // 0x49
{0x30,0x70,0x40,0x41,0x7F,0x3F,0x01,0x00}, // 0x4A
{0x41,0x7F,0x7F,0x08,0x1C,0x77,0x63,0x00}, // 0x4B
{0x41,0x7F,0x7F,0x41,0x40,0x60,0x70,0x00}, // 0x4C
{0x7F,0x7F,0x06,0x0C,0x06,0x7F,0x7F,0x00}, // 0x4D
{0x7F,0x7F,0x06,0x0C,0x18,0x7F,0x7F,0x00}, // 0x4E
{0x1C,0x3E,0x63,0x41,0x63,0x3E,0x1C,0x00}, // 0x4F
{0x41,0x7F,0x7F,0x49,0x09,0x0F,0x06,0x00}, // 0x50
{0x1E,0x3F,0x21,0x71,0x7F,0x5E,0x00,0x00}, // 0x51
{0x41,0x7F,0x7F,0x19,0x39,0x6F,0x46,0x00}, // 0x52
{0x26,0x67,0x4D,0x59,0x7B,0x32,0x00,0x00}, // 0x53
{0x03,0x41,0x7F,0x7F,0x41,0x03,0x00,0x00}, // 0x54
{0x7F,0x7F,0x40,0x40,0x7F,0x7F,0x00,0x00}, // 0x55
{0x1F,0x3F,0x60,0x60,0x3F,0x1F,0x00,0x00}, // 0x56
{0x7F,0x7F,0x30,0x18,0x30,0x7F,0x7F,0x00}, // 0x57
{0x63,0x77,0x1C,0x08,0x1C,0x77,0x63,0x00}, // 0x58
{0x07,0x4F,0x78,0x78,0x4F,0x07,0x00,0x00}, // 0x59
{0x67,0x73,0x59,0x4D,0x47,0x63,0x71,0x00}, // 0x5A
{0x00,0x7F,0x7F,0x41,0x41,0x00,0x00,0x00}, // 0x5B
{0x01,0x03,0x06,0x0C,0x18,0x30,0x60,0x00}, // 0x5C
{0x00,0x41,0x41,0x7F,0x7F,0x00,0x00,0x00}, // 0x5D
{0x08,0x0C,0x06,0x03,0x06,0x0C,0x08,0x00}, // 0x5E
{0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80}, // 0x5F
{0x00,0x00,0x03,0x07,0x04,0x00,0x00,0x00}, // 0x60
{0x20,0x74,0x54,0x54,0x3C,0x78,0x40,0x00}, // 0x61
{0x41,0x3F,0x7F,0x44,0x44,0x7C,0x38,0x00}, // 0x62
{0x38,0x7C,0x44,0x44,0x6C,0x28,0x00,0x00}, // 0x63
{0x30,0x78,0x48,0x49,0x3F,0x7F,0x40,0x00}, // 0x64
{0x38,0x7C,0x54,0x54,0x5C,0x18,0x00,0x00}, // 0x65
{0x48,0x7E,0x7F,0x49,0x03,0x02,0x00,0x00}, // 0x66
{0x98,0xBC,0xA4,0xA4,0xF8,0x7C,0x04,0x00}, // 0x67
{0x41,0x7F,0x7F,0x08,0x04,0x7C,0x78,0x00}, // 0x68
{0x00,0x44,0x7D,0x7D,0x40,0x00,0x00,0x00}, // 0x69
{0x40,0xC4,0x84,0xFD,0x7D,0x00,0x00,0x00}, // 0x6A
{0x41,0x7F,0x7F,0x10,0x38,0x6C,0x44,0x00}, // 0x6B
{0x00,0x41,0x7F,0x7F,0x40,0x00,0x00,0x00}, // 0x6C
{0x7C,0x7C,0x0C,0x18,0x0C,0x7C,0x78,0x00}, // 0x6D
{0x7C,0x7C,0x04,0x04,0x7C,0x78,0x00,0x00}, // 0x6E
{0x38,0x7C,0x44,0x44,0x7C,0x38,0x00,0x00}, // 0x6F
{0x84,0xFC,0xF8,0xA4,0x24,0x3C,0x18,0x00}, // 0x70
{0x18,0x3C,0x24,0xA4,0xF8,0xFC,0x84,0x00}, // 0x71
{0x44,0x7C,0x78,0x44,0x1C,0x18,0x00,0x00}, // 0x72
{0x48,0x5C,0x54,0x54,0x74,0x24,0x00,0x00}, // 0x73
{0x00,0x04,0x3E,0x7F,0x44,0x24,0x00,0x00}, // 0x74
{0x3C,0x7C,0x40,0x40,0x3C,0x7C,0x40,0x00}, // 0x75
{0x1C,0x3C,0x60,0x60,0x3C,0x1C,0x00,0x00}, // 0x76
{0x3C,0x7C,0x60,0x30,0x60,0x7C,0x3C,0x00}, // 0x77
{0x44,0x6C,0x38,0x10,0x38,0x6C,0x44,0x00}, // 0x78
{0x9C,0xBC,0xA0,0xA0,0xFC,0x7C,0x00,0x00}, // 0x79
{0x4C,0x64,0x74,0x5C,0x4C,0x64,0x00,0x00}, // 0x7A
{0x08,0x08,0x3E,0x77,0x41,0x41,0x00,0x00}, // 0x7B
{0x00,0x00,0x00,0x77,0x77,0x00,0x00,0x00}, // 0x7C
{0x41,0x41,0x77,0x3E,0x08,0x08,0x00,0x00}, // 0x7D
{0x02,0x03,0x01,0x03,0x02,0x03,0x01,0x00}, // 0x7E
{0x78,0x7C,0x46,0x43,0x46,0x7C,0x78,0x00}, // 0x7F
{0x1E,0xBF,0xE1,0x61,0x33,0x12,0x00,0x00}, // 0x80
{0x3A,0x7A,0x40,0x40,0x7A,0x7A,0x40,0x00}, // 0x81
{0x38,0x7C,0x56,0x57,0x5D,0x18,0x00,0x00}, // 0x82
{0x02,0x23,0x75,0x55,0x55,0x7D,0x7B,0x42}, // 0x83
{0x21,0x75,0x54,0x54,0x7D,0x79,0x40,0x00}, // 0x84
{0x20,0x75,0x57,0x56,0x7C,0x78,0x40,0x00}, // 0x85
{0x00,0x22,0x77,0x55,0x55,0x7F,0x7A,0x40}, // 0x86
{0x1C,0xBE,0xE2,0x62,0x36,0x14,0x00,0x00}, // 0x87
{0x02,0x3B,0x7D,0x55,0x55,0x5D,0x1B,0x02}, // 0x88
{0x39,0x7D,0x54,0x54,0x5D,0x19,0x00,0x00}, // 0x89
{0x38,0x7D,0x57,0x56,0x5C,0x18,0x00,0x00}, // 0x8A
{0x01,0x45,0x7C,0x7C,0x41,0x01,0x00,0x00}, // 0x8B
{0x02,0x03,0x45,0x7D,0x7D,0x43,0x02,0x00}, // 0x8C
{0x00,0x45,0x7F,0x7E,0x40,0x00,0x00,0x00}, // 0x8D
{0x79,0x7D,0x26,0x26,0x7D,0x79,0x00,0x00}, // 0x8E
{0x70,0x7A,0x2D,0x2D,0x7A,0x70,0x00,0x00}, // 0x8F
{0x44,0x7C,0x7E,0x57,0x55,0x44,0x00,0x00}, // 0x90
{0x20,0x74,0x54,0x54,0x7C,0x7C,0x54,0x54}, // 0x91
{0x7C,0x7E,0x0B,0x09,0x7F,0x7F,0x49,0x00}, // 0x92
{0x32,0x7B,0x49,0x49,0x7B,0x32,0x00,0x00}, // 0x93
{0x32,0x7A,0x48,0x48,0x7A,0x32,0x00,0x00}, // 0x94
{0x30,0x79,0x4B,0x4A,0x78,0x30,0x00,0x00}, // 0x95
{0x3A,0x7B,0x41,0x41,0x7B,0x7A,0x40,0x00}, // 0x96
{0x38,0x79,0x43,0x42,0x78,0x78,0x40,0x00}, // 0x97
{0xBA,0xBA,0xA0,0xA0,0xFA,0x7A,0x00,0x00}, // 0x98
{0x39,0x7D,0x44,0x44,0x44,0x7D,0x39,0x00}, // 0x99
{0x3D,0x7D,0x40,0x40,0x7D,0x3D,0x00,0x00}, // 0x9A
{0x38,0x7C,0x64,0x54,0x4C,0x7C,0x38,0x00}, // 0x9B
{0x68,0x7E,0x7F,0x49,0x43,0x66,0x20,0x00}, // 0x9C
{0x5C,0x3E,0x73,0x49,0x67,0x3E,0x1D,0x00}, // 0x9D
{0x44,0x6C,0x38,0x38,0x6C,0x44,0x00,0x00}, // 0x9E
{0x40,0xC8,0x88,0xFE,0x7F,0x09,0x0B,0x02}, // 0x9F
{0x20,0x74,0x56,0x57,0x7D,0x78,0x40,0x00}, // 0xA0
{0x00,0x44,0x7E,0x7F,0x41,0x00,0x00,0x00}, // 0xA1
{0x30,0x78,0x48,0x4A,0x7B,0x31,0x00,0x00}, // 0xA2
{0x38,0x78,0x40,0x42,0x7B,0x79,0x40,0x00}, // 0xA3
{0x7A,0x7B,0x09,0x0B,0x7A,0x73,0x01,0x00}, // 0xA4
{0x7A,0x7B,0x19,0x33,0x7A,0x7B,0x01,0x00}, // 0xA5
{0x00,0x26,0x2F,0x29,0x2F,0x2F,0x28,0x00}, // 0xA6
{0x00,0x26,0x2F,0x29,0x29,0x2F,0x26,0x00}, // 0xA7
{0x30,0x78,0x4D,0x45,0x60,0x20,0x00,0x00}, // 0xA8
{0x1C,0x22,0x7D,0x4B,0x5B,0x65,0x22,0x1C}, // 0xA9
{0x08,0x08,0x08,0x08,0x38,0x38,0x00,0x00}, // 0xAA
{0x61,0x3F,0x1F,0xCC,0xEE,0xAB,0xB9,0x90}, // 0xAB
{0x61,0x3F,0x1F,0x4C,0x66,0x73,0xD9,0xF8}, // 0xAC
{0x00,0x00,0x60,0xFA,0xFA,0x60,0x00,0x00}, // 0xAD
{0x08,0x1C,0x36,0x22,0x08,0x1C,0x36,0x22}, // 0xAE
{0x22,0x36,0x1C,0x08,0x22,0x36,0x1C,0x08}, // 0xAF
{0xAA,0x00,0x55,0x00,0xAA,0x00,0x55,0x00}, // 0xB0
{0xAA,0x55,0xAA,0x55,0xAA,0x55,0xAA,0x55}, // 0xB1
{0x55,0xFF,0xAA,0xFF,0x55,0xFF,0xAA,0xFF}, // 0xB2
{0x00,0x00,0x00,0xFF,0xFF,0x00,0x00,0x00}, // 0xB3
{0x10,0x10,0x10,0xFF,0xFF,0x00,0x00,0x00}, // 0xB4
{0x70,0x78,0x2C,0x2E,0x7B,0x71,0x00,0x00}, // 0xB5
{0x72,0x79,0x2D,0x2D,0x79,0x72,0x00,0x00}, // 0xB6
{0x71,0x7B,0x2E,0x2C,0x78,0x70,0x00,0x00}, // 0xB7
{0x1C,0x22,0x5D,0x55,0x55,0x41,0x22,0x1C}, // 0xB8
{0x14,0x14,0xF7,0xF7,0x00,0xFF,0xFF,0x00}, // 0xB9
{0x00,0x00,0xFF,0xFF,0x00,0xFF,0xFF,0x00}, // 0xBA
{0x14,0x14,0xF4,0xF4,0x04,0xFC,0xFC,0x00}, // 0xBB
{0x14,0x14,0x17,0x17,0x10,0x1F,0x1F,0x00}, // 0xBC
{0x18,0x3C,0x24,0xE7,0xE7,0x24,0x24,0x00}, // 0xBD
{0x2B,0x2F,0xFC,0xFC,0x2F,0x2B,0x00,0x00}, // 0xBE
{0x10,0x10,0x10,0xF0,0xF0,0x00,0x00,0x00}, // 0xBF
{0x00,0x00,0x00,0x1F,0x1F,0x10,0x10,0x10}, // 0xC0
{0x10,0x10,0x10,0x1F,0x1F,0x10,0x10,0x10}, // 0xC1
{0x10,0x10,0x10,0xF0,0xF0,0x10,0x10,0x10}, // 0xC2
{0x00,0x00,0x00,0xFF,0xFF,0x10,0x10,0x10}, // 0xC3
{0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10}, // 0xC4
{0x10,0x10,0x10,0xFF,0xFF,0x10,0x10,0x10}, // 0xC5
{0x22,0x77,0x55,0x57,0x7E,0x7B,0x41,0x00}, // 0xC6
{0x72,0x7B,0x2D,0x2F,0x7A,0x73,0x01,0x00}, // 0xC7
{0x00,0x00,0x1F,0x1F,0x10,0x17,0x17,0x14}, // 0xC8
{0x00,0x00,0xFC,0xFC,0x04,0xF4,0xF4,0x14}, // 0xC9
{0x14,0x14,0x17,0x17,0x10,0x17,0x17,0x14}, // 0xCA
{0x14,0x14,0xF4,0xF4,0x04,0xF4,0xF4,0x14}, // 0xCB
{0x00,0x00,0xFF,0xFF,0x00,0xF7,0xF7,0x14}, // 0xCC
{0x14,0x14,0x14,0x14,0x14,0x14,0x14,0x14}, // 0xCD
{0x14,0x14,0xF7,0xF7,0x00,0xF7,0xF7,0x14}, // 0xCE
{0x66,0x3C,0x3C,0x24,0x3C,0x3C,0x66,0x00}, // 0xCF
{0x05,0x27,0x72,0x57,0x7D,0x38,0x00,0x00}, // 0xD0
{0x49,0x7F,0x7F,0x49,0x63,0x7F,0x1C,0x00}, // 0xD1
{0x46,0x7D,0x7D,0x55,0x55,0x46,0x00,0x00}, // 0xD2
{0x45,0x7D,0x7C,0x54,0x55,0x45,0x00,0x00}, // 0xD3
{0x44,0x7D,0x7F,0x56,0x54,0x44,0x00,0x00}, // 0xD4
{0x0A,0x0E,0x08,0x00,0x00,0x00,0x00,0x00}, // 0xD5
{0x00,0x44,0x7E,0x7F,0x45,0x00,0x00,0x00}, // 0xD6
{0x02,0x45,0x7D,0x7D,0x45,0x02,0x00,0x00}, // 0xD7
{0x01,0x45,0x7C,0x7C,0x45,0x01,0x00,0x00}, // 0xD8
{0x10,0x10,0x10,0x1F,0x1F,0x00,0x00,0x00}, // 0xD9
{0x00,0x00,0x00,0xF0,0xF0,0x10,0x10,0x10}, // 0xDA
{0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF}, // 0xDB
{0xF0,0xF0,0xF0,0xF0,0xF0,0xF0,0xF0,0xF0}, // 0xDC
{0x00,0x00,0x00,0x77,0x77,0x00,0x00,0x00}, // 0xDD
{0x00,0x45,0x7F,0x7E,0x44,0x00,0x00,0x00}, // 0xDE
{0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F}, // 0xDF
{0x38,0x7C,0x46,0x47,0x45,0x7C,0x38,0x00}, // 0xE0
{0xFC,0xFE,0x2A,0x2A,0x3E,0x14,0x00,0x00}, // 0xE1
{0x3A,0x7D,0x45,0x45,0x45,0x7D,0x3A,0x00}, // 0xE2
{0x38,0x7C,0x45,0x47,0x46,0x7C,0x38,0x00}, // 0xE3
{0x32,0x7B,0x49,0x4B,0x7A,0x33,0x01,0x00}, // 0xE4
{0x3A,0x7F,0x45,0x47,0x46,0x7F,0x39,0x00}, // 0xE5
{0x80,0xFE,0x7E,0x20,0x20,0x3E,0x1E,0x00}, // 0xE6
{0x42,0x7E,0x7E,0x54,0x1C,0x08,0x00,0x00}, // 0xE7
{0x41,0x7F,0x7F,0x55,0x14,0x1C,0x08,0x00}, // 0xE8
{0x3C,0x7C,0x42,0x43,0x7D,0x3C,0x00,0x00}, // 0xE9
{0x3A,0x79,0x41,0x41,0x79,0x3A,0x00,0x00}, // 0xEA
{0x3C,0x7D,0x43,0x42,0x7C,0x3C,0x00,0x00}, // 0xEB
{0xB8,0xB8,0xA2,0xA3,0xF9,0x78,0x00,0x00}, // 0xEC
{0x0C,0x5C,0x72,0x73,0x5D,0x0C,0x00,0x00}, // 0xED
{0x02,0x02,0x02,0x02,0x02,0x02,0x00,0x00}, // 0xEE
{0x00,0x00,0x02,0x03,0x01,0x00,0x00,0x00}, // 0xEF
{0x10,0x10,0x10,0x10,0x10,0x10,0x00,0x00}, // 0xF0
{0x44,0x44,0x5F,0x5F,0x44,0x44,0x00,0x00}, // 0xF1
{0x28,0x28,0x28,0x28,0x28,0x28,0x00,0x00}, // 0xF2
{0x71,0x35,0x1F,0x4C,0x66,0x73,0xD9,0xF8}, // 0xF3
{0x06,0x0F,0x09,0x7F,0x7F,0x01,0x7F,0x7F}, // 0xF4
{0xDA,0xBF,0xA5,0xA5,0xFD,0x59,0x03,0x02}, // 0xF5
{0x08,0x08,0x6B,0x6B,0x08,0x08,0x00,0x00}, // 0xF6
{0x00,0x80,0xC0,0x40,0x00,0x00,0x00,0x00}, // 0xF7
{0x00,0x06,0x0F,0x09,0x0F,0x06,0x00,0x00}, // 0xF8
{0x02,0x02,0x00,0x00,0x02,0x02,0x00,0x00}, // 0xF9
{0x00,0x00,0x00,0x10,0x10,0x00,0x00,0x00}, // 0xFA
{0x00,0x12,0x13,0x1F,0x1F,0x10,0x10,0x00}, // 0xFB
{0x00,0x11,0x15,0x15,0x1F,0x1F,0x0A,0x00}, // 0xFC
{0x00,0x19,0x1D,0x15,0x17,0x12,0x00,0x00}, // 0xFD
{0x00,0x00,0x3C,0x3C,0x3C,0x3C,0x00,0x00}, // 0xFE
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00} // 0xFF
};
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/lcd/Font8x8.h
0,0 → 1,31
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* - font provided by Claas Anders "CaScAdE" Rathje *
* - umlauts and special characters by Peter "woggle" Mack *
* *
* 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. *
* *
*****************************************************************************/
#ifndef _FONT8X8_H
#define _FONT8X8_H
#include <avr/pgmspace.h>
extern const uint8_t Font8x8[256][8];
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/lcd/font8x6.c
0,0 → 1,172
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* - font provided by Claas Anders "CaScAdE" Rathje *
* - umlauts and special characters by Peter "woggle" Mack *
* *
* 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. *
* *
*****************************************************************************/
#include <avr/pgmspace.h>
// one byte is a column
// bit 7 is the bottom
//
// 123456
// L 1 | XXX |
// O 2 |X X |
// W 4 |X X |
// 8 | XXX |
// H 1 |X X |
// I 2 |X X |
// G 4 | XXX |
// H 8 | |
//
// 0x36,0x49,0x49,0x49,0x36,0x00
//
//prog_uint8_t font8x6[128][6] = // führt zu Fehler mit AVR-GCC 4.5.1 21.2.2012 Cebra
const uint8_t font8x6[128][6] PROGMEM =
{
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 0 00 (not useable)
{ 0x78,0x15,0x14,0x15,0x78,0x00 }, // ASCII - 1 01 'Ä'
{ 0x20,0x55,0x54,0x55,0x78,0x00 }, // ASCII - 2 02 'ä'
{ 0x38,0x45,0x44,0x45,0x38,0x00 }, // ASCII - 3 03 'Ö'
{ 0x30,0x49,0x48,0x49,0x30,0x00 }, // ASCII - 4 04 'ö'
{ 0x3c,0x41,0x40,0x41,0x3c,0x00 }, // ASCII - 5 05 'Ü'
{ 0x38,0x41,0x40,0x21,0x78,0x00 }, // ASCII - 6 06 'ü'
{ 0x7e,0x15,0x15,0x15,0x0a,0x00 }, // ASCII - 7 07 'ß'
{ 0x22,0x17,0x0F,0x17,0x22,0x00 }, // ASCII - 8 08 SAT Symbol
{ 0x00,0x84,0x82,0xFF,0x82,0x84 }, // ASCII - 9 09 Altitude Symbol
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 10 0A (not useable)
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 11 0B
{ 0x10,0x38,0x54,0x10,0x10,0x1e }, // ASCII - 12 0C Enter Symbol
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 13 0D (not useable)
{ 0x10,0x10,0x10,0x10,0x10,0x10 }, // ASCII - 14 0E hor. line
{ 0x10,0x10,0x10,0x7c,0x10,0x10 }, // ASCII - 15 0F hor. line with tick mark
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 16 10
{ 0x08,0x14,0x00,0x00,0x14,0x08 }, // ASCII - 17 11 <> Change
{ 0x10,0x08,0x04,0x04,0x08,0x10 }, // ASCII - 18 12 /\ Up
{ 0x08,0x10,0x20,0x20,0x10,0x08 }, // ASCII - 19 13 \/ Down
{ 0x00,0x08,0x14,0x22,0x41,0x00 }, // ASCII - 20 14 < Left
{ 0x00,0x41,0x22,0x14,0x08,0x00 }, // ASCII - 21 15 > Right
{ 0x04,0x02,0x7f,0x02,0x04,0x00 }, // ASCII - 22 16 /|\ Arrow up
{ 0x10,0x20,0x7f,0x20,0x10,0x00 }, // ASCII - 23 17 \|/ Arrow down
{ 0x10,0x38,0x54,0x10,0x10,0x10 }, // ASCII - 24 18 <- Arrow left
{ 0x10,0x10,0x10,0x54,0x38,0x10 }, // ASCII - 25 19 -> Arrow right
{ 0x10,0x18,0x1c,0x1c,0x18,0x10 }, // ASCII - 26 1A ^ Triangle up
{ 0x08,0x18,0x38,0x38,0x18,0x08 }, // ASCII - 27 1B v Triangle down
{ 0x00,0x08,0x1c,0x3e,0x7f,0x00 }, // ASCII - 28 1C < Triangle left
{ 0x00,0x7f,0x3e,0x1c,0x08,0x00 }, // ASCII - 29 1D > Triangle right
{ 0x06,0x09,0x09,0x09,0x06,0x00 }, // ASCII - 30 1E '°'
{ 0x06,0x49,0x7d,0x49,0x06,0x00 }, // ASCII - 31 1F Antenne
{ 0x00,0x00,0x00,0x00,0x00,0x00 }, // ASCII - 32 20 ' '
{ 0x00,0x00,0x2f,0x00,0x00,0x00 }, // ASCII - 33 21 '!'
{ 0x00,0x07,0x00,0x07,0x00,0x00 }, // ASCII - 34 22 '"'
{ 0x14,0x7f,0x14,0x7f,0x14,0x00 }, // ASCII - 35 23 '#'
{ 0x24,0x2a,0x6b,0x2a,0x12,0x00 }, // ASCII - 36 24 '$'
{ 0x23,0x13,0x08,0x64,0x62,0x00 }, // ASCII - 37 25 '%'
{ 0x36,0x49,0x55,0x22,0x50,0x00 }, // ASCII - 38 26 '&'
{ 0x00,0x05,0x03,0x00,0x00,0x00 }, // ASCII - 39 27 '''
{ 0x00,0x1c,0x22,0x41,0x00,0x00 }, // ASCII - 40 28 '('
{ 0x00,0x41,0x22,0x1c,0x00,0x00 }, // ASCII - 41 29 ')'
{ 0x14,0x08,0x3e,0x08,0x14,0x00 }, // ASCII - 42 2a '*'
{ 0x08,0x08,0x3e,0x08,0x08,0x00 }, // ASCII - 43 2b '+'
{ 0x00,0x50,0x30,0x00,0x00,0x00 }, // ASCII - 44 2c ','
{ 0x08,0x08,0x08,0x08,0x08,0x00 }, // ASCII - 45 2d '-'
{ 0x00,0x60,0x60,0x00,0x00,0x00 }, // ASCII - 46 2e '.'
{ 0x20,0x10,0x08,0x04,0x02,0x00 }, // ASCII - 47 2f '/'
{ 0x3e,0x51,0x49,0x45,0x3e,0x00 }, // ASCII - 48 30 '0'
{ 0x00,0x42,0x7f,0x40,0x00,0x00 }, // ASCII - 49 31 '1'
{ 0x42,0x61,0x51,0x49,0x46,0x00 }, // ASCII - 50 32 '2'
{ 0x21,0x41,0x45,0x4b,0x31,0x00 }, // ASCII - 51 33 '3'
{ 0x18,0x14,0x12,0x7f,0x10,0x00 }, // ASCII - 52 34 '4'
{ 0x27,0x45,0x45,0x45,0x39,0x00 }, // ASCII - 53 35 '5'
{ 0x3c,0x4a,0x49,0x49,0x30,0x00 }, // ASCII - 54 36 '6'
{ 0x03,0x01,0x71,0x09,0x07,0x00 }, // ASCII - 55 37 '7'
{ 0x36,0x49,0x49,0x49,0x36,0x00 }, // ASCII - 56 38 '8'
{ 0x06,0x49,0x49,0x29,0x1e,0x00 }, // ASCII - 57 39 '9'
{ 0x00,0x36,0x36,0x00,0x00,0x00 }, // ASCII - 58 3a ':'
{ 0x00,0x56,0x36,0x00,0x00,0x00 }, // ASCII - 59 3b ';'
{ 0x08,0x14,0x22,0x41,0x00,0x00 }, // ASCII - 60 3c '<'
{ 0x14,0x14,0x14,0x14,0x14,0x00 }, // ASCII - 61 3d '='
{ 0x00,0x41,0x22,0x14,0x08,0x00 }, // ASCII - 62 3e '>'
{ 0x02,0x01,0x51,0x09,0x06,0x00 }, // ASCII - 63 3f '?'
{ 0x32,0x49,0x79,0x41,0x3e,0x00 }, // ASCII - 64 40 '@'
{ 0x7e,0x11,0x11,0x11,0x7e,0x00 }, // ASCII - 65 41 'A'
{ 0x7f,0x49,0x49,0x49,0x36,0x00 }, // ASCII - 66 42 'B'
{ 0x3e,0x41,0x41,0x41,0x22,0x00 }, // ASCII - 67 43 'C'
{ 0x7f,0x41,0x41,0x22,0x1c,0x00 }, // ASCII - 68 44 'D'
{ 0x7f,0x49,0x49,0x49,0x41,0x00 }, // ASCII - 69 45 'E'
{ 0x7f,0x09,0x09,0x09,0x01,0x00 }, // ASCII - 70 46 'F'
{ 0x3e,0x41,0x49,0x49,0x7a,0x00 }, // ASCII - 71 47 'G'
{ 0x7f,0x08,0x08,0x08,0x7f,0x00 }, // ASCII - 72 48 'H'
{ 0x00,0x41,0x7f,0x41,0x00,0x00 }, // ASCII - 73 49 'I'
{ 0x20,0x40,0x41,0x3f,0x01,0x00 }, // ASCII - 74 4a 'J'
{ 0x7f,0x08,0x14,0x22,0x41,0x00 }, // ASCII - 75 4b 'K'
{ 0x7f,0x40,0x40,0x40,0x40,0x00 }, // ASCII - 76 4c 'L'
{ 0x7f,0x02,0x0c,0x02,0x7f,0x00 }, // ASCII - 77 4d 'M'
{ 0x7f,0x04,0x08,0x10,0x7f,0x00 }, // ASCII - 78 4e 'N'
{ 0x3e,0x41,0x41,0x41,0x3e,0x00 }, // ASCII - 79 4f 'O'
{ 0x7f,0x09,0x09,0x09,0x06,0x00 }, // ASCII - 80 50 'P'
{ 0x3e,0x41,0x51,0x21,0x5e,0x00 }, // ASCII - 81 51 'Q'
{ 0x7f,0x09,0x19,0x29,0x46,0x00 }, // ASCII - 82 52 'R'
{ 0x46,0x49,0x49,0x49,0x31,0x00 }, // ASCII - 83 53 'S'
{ 0x01,0x01,0x7f,0x01,0x01,0x00 }, // ASCII - 84 54 'T'
{ 0x3f,0x40,0x40,0x40,0x3f,0x00 }, // ASCII - 85 55 'U'
{ 0x1f,0x20,0x40,0x20,0x1f,0x00 }, // ASCII - 86 56 'V'
{ 0x3f,0x40,0x38,0x40,0x3f,0x00 }, // ASCII - 87 57 'W'
{ 0x63,0x14,0x08,0x14,0x63,0x00 }, // ASCII - 88 58 'X'
{ 0x07,0x08,0x70,0x08,0x07,0x00 }, // ASCII - 89 59 'Y'
{ 0x61,0x51,0x49,0x45,0x43,0x00 }, // ASCII - 90 5a 'Z'
{ 0x7f,0x41,0x41,0x00,0x00,0x00 }, // ASCII - 91 5b '['
{ 0x02,0x04,0x08,0x10,0x20,0x00 }, // ASCII - 92 5c '\'
{ 0x00,0x41,0x41,0x7f,0x00,0x00 }, // ASCII - 93 5d ']'
{ 0x04,0x02,0x01,0x02,0x04,0x00 }, // ASCII - 94 5e '^'
{ 0x40,0x40,0x40,0x40,0x40,0x00 }, // ASCII - 95 5f '_'
{ 0x00,0x01,0x02,0x04,0x00,0x00 }, // ASCII - 96 60 '`'
{ 0x20,0x54,0x54,0x54,0x78,0x00 }, // ASCII - 97 61 'a'
{ 0x7f,0x48,0x44,0x44,0x38,0x00 }, // ASCII - 98 62 'b'
{ 0x38,0x44,0x44,0x44,0x20,0x00 }, // ASCII - 99 63 'c'
{ 0x38,0x44,0x44,0x48,0x7f,0x00 }, // ASCII - 100 64 'd'
{ 0x38,0x54,0x54,0x54,0x18,0x00 }, // ASCII - 101 65 'e'
{ 0x08,0x7e,0x09,0x01,0x02,0x00 }, // ASCII - 102 66 'f'
{ 0x0c,0x52,0x52,0x52,0x3e,0x00 }, // ASCII - 103 67 'g'
{ 0x7f,0x08,0x04,0x04,0x78,0x00 }, // ASCII - 104 68 'h'
{ 0x00,0x44,0x7d,0x40,0x00,0x00 }, // ASCII - 105 69 'i'
{ 0x20,0x40,0x44,0x3d,0x00,0x00 }, // ASCII - 106 6a 'j'
{ 0x7f,0x10,0x28,0x44,0x00,0x00 }, // ASCII - 107 6b 'k'
{ 0x00,0x41,0x7f,0x40,0x00,0x00 }, // ASCII - 108 6c 'l'
{ 0x7c,0x04,0x18,0x04,0x78,0x00 }, // ASCII - 109 6d 'm'
{ 0x7c,0x08,0x04,0x04,0x78,0x00 }, // ASCII - 110 6e 'n'
{ 0x38,0x44,0x44,0x44,0x38,0x00 }, // ASCII - 111 6f 'o'
{ 0x7c,0x14,0x14,0x14,0x08,0x00 }, // ASCII - 112 70 'p'
{ 0x08,0x14,0x14,0x18,0x7c,0x00 }, // ASCII - 113 71 'q'
{ 0x7c,0x08,0x04,0x04,0x08,0x00 }, // ASCII - 114 72 'r'
{ 0x48,0x54,0x54,0x54,0x20,0x00 }, // ASCII - 115 73 's'
{ 0x04,0x3f,0x44,0x40,0x20,0x00 }, // ASCII - 116 74 't'
{ 0x3c,0x40,0x40,0x20,0x7c,0x00 }, // ASCII - 117 75 'u'
{ 0x1c,0x20,0x40,0x20,0x1c,0x00 }, // ASCII - 118 76 'v'
{ 0x3c,0x40,0x38,0x40,0x3c,0x00 }, // ASCII - 119 77 'w'
{ 0x44,0x28,0x10,0x28,0x44,0x00 }, // ASCII - 120 78 'x'
{ 0x0c,0x50,0x50,0x50,0x3c,0x00 }, // ASCII - 121 79 'y'
{ 0x44,0x64,0x54,0x4c,0x44,0x00 }, // ASCII - 122 7a 'z'
{ 0x00,0x08,0x36,0x41,0x00,0x00 }, // ASCII - 123 7b '{'
{ 0x00,0x00,0x7f,0x00,0x00,0x00 }, // ASCII - 124 7c '|'
{ 0x00,0x41,0x36,0x08,0x00,0x00 }, // ASCII - 125 7d '}'
{ 0x08,0x08,0x2a,0x1c,0x08,0x00 }, // ASCII - 126 7e ->
{ 0x08,0x1c,0x2a,0x08,0x08,0x00 }, // ASCII - 127 7f <-
};
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/lcd/font8x6.h
0,0 → 1,30
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* - font provided by Claas Anders "CaScAdE" Rathje *
* - umlauts and special characters by Peter "woggle" Mack *
* *
* 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. *
* *
*****************************************************************************/
#ifndef _FONT8X6_H
#define _FONT8X6_H
#include <avr/pgmspace.h>
//extern prog_uint8_t font8x6[128][6];
extern const uint8_t font8x6[128][6];
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/lcd/lcd/.directory
0,0 → 1,3
[Dolphin]
Timestamp=2013,3,7,9,14,6
ViewMode=1

/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/lcd/lcd/lcd.c
0,0 → 1,1402
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* - original LCD control by Thomas "thkais" Kaiser *
* - special number formating routines taken from C-OSD *
* from Claas Anders "CaScAdE" Rathje *
* - some extension, ellipse and circ_line by Peter "woggle" Mack *
* *
* 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. *
* *
*****************************************************************************/
#include "../cpu.h"
#include <avr/io.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "font8x6.h"
#include "Font8x8.h"
#include "../eeprom/eeprom.h"
#include "lcd.h"
#include "../main.h"
#include "../HAL_HW3_9.h"
#define DISP_W 128
#define DISP_H 64
#define DISP_BUFFER ((DISP_H * DISP_W) / 8)
#define LINE_BUFFER (((DISP_H/8) * DISP_W) / 8)
#define Jeti 1 // Jeti Routinen
volatile uint8_t display_buffer[DISP_BUFFER]; // Display-Puffer, weil nicht zurückgelesen werden kann
volatile uint8_t line_buffer[LINE_BUFFER]; // Zeilen-Puffer, weil nicht zurückgelesen werden kann
volatile uint16_t display_buffer_pointer; // Pointer auf das aktuell übertragene Byte
volatile uint8_t display_buffer_counter; // Hilfszähler zur Selektierung der Page
volatile uint8_t display_page_counter; // aktuelle Page-Nummer
volatile uint8_t display_mode; // Modus für State-Machine
volatile uint8_t LCD_ORIENTATION;
// DOG: 128 x 64 with 6x8 Font => 21 x 8
// MAX7456: 30 x 16
uint8_t lcd_xpos;
uint8_t lcd_ypos;
//-----------------------------------------------------------
void send_byte (uint8_t data)
{
clr_cs ();
SPDR = data;
while (!(SPSR & (1<<SPIF)));
//SPSR = SPSR;
set_cs ();
}
//-----------------------------------------------------------
// * Writes one command byte
// * cmd - the command byte
//
void lcd_command(uint8_t cmd)
{
// LCD_SELECT();
// LCD_CMD();
// spi_write(cmd);
// LCD_UNSELECT();
clr_cs ();
SPDR = cmd;
while (!(SPSR & (1<<SPIF)));
//SPSR = SPSR;
set_cs ();
}
//-----------------------------------------------------------
void lcd_cls (void)
{
uint16_t i, j;
// memset (display_buffer, 0, 1024);
for (i = 0; i < DISP_BUFFER; i++)
display_buffer[i] = 0x00;
for (i = 0; i < 8; i++)
{
clr_A0 ();
send_byte (0xB0 + i); //1011xxxx
send_byte (0x10); //00010000
// send_byte(0x04); //00000100 gedreht plus 4 Byte
// send_byte(0x00); //00000000
send_byte (LCD_ORIENTATION); //00000000
set_A0 ();
for (j = 0; j < 128; j++)
send_byte (0x00);
}
lcd_xpos = 0;
lcd_ypos = 0;
}
//-----------------------------------------------------------
void lcd_cls_line (uint8_t x, uint8_t y, uint8_t w)
{
uint8_t lcd_width;
uint8_t lcd_zpos;
uint8_t i;
uint8_t max = 21;
lcd_width = w;
lcd_xpos = x;
lcd_ypos = y;
if ((lcd_xpos + lcd_width) > max)
lcd_width = max - lcd_xpos;
lcd_zpos = lcd_xpos + lcd_width;
for (i = lcd_xpos; i < lcd_zpos; i++)
lcd_putc (i, lcd_ypos, 0x20, 0);
}
//-----------------------------------------------------------
void wait_1ms (void)
{
_delay_ms (1);
}
//-----------------------------------------------------------
void wait_ms (uint16_t time)
{
uint16_t i;
for (i = 0; i < time; i++)
wait_1ms ();
}
//-----------------------------------------------------------
void LCD_Init (uint8_t LCD_Mode) // LCD_Mode 0= Default Mode 1= EEPROM-Parameter)
{
lcd_xpos = 0;
lcd_ypos = 0;
// DDRB = 0xFF;
// SPI max. speed
// the DOGM128 lcd controller can work at 20 MHz
SPCR = (1 << SPE) | (1 << MSTR) | (1 << CPHA) | (1 << CPOL);
SPSR = (1 << SPI2X);
set_cs ();
clr_reset ();
wait_ms (10);
set_reset ();
clr_cs ();
clr_A0 ();
send_byte (0x40); //Display start line = 0
if (LCD_Mode == 1)
{
if (LCD_ORIENTATION == 0)
{
send_byte (0xA1); // A1 normal A0 reverse(original)
send_byte (0xC0); // C0 normal C8 reverse(original)
}
else
{
send_byte (0xA0); // A1 normal A0 reverse(original)
send_byte (0xC8); // C0 normal C8 reverse(original)
}
}
else
{
send_byte (0xA1); // A1 normal A0 reverse(original)
send_byte (0xC0); // C0 normal C8 reverse(original)
}
if (LCD_Mode == 1)
{
if (Config.LCD_DisplayMode == 0)
send_byte (0xA6); //Display normal, not mirrored
else
send_byte (0xA7); //Display reverse, not mirrored
}
else
send_byte (0xA6);
send_byte (0xA2); //Set bias 1/9 (Duty 1/65)
send_byte (0x2F); //Booster, regulator and follower on
send_byte (0xF8); //Set internal booster to 4x
send_byte (0x00); //Set internal booster to 4x
send_byte (0x27); //resistor ratio set
if (LCD_Mode == 1)
{
send_byte (0x81); //Electronic volume register set
send_byte (Config.LCD_Kontrast); //Electronic volume register set
}
else
{
send_byte (0x81);
send_byte (0x16);
}
send_byte (0xAC); //Cursor
send_byte (0x00); //No Cursor
send_byte (0xAF); //No indicator
if (Config.HWSound==0)
{
if (LCD_Mode == 1)
{
// Helligkeit setzen
OCR2A = Config.LCD_Helligkeit * 2.55;
}
else
{
OCR2A = 255;
}
}
lcd_cls ();
}
//-----------------------------------------------------------
void set_adress (uint16_t adress, uint8_t data)
{
uint8_t page;
uint8_t column;
page = adress >> 7;
clr_A0 ();
send_byte (0xB0 + page);
column = (adress & 0x7F) + LCD_ORIENTATION;
send_byte (0x10 + (column >> 4));
send_byte (column & 0x0F);
set_A0 ();
send_byte (data);
}
//-----------------------------------------------------------
void scroll (void)
{
uint16_t adress;
for (adress = 0; adress < 896; adress++)
{
display_buffer[adress] = display_buffer[adress + 128];
set_adress (adress, display_buffer[adress]);
}
for (adress = 896; adress < 1024; adress++)
{
display_buffer[adress] = 0;
set_adress (adress, 0);
}
}
//-----------------------------------------------------------
// sicher eine Zeile für die Statusanzeige
void copy_line (uint8_t y)
{
uint8_t i;
uint16_t adress;
adress = y * 128 + 0 * 6;
adress &= 0x3FF;
for (i = 0; i < 6*21; i++)
{
line_buffer[i] = display_buffer[adress+i];
set_adress (adress + i, display_buffer[adress + i]);
}
}
//-----------------------------------------------------------
// holt gesicherte Zeile wieder zurück
void paste_line (uint8_t y)
{
uint8_t i;
uint16_t adress;
adress = y * 128 + 0 * 6;
adress &= 0x3FF;
for (i = 0; i < 6*21; i++)
{
display_buffer[adress+i] =line_buffer[i];
set_adress (adress + i, display_buffer[adress + i]);
}
}
//-----------------------------------------------------------
void lcd_puts_at(uint8_t x, uint8_t y,const char *s, uint8_t mode )
{
while (*s)
{
lcd_putc(x, y, *s++, mode);
x++;
}
}/* lcd_puts */
//-----------------------------------------------------------
void lcd_putc (uint8_t x, uint8_t y, uint8_t c, uint8_t mode)
{
uint8_t ch;
uint8_t i;
uint16_t adress;
if (mode == 2)
lcd_frect ((x*6),(y*8),5,7,1); // invertierte Darstellung
if (mode == 3) lcd_putc_jeti (x, y, c,0);
else
if (mode == 4) lcd_putc_jeti (x, y, c,2);
else
{
switch (c)
{ // ISO 8859-1
case 0xc4: // Ä
c = 0x01;
break;
case 0xe4: // ä
c = 0x02;
break;
case 0xd6: // Ö
c = 0x03;
break;
case 0xf6: // ö
c = 0x04;
break;
case 0xdc: // Ü
c = 0x05;
break;
case 0xfc: // ü
c = 0x06;
break;
case 0xdf: // ß
//c = 0x07;
c = 0x1e; // ° (used by Jeti)
break;
}
c &= 0x7f;
adress = y * 128 + x * 6;
adress &= 0x3FF;
for (i = 0; i < 6; i++)
{
ch = pgm_read_byte (&font8x6[0][0] + i + c * 6);
switch (mode)
{
case 0:
display_buffer[adress+i] = ch;
break;
case 1:
display_buffer[adress+i] |= ch;
break;
case 2:
display_buffer[adress+i] ^= ch;
break;
case 3:
display_buffer[adress+i] &= ch;
break;
case 4:
display_buffer[adress+i] &= ~ch;
break;
}
set_adress (adress + i, display_buffer[adress + i]);
}
}
}
#if Jeti
//-----------------------------------------------------------
void lcd_putc_jeti (uint8_t x, uint8_t y, uint8_t c, uint8_t mode)
{
uint8_t ch;
uint8_t i;
uint16_t adress;
if (mode == 2)
lcd_frect ((x*8),(y*8),8,8,1); // invertierte Darstellung
switch (c)
{
case 0x7e:
c = 0x1a; // ->
break;
case 0x7f:
c = 0x1b; // <-
break;
case 0xdf:
c = 0xf8; // °
break;
}
adress = y * 128 + x * 8;
adress &= 0x3FF;
for (i = 0; i < 8; i++)
{
ch = pgm_read_byte (&Font8x8[0][0] + i + c * 8);
switch (mode)
{
case 0:
display_buffer[adress+i] = ch;
break;
case 1:
display_buffer[adress+i] |= ch;
break;
case 2:
display_buffer[adress+i] ^= ch;
break;
case 3:
display_buffer[adress+i] &= ch;
break;
case 4:
display_buffer[adress+i] &= ~ch;
break;
}
set_adress (adress + i, display_buffer[adress + i]);
}
}
//-----------------------------------------------------------
void lcd_printpj (const char *text, uint8_t mode)
{
while (pgm_read_byte(text))
{
switch (pgm_read_byte(text))
{
case 0x0D:
lcd_xpos = 0;
break;
case 0x0A:
new_line();
break;
default:
lcd_putc_jeti (lcd_xpos, lcd_ypos, pgm_read_byte(text), mode);
lcd_xpos++;
if (lcd_xpos > 20)
{
lcd_xpos = 0;
new_line ();
}
break;
}
text++;
}
}
//-----------------------------------------------------------
void lcd_printpj_at (uint8_t x, uint8_t y, const char *text, uint8_t mode)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_printpj (text, mode);
}
#endif
//-----------------------------------------------------------
void new_line (void)
{
lcd_ypos++;
if (lcd_ypos > 7)
{
scroll ();
lcd_ypos = 7;
}
}
//-----------------------------------------------------------
void lcd_printpns (const char *text, uint8_t mode)
{
while (pgm_read_byte(text))
{
switch (pgm_read_byte(text))
{
case 0x0D:
lcd_xpos = 0;
break;
case 0x0A:
new_line();
break;
default:
lcd_putc (lcd_xpos, lcd_ypos, pgm_read_byte(text), mode);
lcd_xpos++;
if (lcd_xpos > 21)
{
lcd_xpos = 0;
// new_line ();
}
break;
}
text++;
}
}
//-----------------------------------------------------------
void lcd_printpns_at (uint8_t x, uint8_t y, const char *text, uint8_t mode)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_printpns (text, mode);
}
//-----------------------------------------------------------
void lcd_printp (const char *text, uint8_t mode)
{
while (pgm_read_byte(text))
{
switch (pgm_read_byte(text))
{
case 0x0D:
lcd_xpos = 0;
break;
case 0x0A:
new_line();
break;
default:
lcd_putc (lcd_xpos, lcd_ypos, pgm_read_byte(text), mode);
lcd_xpos++;
if (lcd_xpos > 21)
{
lcd_xpos = 0;
new_line ();
}
break;
}
text++;
}
}
//-----------------------------------------------------------
void lcd_printp_at (uint8_t x, uint8_t y, const char *text, uint8_t mode)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_printp (text, mode);
}
//-----------------------------------------------------------
void lcd_print (uint8_t *text, uint8_t mode)
{
while (*text)
{
switch (*text)
{
case 0x0D:
lcd_xpos = 0;
break;
case 0x0A:
new_line();
break;
default:
lcd_putc (lcd_xpos, lcd_ypos, *text, mode);
lcd_xpos++;
if (lcd_xpos > 21)
{
lcd_xpos = 0;
new_line ();
}
break;
}
text++;
}
}
//-----------------------------------------------------------
void lcd_print_at (uint8_t x, uint8_t y, uint8_t *text, uint8_t mode)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_print (text, mode);
}
//-----------------------------------------------------------
void print_display (uint8_t *text)
{
while (*text)
{
lcd_putc (lcd_xpos, lcd_ypos, *text, 0);
lcd_xpos++;
if (lcd_xpos >= 20)
{
lcd_xpos = 0;
new_line ();
}
text++;
}
}
//-----------------------------------------------------------
void print_display_at (uint8_t x, uint8_t y, uint8_t *text)
{
lcd_xpos = x;
lcd_ypos = y;
print_display (text);
}
//-----------------------------------------------------------
// + Plot (set one Pixel)
//-----------------------------------------------------------
// mode:
// 0=Clear, 1=Set, 2=XOR
void lcd_plot (uint8_t xpos, uint8_t ypos, uint8_t mode)
{
uint16_t adress;
uint8_t mask;
if ((xpos < DISP_W) && (ypos < DISP_H))
{
adress = (ypos / 8) * DISP_W + xpos; // adress = 0/8 * 128 + 0 = 0
mask = 1 << (ypos & 0x07); // mask = 1<<0 = 1
adress &= DISP_BUFFER - 1;
switch (mode)
{
case 0:
display_buffer[adress] &= ~mask;
break;
case 1:
display_buffer[adress] |= mask;
break;
case 2:
display_buffer[adress] ^= mask;
break;
}
set_adress (adress, display_buffer[adress]);
}
}
//-----------------------------------------------------------
// + Line (draws a line from x1,y1 to x2,y2
// + Based on Bresenham line-Algorithm
// + found in the internet, modified by thkais 2007
//-----------------------------------------------------------
void lcd_line (unsigned char x1, unsigned char y1, unsigned char x2, unsigned char y2, uint8_t mode)
{
int x, y, count, xs, ys, xm, ym;
x = (int) x1;
y = (int) y1;
xs = (int) x2 - (int) x1;
ys = (int) y2 - (int) y1;
if (xs < 0)
xm = -1;
else
if (xs > 0)
xm = 1;
else
xm = 0;
if (ys < 0)
ym = -1;
else
if (ys > 0)
ym = 1;
else
ym = 0;
if (xs < 0)
xs = -xs;
if (ys < 0)
ys = -ys;
lcd_plot ((unsigned char) x, (unsigned char) y, mode);
if (xs > ys) // Flat Line <45 degrees
{
count = -(xs / 2);
while (x != x2)
{
count = count + ys;
x = x + xm;
if (count > 0)
{
y = y + ym;
count = count - xs;
}
lcd_plot ((unsigned char) x, (unsigned char) y, mode);
}
}
else // Line >=45 degrees
{
count =- (ys / 2);
while (y != y2)
{
count = count + xs;
y = y + ym;
if (count > 0)
{
x = x + xm;
count = count - ys;
}
lcd_plot ((unsigned char) x, (unsigned char) y, mode);
}
}
}
//-----------------------------------------------------------
// + Filled rectangle
// + x1, y1 = upper left corner
//-----------------------------------------------------------
void lcd_frect (uint8_t x1, uint8_t y1, uint8_t widthx, uint8_t widthy, uint8_t mode)
{
uint16_t x2, y2;
uint16_t i;
if (x1 >= DISP_W)
x1 = DISP_W - 1;
if (y1 >= DISP_H)
y1 = DISP_H - 1;
x2 = x1 + widthx;
y2 = y1 + widthy;
if (x2 > DISP_W)
x2 = DISP_W;
if (y2 > DISP_H)
y2 = DISP_H;
for (i = y1; i <= y2; i++)
{
lcd_line (x1, i, x2, i, mode);
}
}
//-----------------------------------------------------------
// + outline of rectangle
// + x1, y1 = upper left corner
//-----------------------------------------------------------
void lcd_rect (uint8_t x1, uint8_t y1, uint8_t widthx, uint8_t widthy, uint8_t mode)
{
uint16_t x2, y2;
if (x1 >= DISP_W)
x1 = DISP_W - 1;
if (y1 >= DISP_H)
y1 = DISP_H - 1;
x2 = x1 + widthx;
y2 = y1 + widthy;
if (x2 > DISP_W)
x2 = DISP_W;
if (y2 > DISP_H)
y2 = DISP_H;
lcd_line (x1, y1, x2, y1, mode);
lcd_line (x2, y1, x2, y2, mode);
lcd_line (x2, y2, x1, y2, mode);
lcd_line (x1, y2, x1, y1, mode);
}
//-----------------------------------------------------------
// + outline of a circle
// + Based on Bresenham-algorithm found in wikipedia
// + modified by thkais (2007)
//-----------------------------------------------------------
void lcd_circle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode)
{
int16_t f = 1 - radius;
int16_t ddF_x = 0;
int16_t ddF_y = -2 * radius;
int16_t x = 0;
int16_t y = radius;
lcd_plot (x0, y0 + radius, mode);
lcd_plot (x0, y0 - radius, mode);
lcd_plot (x0 + radius, y0, mode);
lcd_plot (x0 - radius, y0, mode);
while (x < y)
{
if (f >= 0)
{
y --;
ddF_y += 2;
f += ddF_y;
}
x ++;
ddF_x += 2;
f += ddF_x + 1;
lcd_plot (x0 + x, y0 + y, mode);
lcd_plot (x0 - x, y0 + y, mode);
lcd_plot (x0 + x, y0 - y, mode);
lcd_plot (x0 - x, y0 - y, mode);
lcd_plot (x0 + y, y0 + x, mode);
lcd_plot (x0 - y, y0 + x, mode);
lcd_plot (x0 + y, y0 - x, mode);
lcd_plot (x0 - y, y0 - x, mode);
}
}
//-----------------------------------------------------------
// + filled Circle
// + modified circle-algorithm thkais (2007)
//-----------------------------------------------------------
void lcd_fcircle (int16_t x0, int16_t y0, int16_t radius,uint8_t mode)
{
int16_t f = 1 - radius;
int16_t ddF_x = 0;
int16_t ddF_y = -2 * radius;
int16_t x = 0;
int16_t y = radius;
lcd_line (x0, y0 + radius, x0, y0 - radius, mode);
lcd_line (x0 + radius, y0, x0 - radius, y0, mode);
while (x < y)
{
if (f >= 0)
{
y--;
ddF_y += 2;
f += ddF_y;
}
x++;
ddF_x += 2;
f += ddF_x + 1;
lcd_line (x0 + x, y0 + y, x0 - x, y0 + y, mode);
lcd_line (x0 + x, y0 - y, x0 - x, y0 - y, mode);
lcd_line (x0 + y, y0 + x, x0 - y, y0 + x, mode);
lcd_line (x0 + y, y0 - x, x0 - y, y0 - x, mode);
}
}
//-----------------------------------------------------------
//
void lcd_circ_line (uint8_t x, uint8_t y, uint8_t r, uint16_t deg, uint8_t mode)
{
uint8_t xc, yc;
double deg_rad;
deg_rad = (deg * M_PI) / 180.0;
yc = y - (uint8_t) round (cos (deg_rad) * (double) r);
xc = x + (uint8_t) round (sin (deg_rad) * (double) r);
lcd_line (x, y, xc, yc, mode);
}
//-----------------------------------------------------------
//
void lcd_ellipse_line (uint8_t x, uint8_t y, uint8_t rx, uint8_t ry, uint16_t deg, uint8_t mode)
{
uint8_t xc, yc;
double deg_rad;
deg_rad = (deg * M_PI) / 180.0;
yc = y - (uint8_t) round (cos (deg_rad) * (double) ry);
xc = x + (uint8_t) round (sin (deg_rad) * (double) rx);
lcd_line (x, y, xc, yc, mode);
}
//-----------------------------------------------------------
//
void lcd_ellipse (int16_t x0, int16_t y0, int16_t rx, int16_t ry, uint8_t mode)
{
const int16_t rx2 = rx * rx;
const int16_t ry2 = ry * ry;
int16_t F = round (ry2 - rx2 * ry + 0.25 * rx2);
int16_t ddF_x = 0;
int16_t ddF_y = 2 * rx2 * ry;
int16_t x = 0;
int16_t y = ry;
lcd_plot (x0, y0 + ry, mode);
lcd_plot (x0, y0 - ry, mode);
lcd_plot (x0 + rx, y0, mode);
lcd_plot (x0 - rx, y0, mode);
// while ( 2*ry2*x < 2*rx2*y ) { we can use ddF_x and ddF_y
while (ddF_x < ddF_y)
{
if(F >= 0)
{
y -= 1; // south
ddF_y -= 2 * rx2;
F -= ddF_y;
}
x += 1; // east
ddF_x += 2 * ry2;
F += ddF_x + ry2;
lcd_plot (x0 + x, y0 + y, mode);
lcd_plot (x0 + x, y0 - y, mode);
lcd_plot (x0 - x, y0 + y, mode);
lcd_plot (x0 - x, y0 - y, mode);
}
F = round (ry2 * (x + 0.5) * (x + 0.5) + rx2 * (y - 1) * (y - 1) - rx2 * ry2);
while(y > 0)
{
if(F <= 0)
{
x += 1; // east
ddF_x += 2 * ry2;
F += ddF_x;
}
y -= 1; // south
ddF_y -= 2 * rx2;
F += rx2 - ddF_y;
lcd_plot (x0 + x, y0 + y, mode);
lcd_plot (x0 + x, y0 - y, mode);
lcd_plot (x0 - x, y0 + y, mode);
lcd_plot (x0 - x, y0 - y, mode);
}
}
//-----------------------------------------------------------
//
void lcd_ecircle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode)
{
lcd_ellipse (x0, y0, radius + 3, radius, mode);
}
//-----------------------------------------------------------
//
void lcd_ecirc_line (uint8_t x, uint8_t y, uint8_t r, uint16_t deg, uint8_t mode)
{
lcd_ellipse_line(x, y, r + 3, r, deg, mode);
}
//-----------------------------------------------------------
//
void lcd_view_font (uint8_t page)
{
int x;
int y;
lcd_cls ();
lcd_printp (PSTR(" 0123456789ABCDEF\r\n"), 0);
lcd_printpns_at (0, 7, PSTR(" \x1a \x1b Exit"), 0);
lcd_ypos = 2;
for (y = page * 4 ; y < (page * 4 + 4); y++)
{
if (y < 10)
{
lcd_putc (0, lcd_ypos, '0' + y, 0);
}
else
{
lcd_putc (0, lcd_ypos, 'A' + y - 10, 0);
}
lcd_xpos = 2;
for (x = 0; x < 16; x++)
{
lcd_putc (lcd_xpos, lcd_ypos, y * 16 + x, 0);
lcd_xpos++;
}
lcd_ypos++;
}
}
//-----------------------------------------------------------
uint8_t hdigit (uint8_t d)
{
if (d < 10)
{
return '0' + d;
}
else
{
return 'A' + d - 10;
}
}
//-----------------------------------------------------------
void lcd_print_hex_at (uint8_t x, uint8_t y, uint8_t h, uint8_t mode)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_putc (lcd_xpos++, lcd_ypos, hdigit (h >> 4), mode);
lcd_putc (lcd_xpos, lcd_ypos, hdigit (h & 0x0f), mode);
}
//-----------------------------------------------------------
void lcd_print_hex (uint8_t h, uint8_t mode)
{
// lcd_xpos = x;
// lcd_ypos = y;
lcd_putc (lcd_xpos++, lcd_ypos, hdigit (h >> 4), mode);
lcd_putc (lcd_xpos++, lcd_ypos, hdigit (h & 0x0f), mode);
lcd_putc (lcd_xpos++, lcd_ypos, ' ', mode);
}
//-----------------------------------------------------------
void lcd_write_number_u (uint8_t number)
{
uint8_t num = 100;
uint8_t started = 0;
while (num > 0)
{
uint8_t b = number / num;
if (b > 0 || started || num == 1)
{
lcd_putc (lcd_xpos++, lcd_ypos, '0' + b, 0);
started = 1;
}
number -= b * num;
num /= 10;
}
}
//-----------------------------------------------------------
void lcd_write_number_u_at (uint8_t x, uint8_t y, uint8_t number)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_write_number_u (number);
}
//-----------------------------------------------------------
// Write only some digits of a unsigned <number> at <x>/<y> to MAX7456 display memory
// <num> represents the largest multiple of 10 that will still be displayable as
// the first digit, so num = 10 will be 0-99 and so on
// <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
//
void write_ndigit_number_u (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad, uint8_t mode)
{
char s[7];
utoa(number, s, 10 );
uint8_t len = strlen(s);
if (length < len)
{
for (uint8_t i = 0; i < length; i++)
{
lcd_putc (x++, y, '*', mode);
}
return;
}
for (uint8_t i = 0; i < length - len; i++)
{
if (pad==1)
{
lcd_putc (x++, y, '0', mode);
}
else
{
lcd_putc (x++, y, ' ', mode);
}
}
lcd_print_at(x, y, (uint8_t*)s, mode);
}
//-----------------------------------------------------------
// Write only some digits of a signed <number> at <x>/<y> to MAX7456 display memory
// <num> represents the largest multiple of 10 that will still be displayable as
// the first digit, so num = 10 will be 0-99 and so on
// <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
//
void write_ndigit_number_s (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad, uint8_t mode)
{
char s[7];
itoa(number, s, 10 );
uint8_t len = strlen(s);
if (length < len)
{
for (uint8_t i = 0; i < length; i++)
{
lcd_putc (x++, y, '*', mode);
}
return;
}
for (uint8_t i = 0; i < length - len; i++)
{
if (pad)
{
lcd_putc (x++, y, '0', mode);
}
else
{
lcd_putc (x++, y, ' ', mode);
}
}
lcd_print_at(x, y, (uint8_t*)s, mode);
}
//-----------------------------------------------------------
// Write only some digits of a unsigned <number> at <x>/<y> to MAX7456 display memory
// as /10th of the value
// <num> represents the largest multiple of 10 that will still be displayable as
// the first digit, so num = 10 will be 0-99 and so on
// <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
//
void write_ndigit_number_u_10th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad, uint8_t mode)
{
char s[7];
itoa(number, s, 10 );
uint8_t len = strlen(s);
if (length < len)
{
for (uint8_t i = 0; i < length; i++)
{
lcd_putc (x++, y, '*', mode);
}
return;
}
for (uint8_t i = 0; i < length - len; i++)
{
if (pad)
{
lcd_putc (x++, y, '0', mode);
}
else
{
lcd_putc (x++, y, ' ', mode);
}
}
char rest = s[len - 1];
s[len - 1] = 0;
if (len == 1)
{
lcd_putc (x-1, y, '0', mode);
}
else if (len == 2 && s[0] == '-')
{
lcd_putc (x-1, y, '-', mode);
lcd_putc (x, y, '0', mode);
}
else
{
lcd_print_at(x, y, (uint8_t*)s, mode);
}
x += len - 1;
lcd_putc (x++, y, '.', mode);
lcd_putc (x++, y, rest, mode);
}
//-----------------------------------------------------------
void write_ndigit_number_u_100th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad)
{
uint8_t num = 100;
while (num > 0)
{
uint8_t b = number / num;
if ((num / 10) == 1)
{
lcd_putc (x++, y, '.', 0);
}
lcd_putc (x++, y, '0' + b, 0);
number -= b * num;
num /= 10;
}
}
//-----------------------------------------------------------
// Write only some digits of a signed <number> at <x>/<y> to MAX7456 display memory
// as /10th of the value
// <num> represents the largest multiple of 10 that will still be displayable as
// the first digit, so num = 10 will be 0-99 and so on
// <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
//
void write_ndigit_number_s_10th (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad, uint8_t mode)
{
char s[7];
itoa (number, s, 10 );
uint8_t len = strlen(s);
if (length < len)
{
for (uint8_t i = 0; i < length; i++)
{
lcd_putc (x++, y, '*', mode);
}
return;
}
for (uint8_t i = 0; i < length - len; i++)
{
if (pad)
{
lcd_putc (x++, y, '0', mode);
}
else
{
lcd_putc (x++, y, ' ', mode);
}
}
char rest = s[len - 1];
s[len - 1] = 0;
if (len == 1)
{
lcd_putc (x-1, y, '0', mode);
}
else if (len == 2 && s[0] == '-')
{
lcd_putc (x-1, y, '-', mode);
lcd_putc (x, y, '0', mode);
}
else
{
lcd_print_at(x, y, (uint8_t*)s, mode);
}
x += len - 1;
lcd_putc (x++, y, '.', mode);
lcd_putc (x++, y, rest, mode);
}
//-----------------------------------------------------------
// write <seconds> as human readable time at <x>/<y> to MAX7456 display mem
//
void write_time (uint8_t x, uint8_t y, uint16_t seconds)
{
uint16_t min = seconds / 60;
seconds -= min * 60;
write_ndigit_number_u (x, y, min, 2, 0,0);
lcd_putc (x + 2, y, ':', 0);
write_ndigit_number_u (x + 3, y, seconds, 2, 1,0);
}
//-----------------------------------------------------------
// wirte a <position> at <x>/<y> assuming it is a gps position for long-/latitude
//
void write_gps_pos (uint8_t x, uint8_t y, int32_t position)
{
if (position < 0)
{
position ^= ~0;
position++;
lcd_putc (x++, y, '-', 0);
}
else
{
lcd_putc (x++, y, ' ', 0);
}
write_ndigit_number_u (x, y, (uint16_t) (position / (int32_t) 10000000), 3, 1,0);
lcd_putc (x + 3, y, '.', 0);
position = position - ((position / (int32_t) 10000000) * (int32_t) 10000000);
write_ndigit_number_u (x + 4, y, (uint16_t) (position / (int32_t) 1000), 4, 1,0);
position = position - ((uint16_t) (position / (int32_t) 1000) * (int32_t) 1000);
write_ndigit_number_u (x + 8, y, (uint16_t) position, 3, 1,0);
lcd_putc (x + 11, y, 0x1e, 0); // degree symbol
}
//------------------------------------------------------------------------------------
// Show PKT Baudrate at given position
//
void show_baudrate (uint8_t x, uint8_t y, uint8_t Baudrate, uint8_t mode)
{
switch (Baudrate)
{
case Baud_2400: lcd_printp_at (x, y, PSTR("2400"), mode);break;
case Baud_4800: lcd_printp_at (x, y, PSTR("4800"), mode);break;
case Baud_9600: lcd_printp_at (x, y, PSTR("9600"), mode);break;
case Baud_19200: lcd_printp_at (x, y, PSTR("19200"), mode);break;
case Baud_38400: lcd_printp_at (x, y, PSTR("38400"), mode);break;
case Baud_57600: lcd_printp_at (x, y, PSTR("57600"), mode);break;
case Baud_115200: lcd_printp_at (x, y, PSTR("115200"), mode);break;
break;
}
}
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/lcd/lcd/lcd.h
0,0 → 1,282
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* - original LCD control by Thomas "thkais" Kaiser *
* - special number formating routines taken from C-OSD *
* from Claas Anders "CaScAdE" Rathje *
* - some extension, ellipse and circ_line by Peter "woggle" Mack *
* Thanks to Oliver Schwaneberg for adding several functions to this library!*
* *
* Author: Jan Michel (jan at mueschelsoft dot de) *
* License: GNU General Public License, version 3 *
* Version: v0.93 September 2010 *
* *
* 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. *
* *
*****************************************************************************/
#ifndef _LCD_H
#define _LCD_H
/*
//-----------------------------------------------------------------------------
// Command Codes
//-----------------------------------------------------------------------------
//1: Display on/off
#define LCD_DISPLAY_ON 0xAF //switch display on
#define LCD_DISPLAY_OFF 0xAE //switch display off
//2: display start line set (lower 6 bits select first line on lcd from 64 lines in memory)
#define LCD_START_LINE 0x40
//3: Page address set (lower 4 bits select one of 8 pages)
#define LCD_PAGE_ADDRESS 0xB0
//4: column address (lower 4 bits are upper / lower nibble of column address)
#define LCD_COL_ADDRESS_MSB 0x10
#define LCD_COL_ADDRESS_LSB 0x00 //second part of column address
//8: select orientation (black side of the display should be further away from viewer)
#define LCD_BOTTOMVIEW 0xA1 //6 o'clock view
#define LCD_TOPVIEW 0xA0 //12 o'clock view
//9: select normal (white background, black pixels) or reverse (black background, white pixels) mode
#define LCD_DISPLAY_POSITIVE 0xA6 //not inverted mode
#define LCD_DISPLAY_INVERTED 0xA7 //inverted display
//10: show memory content or switch all pixels on
#define LCD_SHOW_NORMAL 0xA4 //show dram content
#define LCD_SHOW_ALL_POINTS 0xA5 //show all points
//11: lcd bias set
#define LCD_BIAS_1_9 0xA2
#define LCD_BIAS_1_7 0xA3
//14: Reset Controller
#define LCD_RESET_CMD 0xE2
//15: output mode select (turns display upside-down)
#define LCD_SCAN_DIR_NORMAL 0xC0 //normal scan direction
#define LCD_SCAN_DIR_REVERSE 0xC8 //reversed scan direction
//16: power control set (lower 3 bits select operating mode)
//Bit 0: Voltage follower on/off - Bit 1: Voltage regulator on/off - Bit 2: Booster circuit on/off
#define LCD_POWER_CONTROL 0x28 //base command
#define LCD_POWER_LOW_POWER 0x2F
#define LCD_POWER_WIDE_RANGE 0x2F
#define LCD_POWER_LOW_VOLTAGE 0x2B
//17: voltage regulator resistor ratio set (lower 3 bits select ratio)
//selects lcd voltage - 000 is low (~ -2V), 111 is high (~ - 10V), also depending on volume mode. Datasheet suggests 011
#define LCD_VOLTAGE 0x20
//18: Volume mode set (2-byte command, lower 6 bits in second word select value, datasheet suggests 0x1F)
#define LCD_VOLUME_MODE_1 0x81
#define LCD_VOLUME_MODE_2 0x00
//#if DISPLAY_TYPE == 128 || DISPLAY_TYPE == 132
//19: static indicator (2-byte command), first on/off, then blinking mode
#define LCD_INDICATOR_ON 0xAD //static indicator on
#define LCD_INDICATOR_OFF 0xAC //static indicator off
#define LCD_INDICATOR_MODE_OFF 0x00
#define LCD_INDICATOR_MODE_1HZ 0x01
#define LCD_INDICATOR_MODE_2HZ 0x10
#define LCD_INDICATOR_MODE_ON 0x11
//20: booster ratio set (2-byte command)
#define LCD_BOOSTER_SET 0xF8 //set booster ratio
#define LCD_BOOSTER_234 0x00 //2x-4x
#define LCD_BOOSTER_5 0x01 //5x
#define LCD_BOOSTER_6 0x03 //6x
//#endif
//22: NOP command
#define LCD_NOP 0xE3
//#if DISPLAY_TYPE == 102
////25: advanced program control
//#define LCD_ADV_PROG_CTRL 0xFA
//#define LCD_ADV_PROG_CTRL2 0x10
//#endif
//-----------------------------------------------------------------------------
// Makros to execute commands
//-----------------------------------------------------------------------------
#define LCD_SWITCH_ON() lcd_command(LCD_DISPLAY_ON)
#define LCD_SWITCH_OFF() lcd_command(LCD_DISPLAY_OFF)
#define LCD_SET_FIRST_LINE(i) lcd_command(LCD_START_LINE | ((i) & 0x3F))
#define LCD_SET_PAGE_ADDR(i) lcd_command(LCD_PAGE_ADDRESS | ((i) & 0x0F))
#define LCD_SET_COLUMN_ADDR(i) lcd_command(LCD_COL_ADDRESS_MSB | ((i>>4) & 0x0F)); \
lcd_command(LCD_COL_ADDRESS_LSB | ((i) & 0x0F))
#define LCD_GOTO_ADDRESS(page,col); lcd_command(LCD_PAGE_ADDRESS | ((page) & 0x0F)); \
lcd_command(LCD_COL_ADDRESS_MSB | ((col>>4) & 0x0F)); \
lcd_command(LCD_COL_ADDRESS_LSB | ((col) & 0x0F));
#define LCD_SET_BOTTOM_VIEW() lcd_command(LCD_BOTTOMVIEW)
#define LCD_SET_TOP_VIEW() lcd_command(LCD_TOPVIEW)
#define LCD_SET_MODE_POSITIVE() lcd_command(LCD_DISPLAY_POSITIVE)
#define LCD_SET_MODE_INVERTED() lcd_command(LCD_DISPLAY_INVERTED)
#define LCD_SHOW_ALL_PIXELS_ON() lcd_command(LCD_SHOW_ALL_POINTS)
#define LCD_SHOW_ALL_PIXELS_OFF() lcd_command(LCD_SHOW_NORMAL)
#define LCD_SET_BIAS_RATIO_1_7() lcd_command(LCD_BIAS_1_7)
#define LCD_SET_BIAS_RATIO_1_9() lcd_command(LCD_BIAS_1_9)
#define LCD_SEND_RESET() lcd_command(LCD_RESET_CMD)
#define LCD_ORIENTATION_NORMAL() lcd_command(LCD_SCAN_DIR_NORMAL)
#define LCD_ORIENTATION_UPSIDEDOWN() lcd_command(LCD_SCAN_DIR_REVERSE)
#define LCD_SET_POWER_CONTROL(i) lcd_command(LCD_POWER_CONTROL | ((i) & 0x07))
#define LCD_SET_LOW_POWER() lcd_command(LCD_POWER_LOW_POWER)
#define LCD_SET_WIDE_RANGE() lcd_command(LCD_POWER_WIDE_RANGE)
#define LCD_SET_LOW_VOLTAGE() lcd_command(LCD_POWER_LOW_VOLTAGE)
#define LCD_SET_BIAS_VOLTAGE(i) lcd_command(LCD_VOLTAGE | ((i) & 0x07))
#define LCD_SET_VOLUME_MODE(i) lcd_command(LCD_VOLUME_MODE_1); \
lcd_command(LCD_VOLUME_MODE_2 | ((i) & 0x3F))
//#if DISPLAY_TYPE == 128 || DISPLAY_TYPE == 132
#define LCD_SET_INDICATOR_OFF() lcd_command(LCD_INDICATOR_OFF); \
lcd_command(LCD_INDICATOR_MODE_OFF)
#define LCD_SET_INDICATOR_STATIC() lcd_command(LCD_INDICATOR_ON); \
lcd_command(LCD_INDICATOR_MODE_ON)
#define LCD_SET_INDICATOR_1HZ() lcd_command(LCD_INDICATOR_ON); \
lcd_command(LCD_INDICATOR_MODE_1HZ)
#define LCD_SET_INDICATOR_2HZ() lcd_command(LCD_INDICATOR_ON); \
lcd_command(LCD_INDICATOR_MODE_2HZ)
#define LCD_SET_INDICATOR(i,j) lcd_command(LCD_INDICATOR_OFF | ((i) & 1)); \
lcd_command(((j) & 2))
#define LCD_SLEEP_MODE lcd_command(LCD_INDICATOR_OFF); \
lcd_command(LCD_DISPLAY_OFF); \
lcd_command(LCD_SHOW_ALL_POINTS)
//#endif
//#if DISPLAY_TYPE == 102
//#define LCD_TEMPCOMP_HIGH 0x80
//#define LCD_COLWRAP 0x02
//#define LCD_PAGEWRAP 0x01
//#define LCD_SET_ADV_PROG_CTRL(i) lcd_command(LCD_ADV_PROG_CTRL);
// lcd_command(LCD_ADV_PROG_CTRL2 & i)
//#endif
*/
extern volatile uint8_t LCD_ORIENTATION;
//#define LCD_LINES 8
//#define LCD_COLS 21
extern uint8_t lcd_xpos;
extern uint8_t lcd_ypos;
void lcd_command(uint8_t cmd);
void send_byte (uint8_t data);
void LCD_Init (uint8_t LCD_Mode);
void new_line (void);
void lcd_puts_at(uint8_t x, uint8_t y,const char *s, uint8_t mode );
void lcd_putc (uint8_t x, uint8_t y, uint8_t c, uint8_t mode);
void send_byte (uint8_t data);
void lcd_print (uint8_t *text, uint8_t mode);
void lcd_print_at (uint8_t x, uint8_t y, uint8_t *text, uint8_t mode);
void lcd_printp (const char *text, uint8_t mode);
void lcd_printp_at (uint8_t x, uint8_t y, const char *text, uint8_t mode);
void lcd_printpns (const char *text, uint8_t mode);
void lcd_printpns_at (uint8_t x, uint8_t y, const char *text, uint8_t mode);
void lcd_cls (void);
void lcd_cls_line (uint8_t x, uint8_t y, uint8_t w);
void print_display (uint8_t *text);
void print_display_at (uint8_t x, uint8_t y, uint8_t *text);
void copy_line (uint8_t y);
void paste_line (uint8_t y);
// Jeti
void lcd_putc_jeti (uint8_t x, uint8_t y, uint8_t c, uint8_t mode);
void lcd_printpj (const char *text, uint8_t mode);
void lcd_printpj_at (uint8_t x, uint8_t y, const char *text, uint8_t mode);
void lcd_plot (uint8_t x, uint8_t y, uint8_t mode);
void lcd_line (unsigned char x1, unsigned char y1, unsigned char x2, unsigned char y2, uint8_t mode);
void lcd_rect (uint8_t x1, uint8_t y1, uint8_t widthx, uint8_t widthy, uint8_t mode);
void lcd_frect (uint8_t x1, uint8_t y1, uint8_t widthx, uint8_t widthy, uint8_t mode);
void lcd_circle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode);
void lcd_fcircle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode);
void lcd_circ_line (uint8_t x, uint8_t y, uint8_t r, uint16_t deg, uint8_t mode);
void lcd_ellipse (int16_t x0, int16_t y0, int16_t rx, int16_t ry, uint8_t mode);
void lcd_ellipse_line (uint8_t x, uint8_t y, uint8_t rx, uint8_t ry, uint16_t deg, uint8_t mode);
void lcd_ecircle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode);
void lcd_ecirc_line (uint8_t x, uint8_t y, uint8_t r, uint16_t deg, uint8_t mode);
void lcd_view_font (uint8_t page);
void lcd_print_hex_at (uint8_t x, uint8_t y, uint8_t h, uint8_t mode);
void lcd_write_number_u (uint8_t number);
void lcd_write_number_u_at (uint8_t x, uint8_t y, uint8_t number);
void lcd_print_hex (uint8_t h, uint8_t mode);
/**
* Write only some digits of a unsigned <number> at <x>/<y>
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
*/
void write_ndigit_number_u (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad,uint8_t mode);
/**
* Write only some digits of a signed <number> at <x>/<y>
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
*/
void write_ndigit_number_s (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad, uint8_t mode);
/**
* Write only some digits of a unsigned <number> at <x>/<y> as /10th of the value
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 00.7 instead of .7
*/
void write_ndigit_number_u_10th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad, uint8_t mode);
/**
* Write only some digits of a unsigned <number> at <x>/<y> as /100th of the value
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 00.7 instead of .7
*/
void write_ndigit_number_u_100th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad);
/**
* Write only some digits of a signed <number> at <x>/<y> as /10th of the value
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 00.7 instead of .7
*/
void write_ndigit_number_s_10th (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad, uint8_t mode);
/**
* write <seconds> as human readable time at <x>/<y>
*/
void write_time (uint8_t x, uint8_t y, uint16_t seconds);
/**
* wirte a <position> at <x>/<y> assuming it is a gps position for long-/latitude
*/
void write_gps_pos (uint8_t x, uint8_t y, int32_t position);
//------------------------------------------------------------------------------------
// Show PKT Baudrate at given position
//
void show_baudrate (uint8_t x, uint8_t y, uint8_t Baudrate, uint8_t mode);
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/lcd/lcd.c
0,0 → 1,1453
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* - original LCD control by Thomas "thkais" Kaiser *
* - special number formating routines taken from C-OSD *
* from Claas Anders "CaScAdE" Rathje *
* - some extension, ellipse and circ_line by Peter "woggle" Mack *
* *
* 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. *
* *
*****************************************************************************/
//############################################################################
//# HISTORY lcd.c
//#
//# 07.03.2013 OG
//# - del: Kompatibilitaetsfunktion lcd_printpj_at() entfernt
//#
//# 06.03.2013 OG
//# - lcdx_putc() wurde erweitert mit Unterstuetzung des 8x8 Font (alte Jeti
//# Funktionen) und Pixel-Verschiebung (xoffs,yoffs)
//# - etliche Char basierte Funktionen wurden erweitert um Parameter xoffs,yoffs
//# um die Ausgabe um +/- Pixel zu verschieben. Fuer Pixelgenaue Positionierung
//# von OSD-Screen Elementen.
//# Die neuen Funktionen mit Pixel-Verschiebung beginnen mit lcdx_, writex_ ...
//# - add: Kompatibilitaet gewaehrleistet durch Mapper-Funktionen
//# - add: defines fuer Char-Drawmode's (MNORMAL, MINVERS, MBIG, MBIGINVERS)
//# - del: Jeti-Funktionen (teilweise ersetzt durch Kompatibilitaetsfunktionen)
//############################################################################
#include "../cpu.h"
#include <avr/io.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "font8x6.h"
#include "Font8x8.h"
#include "../eeprom/eeprom.h"
#include "lcd.h"
#include "../main.h"
#include "../HAL_HW3_9.h"
#define DISP_W 128
#define DISP_H 64
#define DISP_BUFFER ((DISP_H * DISP_W) / 8)
#define LINE_BUFFER (((DISP_H/8) * DISP_W) / 8)
#define Jeti 1 // Jeti Routinen
volatile uint8_t display_buffer[DISP_BUFFER]; // Display-Puffer, weil nicht zurückgelesen werden kann
volatile uint8_t line_buffer[LINE_BUFFER]; // Zeilen-Puffer, weil nicht zurückgelesen werden kann
volatile uint16_t display_buffer_pointer; // Pointer auf das aktuell übertragene Byte
volatile uint8_t display_buffer_counter; // Hilfszähler zur Selektierung der Page
volatile uint8_t display_page_counter; // aktuelle Page-Nummer
volatile uint8_t display_mode; // Modus für State-Machine
volatile uint8_t LCD_ORIENTATION;
// DOG: 128 x 64 with 6x8 Font => 21 x 8
// MAX7456: 30 x 16
uint8_t lcd_xpos;
uint8_t lcd_ypos;
char s[7];
//-----------------------------------------------------------
void send_byte (uint8_t data)
{
clr_cs ();
SPDR = data;
while (!(SPSR & (1<<SPIF)));
//SPSR = SPSR;
set_cs ();
}
//-----------------------------------------------------------
// * Writes one command byte
// * cmd - the command byte
//
void lcd_command(uint8_t cmd)
{
// LCD_SELECT();
// LCD_CMD();
// spi_write(cmd);
// LCD_UNSELECT();
clr_cs ();
SPDR = cmd;
while (!(SPSR & (1<<SPIF)));
//SPSR = SPSR;
set_cs ();
}
//-----------------------------------------------------------
void lcd_cls (void)
{
uint16_t i, j;
// memset (display_buffer, 0, 1024);
for (i = 0; i < DISP_BUFFER; i++)
display_buffer[i] = 0x00;
for (i = 0; i < 8; i++)
{
clr_A0 ();
send_byte (0xB0 + i); //1011xxxx
send_byte (0x10); //00010000
// send_byte(0x04); //00000100 gedreht plus 4 Byte
// send_byte(0x00); //00000000
send_byte (LCD_ORIENTATION); //00000000
set_A0 ();
for (j = 0; j < 128; j++)
send_byte (0x00);
}
lcd_xpos = 0;
lcd_ypos = 0;
}
//-----------------------------------------------------------
void set_adress (uint16_t adress, uint8_t data)
{
uint8_t page;
uint8_t column;
page = adress >> 7;
clr_A0 ();
send_byte (0xB0 + page);
column = (adress & 0x7F) + LCD_ORIENTATION;
send_byte (0x10 + (column >> 4));
send_byte (column & 0x0F);
set_A0 ();
send_byte (data);
}
//-----------------------------------------------------------
void scroll (void)
{
uint16_t adress;
for (adress = 0; adress < 896; adress++)
{
display_buffer[adress] = display_buffer[adress + 128];
set_adress (adress, display_buffer[adress]);
}
for (adress = 896; adress < 1024; adress++)
{
display_buffer[adress] = 0;
set_adress (adress, 0);
}
}
//####################################################################################
//####################################################################################
//-----------------------------------------------------------
// + Plot (set one Pixel)
//-----------------------------------------------------------
// mode:
// 0=Clear, 1=Set, 2=XOR
void lcd_plot (uint8_t xpos, uint8_t ypos, uint8_t mode)
{
uint16_t adress;
uint8_t mask;
if ((xpos < DISP_W) && (ypos < DISP_H))
{
adress = (ypos / 8) * DISP_W + xpos; // adress = 0/8 * 128 + 0 = 0
mask = 1 << (ypos & 0x07); // mask = 1<<0 = 1
adress &= DISP_BUFFER - 1;
switch (mode)
{
case 0:
display_buffer[adress] &= ~mask;
break;
case 1:
display_buffer[adress] |= mask;
break;
case 2:
display_buffer[adress] ^= mask;
break;
}
set_adress (adress, display_buffer[adress]);
}
}
//-----------------------------------------------------------
//-----------------------------------------------------------
void lcdx_putc( uint8_t x, uint8_t y, uint8_t c, uint8_t mode, int8_t xoffs, int8_t yoffs )
{
uint8_t ch;
uint16_t adress;
uint8_t x1,y1;
uint8_t x0,y0;
uint8_t xw;
uint8_t mask;
uint8_t bit;
uint8_t *font;
//------------------------
// char translate
//------------------------
switch (c)
{ // ISO 8859-1
case 0xc4: c = 0x01; break; // Ä
case 0xe4: c = 0x02; break; // ä
case 0xd6: c = 0x03; break; // Ö
case 0xf6: c = 0x04; break; // ö
case 0xdc: c = 0x05; break; // Ü
case 0xfc: c = 0x06; break; // ü
case 0xdf: c = 0x1e; break; // ß c = 0x07; ° (used by Jeti)
}
c &= 0x7f;
//------------------------
// Font Parameter setzen
//------------------------
if( mode <=2 ) // normaler font (8x6)
{
font = (uint8_t *) &font8x6[0][0];
xw = 6;
}
else // grosser font (8x8)
{
font = (uint8_t *) &Font8x8[0][0];
xw = 8;
}
//------------------------
//------------------------
x0 = (x*xw) + xoffs;
y0 = (y*8) + yoffs;
if( yoffs == 0)
{
//----------------------------------------------------------
// orginaler Character Algo
//
// funktioniert auch mit x Verschiebung aber nicht
// mit y Verschiebung.
//
// Da 8 Bit aufeinmal gesetzt werden ist dieser Algo
// bzgl. Geschwindigkeit effektiver als der Y-Algo.
//----------------------------------------------------------
if( mode==MINVERS || mode==MBIGINVERS )
lcd_frect( (x*xw)+xoffs, (y*8), xw-1, 7, 1); // invertierte Darstellung
adress = y * 128 + x * xw + xoffs;
adress &= 0x3FF;
for( x1 = 0; x1 < xw; x1++)
{
ch = pgm_read_byte (font + x1 + c * xw);
if( mode==MINVERS || mode==MBIGINVERS )
display_buffer[adress + x1] ^= ch;
else
display_buffer[adress + x1] = ch;
set_adress (adress + x1, display_buffer[adress + x1]);
}
}
else
{
//----------------------------------------------------------
// Y-Algo
// neuer Character Algo (nur wenn Pixel y-Verschiebung)
//----------------------------------------------------------
for( x1 = 0; x1 < xw; x1++ )
{
ch = pgm_read_byte (font + x1 + c * xw);
mask = 1;
for( y1 = 0; y1 < 8; y1++ )
{
bit = (ch & mask);
if( bit )
lcd_plot( x0+x1, y0+y1, ( (mode==MINVERS || mode==MBIGINVERS) ? 0 : 1) );
else
lcd_plot( x0+x1, y0+y1, ( (mode==MINVERS || mode==MBIGINVERS) ? 1 : 0) );
mask = (mask << 1);
}
}
}
}
//-----------------------------------------------------------
//--- Kompatibilitaet
//-----------------------------------------------------------
void lcd_putc( uint8_t x, uint8_t y, uint8_t c, uint8_t mode )
{
lcdx_putc( x, y, c, mode, 0,0 );
}
//####################################################################################
//####################################################################################
//-----------------------------------------------------------
void lcd_cls_line (uint8_t x, uint8_t y, uint8_t w)
{
uint8_t lcd_width;
uint8_t lcd_zpos;
uint8_t i;
uint8_t max = 21;
lcd_width = w;
lcd_xpos = x;
lcd_ypos = y;
if ((lcd_xpos + lcd_width) > max)
lcd_width = max - lcd_xpos;
lcd_zpos = lcd_xpos + lcd_width;
for (i = lcd_xpos; i < lcd_zpos; i++)
lcd_putc (i, lcd_ypos, 0x20, 0);
}
//-----------------------------------------------------------
void wait_1ms (void)
{
_delay_ms (1);
}
//-----------------------------------------------------------
void wait_ms (uint16_t time)
{
uint16_t i;
for (i = 0; i < time; i++)
wait_1ms ();
}
//-----------------------------------------------------------
void LCD_Init (uint8_t LCD_Mode) // LCD_Mode 0= Default Mode 1= EEPROM-Parameter)
{
lcd_xpos = 0;
lcd_ypos = 0;
// DDRB = 0xFF;
// SPI max. speed
// the DOGM128 lcd controller can work at 20 MHz
SPCR = (1 << SPE) | (1 << MSTR) | (1 << CPHA) | (1 << CPOL);
SPSR = (1 << SPI2X);
set_cs ();
clr_reset ();
wait_ms (10);
set_reset ();
clr_cs ();
clr_A0 ();
send_byte (0x40); //Display start line = 0
if (LCD_Mode == 1)
{
if (LCD_ORIENTATION == 0)
{
send_byte (0xA1); // A1 normal A0 reverse(original)
send_byte (0xC0); // C0 normal C8 reverse(original)
}
else
{
send_byte (0xA0); // A1 normal A0 reverse(original)
send_byte (0xC8); // C0 normal C8 reverse(original)
}
}
else
{
send_byte (0xA1); // A1 normal A0 reverse(original)
send_byte (0xC0); // C0 normal C8 reverse(original)
}
if (LCD_Mode == 1)
{
if (Config.LCD_DisplayMode == 0)
send_byte (0xA6); //Display normal, not mirrored
else
send_byte (0xA7); //Display reverse, not mirrored
}
else
send_byte (0xA6);
send_byte (0xA2); //Set bias 1/9 (Duty 1/65)
send_byte (0x2F); //Booster, regulator and follower on
send_byte (0xF8); //Set internal booster to 4x
send_byte (0x00); //Set internal booster to 4x
send_byte (0x27); //resistor ratio set
if (LCD_Mode == 1)
{
send_byte (0x81); //Electronic volume register set
send_byte (Config.LCD_Kontrast); //Electronic volume register set
}
else
{
send_byte (0x81);
send_byte (0x16);
}
send_byte (0xAC); //Cursor
send_byte (0x00); //No Cursor
send_byte (0xAF); //No indicator
if (Config.HWSound==0)
{
if (LCD_Mode == 1)
{
// Helligkeit setzen
OCR2A = Config.LCD_Helligkeit * 2.55;
}
else
{
OCR2A = 255;
}
}
lcd_cls ();
}
//-----------------------------------------------------------
// sicher eine Zeile für die Statusanzeige
void copy_line (uint8_t y)
{
uint8_t i;
uint16_t adress;
adress = y * 128 + 0 * 6;
adress &= 0x3FF;
for (i = 0; i < 6*21; i++)
{
line_buffer[i] = display_buffer[adress+i];
set_adress (adress + i, display_buffer[adress + i]);
}
}
//-----------------------------------------------------------
// holt gesicherte Zeile wieder zurück
void paste_line (uint8_t y)
{
uint8_t i;
uint16_t adress;
adress = y * 128 + 0 * 6;
adress &= 0x3FF;
for (i = 0; i < 6*21; i++)
{
display_buffer[adress+i] =line_buffer[i];
set_adress (adress + i, display_buffer[adress + i]);
}
}
//-----------------------------------------------------------
//-----------------------------------------------------------
void lcdx_puts_at( uint8_t x, uint8_t y, const char *s, uint8_t mode, int8_t xoffs, int8_t yoffs)
{
while (*s)
{
lcdx_putc(x, y, *s++, mode, xoffs,yoffs);
x++;
}
}/* lcd_puts */
//-----------------------------------------------------------
//-----------------------------------------------------------
void lcd_puts_at( uint8_t x, uint8_t y, const char *s, uint8_t mode )
{
lcdx_puts_at( x, y, s, mode, 0,0 );
}
//-----------------------------------------------------------
void new_line (void)
{
lcd_ypos++;
if (lcd_ypos > 7)
{
scroll ();
lcd_ypos = 7;
}
}
//-----------------------------------------------------------
void lcd_printpns (const char *text, uint8_t mode)
{
while (pgm_read_byte(text))
{
switch (pgm_read_byte(text))
{
case 0x0D:
lcd_xpos = 0;
break;
case 0x0A:
new_line();
break;
default:
lcd_putc (lcd_xpos, lcd_ypos, pgm_read_byte(text), mode);
lcd_xpos++;
if (lcd_xpos > 21)
{
lcd_xpos = 0;
// new_line ();
}
break;
}
text++;
}
}
//-----------------------------------------------------------
void lcd_printpns_at (uint8_t x, uint8_t y, const char *text, uint8_t mode)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_printpns (text, mode);
}
//-----------------------------------------------------------
//-----------------------------------------------------------
void lcdx_printp (const char *text, uint8_t mode, int8_t xoffs, int8_t yoffs)
{
while( pgm_read_byte(text) )
{
switch (pgm_read_byte(text))
{
case 0x0D:
lcd_xpos = 0;
break;
case 0x0A:
new_line();
break;
default:
lcdx_putc (lcd_xpos, lcd_ypos, pgm_read_byte(text), mode, xoffs,yoffs);
lcd_xpos++;
if (lcd_xpos > 21)
{
lcd_xpos = 0;
new_line ();
}
break;
}
text++;
}
}
//-----------------------------------------------------------
//-----------------------------------------------------------
void lcd_printp (const char *text, uint8_t mode)
{
lcdx_printp ( text, mode, 0,0);
}
//-----------------------------------------------------------
//-----------------------------------------------------------
void lcdx_printp_at (uint8_t x, uint8_t y, const char *text, uint8_t mode, int8_t xoffs, int8_t yoffs)
{
lcd_xpos = x;
lcd_ypos = y;
lcdx_printp (text, mode, xoffs,yoffs);
}
//-----------------------------------------------------------
//-----------------------------------------------------------
void lcd_printp_at (uint8_t x, uint8_t y, const char *text, uint8_t mode)
{
lcdx_printp_at ( x, y, text, mode, 0,0);
}
//-----------------------------------------------------------
void lcdx_print (uint8_t *text, uint8_t mode, int8_t xoffs, int8_t yoffs)
{
while (*text)
{
switch (*text)
{
case 0x0D:
lcd_xpos = 0;
break;
case 0x0A:
new_line();
break;
default:
lcdx_putc (lcd_xpos, lcd_ypos, *text, mode, xoffs,yoffs);
lcd_xpos++;
if (lcd_xpos > 21)
{
lcd_xpos = 0;
new_line ();
}
break;
}
text++;
}
}
//-----------------------------------------------------------
//--- lcd_print: Kompatibilitaet
//-----------------------------------------------------------
void lcd_print (uint8_t *text, uint8_t mode )
{
lcdx_print (text, mode, 0,0 );
}
//-----------------------------------------------------------
void lcdx_print_at (uint8_t x, uint8_t y, uint8_t *text, uint8_t mode, int8_t xoffs, int8_t yoffs)
{
lcd_xpos = x;
lcd_ypos = y;
lcdx_print (text, mode, xoffs, yoffs);
}
//-----------------------------------------------------------
//--- lcd_print_at: Kompatibilitaet
//-----------------------------------------------------------
void lcd_print_at (uint8_t x, uint8_t y, uint8_t *text, uint8_t mode )
{
lcdx_print_at ( x, y, text, mode, 0,0);
}
//-----------------------------------------------------------
void print_display (uint8_t *text)
{
while (*text)
{
lcd_putc (lcd_xpos, lcd_ypos, *text, 0);
lcd_xpos++;
if (lcd_xpos >= 20)
{
lcd_xpos = 0;
new_line ();
}
text++;
}
}
//-----------------------------------------------------------
void print_display_at (uint8_t x, uint8_t y, uint8_t *text)
{
lcd_xpos = x;
lcd_ypos = y;
print_display (text);
}
//-----------------------------------------------------------
// + Line (draws a line from x1,y1 to x2,y2
// + Based on Bresenham line-Algorithm
// + found in the internet, modified by thkais 2007
//-----------------------------------------------------------
void lcd_line (unsigned char x1, unsigned char y1, unsigned char x2, unsigned char y2, uint8_t mode)
{
int x, y, count, xs, ys, xm, ym;
x = (int) x1;
y = (int) y1;
xs = (int) x2 - (int) x1;
ys = (int) y2 - (int) y1;
if (xs < 0)
xm = -1;
else
if (xs > 0)
xm = 1;
else
xm = 0;
if (ys < 0)
ym = -1;
else
if (ys > 0)
ym = 1;
else
ym = 0;
if (xs < 0)
xs = -xs;
if (ys < 0)
ys = -ys;
lcd_plot ((unsigned char) x, (unsigned char) y, mode);
if (xs > ys) // Flat Line <45 degrees
{
count = -(xs / 2);
while (x != x2)
{
count = count + ys;
x = x + xm;
if (count > 0)
{
y = y + ym;
count = count - xs;
}
lcd_plot ((unsigned char) x, (unsigned char) y, mode);
}
}
else // Line >=45 degrees
{
count =- (ys / 2);
while (y != y2)
{
count = count + xs;
y = y + ym;
if (count > 0)
{
x = x + xm;
count = count - ys;
}
lcd_plot ((unsigned char) x, (unsigned char) y, mode);
}
}
}
//-----------------------------------------------------------
// + Filled rectangle
// + x1, y1 = upper left corner
//-----------------------------------------------------------
void lcd_frect (uint8_t x1, uint8_t y1, uint8_t widthx, uint8_t widthy, uint8_t mode)
{
uint16_t x2, y2;
uint16_t i;
if (x1 >= DISP_W)
x1 = DISP_W - 1;
if (y1 >= DISP_H)
y1 = DISP_H - 1;
x2 = x1 + widthx;
y2 = y1 + widthy;
if (x2 > DISP_W)
x2 = DISP_W;
if (y2 > DISP_H)
y2 = DISP_H;
for (i = y1; i <= y2; i++)
{
lcd_line (x1, i, x2, i, mode);
}
}
//-----------------------------------------------------------
// + outline of rectangle
// + x1, y1 = upper left corner
//-----------------------------------------------------------
void lcd_rect (uint8_t x1, uint8_t y1, uint8_t widthx, uint8_t widthy, uint8_t mode)
{
uint16_t x2, y2;
if (x1 >= DISP_W)
x1 = DISP_W - 1;
if (y1 >= DISP_H)
y1 = DISP_H - 1;
x2 = x1 + widthx;
y2 = y1 + widthy;
if (x2 > DISP_W)
x2 = DISP_W;
if (y2 > DISP_H)
y2 = DISP_H;
lcd_line (x1, y1, x2, y1, mode);
lcd_line (x2, y1, x2, y2, mode);
lcd_line (x2, y2, x1, y2, mode);
lcd_line (x1, y2, x1, y1, mode);
}
//-----------------------------------------------------------
// + outline of a circle
// + Based on Bresenham-algorithm found in wikipedia
// + modified by thkais (2007)
//-----------------------------------------------------------
void lcd_circle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode)
{
int16_t f = 1 - radius;
int16_t ddF_x = 0;
int16_t ddF_y = -2 * radius;
int16_t x = 0;
int16_t y = radius;
lcd_plot (x0, y0 + radius, mode);
lcd_plot (x0, y0 - radius, mode);
lcd_plot (x0 + radius, y0, mode);
lcd_plot (x0 - radius, y0, mode);
while (x < y)
{
if (f >= 0)
{
y --;
ddF_y += 2;
f += ddF_y;
}
x ++;
ddF_x += 2;
f += ddF_x + 1;
lcd_plot (x0 + x, y0 + y, mode);
lcd_plot (x0 - x, y0 + y, mode);
lcd_plot (x0 + x, y0 - y, mode);
lcd_plot (x0 - x, y0 - y, mode);
lcd_plot (x0 + y, y0 + x, mode);
lcd_plot (x0 - y, y0 + x, mode);
lcd_plot (x0 + y, y0 - x, mode);
lcd_plot (x0 - y, y0 - x, mode);
}
}
//-----------------------------------------------------------
// + filled Circle
// + modified circle-algorithm thkais (2007)
//-----------------------------------------------------------
void lcd_fcircle (int16_t x0, int16_t y0, int16_t radius,uint8_t mode)
{
int16_t f = 1 - radius;
int16_t ddF_x = 0;
int16_t ddF_y = -2 * radius;
int16_t x = 0;
int16_t y = radius;
lcd_line (x0, y0 + radius, x0, y0 - radius, mode);
lcd_line (x0 + radius, y0, x0 - radius, y0, mode);
while (x < y)
{
if (f >= 0)
{
y--;
ddF_y += 2;
f += ddF_y;
}
x++;
ddF_x += 2;
f += ddF_x + 1;
lcd_line (x0 + x, y0 + y, x0 - x, y0 + y, mode);
lcd_line (x0 + x, y0 - y, x0 - x, y0 - y, mode);
lcd_line (x0 + y, y0 + x, x0 - y, y0 + x, mode);
lcd_line (x0 + y, y0 - x, x0 - y, y0 - x, mode);
}
}
//-----------------------------------------------------------
//
void lcd_circ_line (uint8_t x, uint8_t y, uint8_t r, uint16_t deg, uint8_t mode)
{
uint8_t xc, yc;
double deg_rad;
deg_rad = (deg * M_PI) / 180.0;
yc = y - (uint8_t) round (cos (deg_rad) * (double) r);
xc = x + (uint8_t) round (sin (deg_rad) * (double) r);
lcd_line (x, y, xc, yc, mode);
}
//-----------------------------------------------------------
//
void lcd_ellipse_line (uint8_t x, uint8_t y, uint8_t rx, uint8_t ry, uint16_t deg, uint8_t mode)
{
uint8_t xc, yc;
double deg_rad;
deg_rad = (deg * M_PI) / 180.0;
yc = y - (uint8_t) round (cos (deg_rad) * (double) ry);
xc = x + (uint8_t) round (sin (deg_rad) * (double) rx);
lcd_line (x, y, xc, yc, mode);
}
//-----------------------------------------------------------
//
void lcd_ellipse (int16_t x0, int16_t y0, int16_t rx, int16_t ry, uint8_t mode)
{
const int16_t rx2 = rx * rx;
const int16_t ry2 = ry * ry;
int16_t F = round (ry2 - rx2 * ry + 0.25 * rx2);
int16_t ddF_x = 0;
int16_t ddF_y = 2 * rx2 * ry;
int16_t x = 0;
int16_t y = ry;
lcd_plot (x0, y0 + ry, mode);
lcd_plot (x0, y0 - ry, mode);
lcd_plot (x0 + rx, y0, mode);
lcd_plot (x0 - rx, y0, mode);
// while ( 2*ry2*x < 2*rx2*y ) { we can use ddF_x and ddF_y
while (ddF_x < ddF_y)
{
if(F >= 0)
{
y -= 1; // south
ddF_y -= 2 * rx2;
F -= ddF_y;
}
x += 1; // east
ddF_x += 2 * ry2;
F += ddF_x + ry2;
lcd_plot (x0 + x, y0 + y, mode);
lcd_plot (x0 + x, y0 - y, mode);
lcd_plot (x0 - x, y0 + y, mode);
lcd_plot (x0 - x, y0 - y, mode);
}
F = round (ry2 * (x + 0.5) * (x + 0.5) + rx2 * (y - 1) * (y - 1) - rx2 * ry2);
while(y > 0)
{
if(F <= 0)
{
x += 1; // east
ddF_x += 2 * ry2;
F += ddF_x;
}
y -= 1; // south
ddF_y -= 2 * rx2;
F += rx2 - ddF_y;
lcd_plot (x0 + x, y0 + y, mode);
lcd_plot (x0 + x, y0 - y, mode);
lcd_plot (x0 - x, y0 + y, mode);
lcd_plot (x0 - x, y0 - y, mode);
}
}
//-----------------------------------------------------------
//
void lcd_ecircle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode)
{
lcd_ellipse (x0, y0, radius + 3, radius, mode);
}
//-----------------------------------------------------------
//
void lcd_ecirc_line (uint8_t x, uint8_t y, uint8_t r, uint16_t deg, uint8_t mode)
{
lcd_ellipse_line(x, y, r + 3, r, deg, mode);
}
//-----------------------------------------------------------
//
void lcd_view_font (uint8_t page)
{
int x;
int y;
lcd_cls ();
lcd_printp (PSTR(" 0123456789ABCDEF\r\n"), 0);
lcd_printpns_at (0, 7, PSTR(" \x1a \x1b Exit"), 0);
lcd_ypos = 2;
for (y = page * 4 ; y < (page * 4 + 4); y++)
{
if (y < 10)
{
lcd_putc (0, lcd_ypos, '0' + y, 0);
}
else
{
lcd_putc (0, lcd_ypos, 'A' + y - 10, 0);
}
lcd_xpos = 2;
for (x = 0; x < 16; x++)
{
lcd_putc (lcd_xpos, lcd_ypos, y * 16 + x, 0);
lcd_xpos++;
}
lcd_ypos++;
}
}
//-----------------------------------------------------------
uint8_t hdigit (uint8_t d)
{
if (d < 10)
{
return '0' + d;
}
else
{
return 'A' + d - 10;
}
}
//-----------------------------------------------------------
void lcd_print_hex_at (uint8_t x, uint8_t y, uint8_t h, uint8_t mode)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_putc (lcd_xpos++, lcd_ypos, hdigit (h >> 4), mode);
lcd_putc (lcd_xpos, lcd_ypos, hdigit (h & 0x0f), mode);
}
//-----------------------------------------------------------
void lcd_print_hex (uint8_t h, uint8_t mode)
{
// lcd_xpos = x;
// lcd_ypos = y;
lcd_putc (lcd_xpos++, lcd_ypos, hdigit (h >> 4), mode);
lcd_putc (lcd_xpos++, lcd_ypos, hdigit (h & 0x0f), mode);
lcd_putc (lcd_xpos++, lcd_ypos, ' ', mode);
}
//-----------------------------------------------------------
void lcd_write_number_u (uint8_t number)
{
uint8_t num = 100;
uint8_t started = 0;
while (num > 0)
{
uint8_t b = number / num;
if (b > 0 || started || num == 1)
{
lcd_putc (lcd_xpos++, lcd_ypos, '0' + b, 0);
started = 1;
}
number -= b * num;
num /= 10;
}
}
//-----------------------------------------------------------
void lcd_write_number_u_at (uint8_t x, uint8_t y, uint8_t number)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_write_number_u (number);
}
//-----------------------------------------------------------
// Write only some digits of a unsigned <number> at <x>/<y> to MAX7456 display memory
// <num> represents the largest multiple of 10 that will still be displayable as
// the first digit, so num = 10 will be 0-99 and so on
// <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
//
void writex_ndigit_number_u (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad, uint8_t mode, int8_t xoffs, int8_t yoffs)
{
//char s[7];
utoa(number, s, 10 );
uint8_t len = strlen(s);
if (length < len)
{
for (uint8_t i = 0; i < length; i++)
{
lcdx_putc (x++, y, '*', mode, xoffs,yoffs);
}
return;
}
for (uint8_t i = 0; i < length - len; i++)
{
if (pad==1)
{
lcdx_putc (x++, y, '0', mode, xoffs,yoffs);
}
else
{
lcdx_putc (x++, y, ' ', mode, xoffs,yoffs);
}
}
lcdx_print_at(x, y, (uint8_t*)s, mode, xoffs,yoffs);
}
//-----------------------------------------------------------
//-----------------------------------------------------------
void write_ndigit_number_u (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad, uint8_t mode)
{
writex_ndigit_number_u( x, y, number, length, pad, mode, 0,0);
}
//-----------------------------------------------------------
// Write only some digits of a signed <number> at <x>/<y> to MAX7456 display memory
// <num> represents the largest multiple of 10 that will still be displayable as
// the first digit, so num = 10 will be 0-99 and so on
// <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
//
void writex_ndigit_number_s (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad, uint8_t mode, int8_t xoffs, int8_t yoffs)
{
//char s[7];
itoa(number, s, 10 );
uint8_t len = strlen(s);
if (length < len)
{
for (uint8_t i = 0; i < length; i++)
{
lcdx_putc (x++, y, '*', mode, xoffs,yoffs);
}
return;
}
for (uint8_t i = 0; i < length - len; i++)
{
if (pad)
{
lcdx_putc (x++, y, '0', mode, xoffs,yoffs);
}
else
{
lcdx_putc (x++, y, ' ', mode, xoffs,yoffs);
}
}
lcdx_print_at(x, y, (uint8_t*)s, mode, xoffs,yoffs);
}
//-----------------------------------------------------------
//-----------------------------------------------------------
void write_ndigit_number_s (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad, uint8_t mode)
{
writex_ndigit_number_s (x, y, number, length, pad, mode, 0,0);
}
//-----------------------------------------------------------
// Write only some digits of a unsigned <number> at <x>/<y> to MAX7456 display memory
// as /10th of the value
// <num> represents the largest multiple of 10 that will still be displayable as
// the first digit, so num = 10 will be 0-99 and so on
// <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
//
void writex_ndigit_number_u_10th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad, uint8_t mode, int8_t xoffs, int8_t yoffs)
{
//char s[7];
itoa(number, s, 10 );
uint8_t len = strlen(s);
if (length < len)
{
for (uint8_t i = 0; i < length; i++)
{
lcdx_putc (x++, y, '*', mode, xoffs,yoffs);
}
return;
}
for (uint8_t i = 0; i < length - len; i++)
{
if (pad)
{
lcdx_putc (x++, y, '0', mode, xoffs,yoffs);
}
else
{
lcdx_putc (x++, y, ' ', mode, xoffs,yoffs);
}
}
char rest = s[len - 1];
s[len - 1] = 0;
if (len == 1)
{
lcdx_putc (x-1, y, '0', mode, xoffs,yoffs);
}
else if (len == 2 && s[0] == '-')
{
lcdx_putc (x-1, y, '-', mode, xoffs,yoffs);
lcdx_putc (x, y, '0', mode, xoffs,yoffs);
}
else
{
lcdx_print_at(x, y, (uint8_t*)s, mode, xoffs,yoffs);
}
x += len - 1;
lcdx_putc (x++, y, '.', mode, xoffs,yoffs);
lcdx_putc (x++, y, rest, mode, xoffs,yoffs);
}
//-----------------------------------------------------------
//-----------------------------------------------------------
void write_ndigit_number_u_10th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad, uint8_t mode)
{
writex_ndigit_number_u_10th ( x, y, number, length, pad, mode, 0,0);
}
//-----------------------------------------------------------
//-----------------------------------------------------------
void writex_ndigit_number_u_100th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad, int8_t xoffs, int8_t yoffs)
{
uint8_t num = 100;
while (num > 0)
{
uint8_t b = number / num;
if ((num / 10) == 1)
{
lcdx_putc (x++, y, '.', 0, xoffs,yoffs);
}
lcdx_putc (x++, y, '0' + b, 0, xoffs,yoffs);
number -= b * num;
num /= 10;
}
}
//-----------------------------------------------------------
//-----------------------------------------------------------
void write_ndigit_number_u_100th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad)
{
writex_ndigit_number_u_100th ( x, y, number, length, pad, 0,0);
}
//-----------------------------------------------------------
// Write only some digits of a signed <number> at <x>/<y> to MAX7456 display memory
// as /10th of the value
// <num> represents the largest multiple of 10 that will still be displayable as
// the first digit, so num = 10 will be 0-99 and so on
// <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
//
void writex_ndigit_number_s_10th (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad, uint8_t mode, int8_t xoffs, int8_t yoffs)
{
//char s[7];
itoa (number, s, 10 );
uint8_t len = strlen(s);
if (length < len)
{
for (uint8_t i = 0; i < length; i++)
{
lcdx_putc (x++, y, '*', mode, xoffs, yoffs);
}
return;
}
for (uint8_t i = 0; i < length - len; i++)
{
if (pad)
{
lcdx_putc (x++, y, '0', mode, xoffs, yoffs);
}
else
{
lcdx_putc (x++, y, ' ', mode, xoffs, yoffs);
}
}
char rest = s[len - 1];
s[len - 1] = 0;
if (len == 1)
{
lcdx_putc (x-1, y, '0', mode, xoffs, yoffs);
}
else if (len == 2 && s[0] == '-')
{
lcdx_putc (x-1, y, '-', mode, xoffs,yoffs);
lcdx_putc (x, y, '0', mode, xoffs,yoffs);
}
else
{
lcdx_print_at(x, y, (uint8_t*)s, mode, xoffs, yoffs);
}
x += len - 1;
lcdx_putc (x++, y, '.', mode, xoffs, yoffs);
lcdx_putc (x++, y, rest, mode, xoffs, yoffs);
}
//-----------------------------------------------------------
//-----------------------------------------------------------
void write_ndigit_number_s_10th (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad, uint8_t mode)
{
writex_ndigit_number_s_10th ( x, y, number, length, pad, mode, 0,0);
}
//-----------------------------------------------------------
// write <seconds> as human readable time at <x>/<y> to MAX7456 display mem
//
void writex_time (uint8_t x, uint8_t y, uint16_t seconds, uint8_t mode, int8_t xoffs, int8_t yoffs)
{
uint16_t min = seconds / 60;
seconds -= min * 60;
writex_ndigit_number_u (x, y, min, 2, 0,mode, xoffs,yoffs);
lcd_putc (x + 2, y, ':', 0);
writex_ndigit_number_u (x + 3, y, seconds, 2, 1,mode, xoffs,yoffs);
}
//-----------------------------------------------------------
//-----------------------------------------------------------
void write_time (uint8_t x, uint8_t y, uint16_t seconds)
{
writex_time ( x, y, seconds, 0, 0,0);
}
//-----------------------------------------------------------
// wirte a <position> at <x>/<y> assuming it is a gps position for long-/latitude
//
void write_gps_pos (uint8_t x, uint8_t y, int32_t position)
{
if (position < 0)
{
position ^= ~0;
position++;
lcd_putc (x++, y, '-', 0);
}
else
{
lcd_putc (x++, y, ' ', 0);
}
write_ndigit_number_u (x, y, (uint16_t) (position / (int32_t) 10000000), 3, 1,0);
lcd_putc (x + 3, y, '.', 0);
position = position - ((position / (int32_t) 10000000) * (int32_t) 10000000);
write_ndigit_number_u (x + 4, y, (uint16_t) (position / (int32_t) 1000), 4, 1,0);
position = position - ((uint16_t) (position / (int32_t) 1000) * (int32_t) 1000);
write_ndigit_number_u (x + 8, y, (uint16_t) position, 3, 1,0);
lcd_putc (x + 11, y, 0x1e, 0); // degree symbol
}
//------------------------------------------------------------------------------------
// Show PKT Baudrate at given position
//
void show_baudrate (uint8_t x, uint8_t y, uint8_t Baudrate, uint8_t mode)
{
switch (Baudrate)
{
case Baud_2400: lcd_printp_at (x, y, PSTR("2400"), mode);break;
case Baud_4800: lcd_printp_at (x, y, PSTR("4800"), mode);break;
case Baud_9600: lcd_printp_at (x, y, PSTR("9600"), mode);break;
case Baud_19200: lcd_printp_at (x, y, PSTR("19200"), mode);break;
case Baud_38400: lcd_printp_at (x, y, PSTR("38400"), mode);break;
case Baud_57600: lcd_printp_at (x, y, PSTR("57600"), mode);break;
case Baud_115200: lcd_printp_at (x, y, PSTR("115200"), mode);break;
break;
}
}
Property changes:
Added: svn:mime-type
+text/plain
\ No newline at end of property

/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/lcd/lcd.cold
0,0 → 1,1402
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* - original LCD control by Thomas "thkais" Kaiser *
* - special number formating routines taken from C-OSD *
* from Claas Anders "CaScAdE" Rathje *
* - some extension, ellipse and circ_line by Peter "woggle" Mack *
* *
* 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. *
* *
*****************************************************************************/
#include "../cpu.h"
#include <avr/io.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "font8x6.h"
#include "Font8x8.h"
#include "../eeprom/eeprom.h"
#include "lcd.h"
#include "../main.h"
#include "../HAL_HW3_9.h"
#define DISP_W 128
#define DISP_H 64
#define DISP_BUFFER ((DISP_H * DISP_W) / 8)
#define LINE_BUFFER (((DISP_H/8) * DISP_W) / 8)
#define Jeti 1 // Jeti Routinen
volatile uint8_t display_buffer[DISP_BUFFER]; // Display-Puffer, weil nicht zurückgelesen werden kann
volatile uint8_t line_buffer[LINE_BUFFER]; // Zeilen-Puffer, weil nicht zurückgelesen werden kann
volatile uint16_t display_buffer_pointer; // Pointer auf das aktuell übertragene Byte
volatile uint8_t display_buffer_counter; // Hilfszähler zur Selektierung der Page
volatile uint8_t display_page_counter; // aktuelle Page-Nummer
volatile uint8_t display_mode; // Modus für State-Machine
volatile uint8_t LCD_ORIENTATION;
// DOG: 128 x 64 with 6x8 Font => 21 x 8
// MAX7456: 30 x 16
uint8_t lcd_xpos;
uint8_t lcd_ypos;
//-----------------------------------------------------------
void send_byte (uint8_t data)
{
clr_cs ();
SPDR = data;
while (!(SPSR & (1<<SPIF)));
//SPSR = SPSR;
set_cs ();
}
//-----------------------------------------------------------
// * Writes one command byte
// * cmd - the command byte
//
void lcd_command(uint8_t cmd)
{
// LCD_SELECT();
// LCD_CMD();
// spi_write(cmd);
// LCD_UNSELECT();
clr_cs ();
SPDR = cmd;
while (!(SPSR & (1<<SPIF)));
//SPSR = SPSR;
set_cs ();
}
//-----------------------------------------------------------
void lcd_cls (void)
{
uint16_t i, j;
// memset (display_buffer, 0, 1024);
for (i = 0; i < DISP_BUFFER; i++)
display_buffer[i] = 0x00;
for (i = 0; i < 8; i++)
{
clr_A0 ();
send_byte (0xB0 + i); //1011xxxx
send_byte (0x10); //00010000
// send_byte(0x04); //00000100 gedreht plus 4 Byte
// send_byte(0x00); //00000000
send_byte (LCD_ORIENTATION); //00000000
set_A0 ();
for (j = 0; j < 128; j++)
send_byte (0x00);
}
lcd_xpos = 0;
lcd_ypos = 0;
}
//-----------------------------------------------------------
void lcd_cls_line (uint8_t x, uint8_t y, uint8_t w)
{
uint8_t lcd_width;
uint8_t lcd_zpos;
uint8_t i;
uint8_t max = 21;
lcd_width = w;
lcd_xpos = x;
lcd_ypos = y;
if ((lcd_xpos + lcd_width) > max)
lcd_width = max - lcd_xpos;
lcd_zpos = lcd_xpos + lcd_width;
for (i = lcd_xpos; i < lcd_zpos; i++)
lcd_putc (i, lcd_ypos, 0x20, 0);
}
//-----------------------------------------------------------
void wait_1ms (void)
{
_delay_ms (1);
}
//-----------------------------------------------------------
void wait_ms (uint16_t time)
{
uint16_t i;
for (i = 0; i < time; i++)
wait_1ms ();
}
//-----------------------------------------------------------
void LCD_Init (uint8_t LCD_Mode) // LCD_Mode 0= Default Mode 1= EEPROM-Parameter)
{
lcd_xpos = 0;
lcd_ypos = 0;
// DDRB = 0xFF;
// SPI max. speed
// the DOGM128 lcd controller can work at 20 MHz
SPCR = (1 << SPE) | (1 << MSTR) | (1 << CPHA) | (1 << CPOL);
SPSR = (1 << SPI2X);
set_cs ();
clr_reset ();
wait_ms (10);
set_reset ();
clr_cs ();
clr_A0 ();
send_byte (0x40); //Display start line = 0
if (LCD_Mode == 1)
{
if (LCD_ORIENTATION == 0)
{
send_byte (0xA1); // A1 normal A0 reverse(original)
send_byte (0xC0); // C0 normal C8 reverse(original)
}
else
{
send_byte (0xA0); // A1 normal A0 reverse(original)
send_byte (0xC8); // C0 normal C8 reverse(original)
}
}
else
{
send_byte (0xA1); // A1 normal A0 reverse(original)
send_byte (0xC0); // C0 normal C8 reverse(original)
}
if (LCD_Mode == 1)
{
if (Config.LCD_DisplayMode == 0)
send_byte (0xA6); //Display normal, not mirrored
else
send_byte (0xA7); //Display reverse, not mirrored
}
else
send_byte (0xA6);
send_byte (0xA2); //Set bias 1/9 (Duty 1/65)
send_byte (0x2F); //Booster, regulator and follower on
send_byte (0xF8); //Set internal booster to 4x
send_byte (0x00); //Set internal booster to 4x
send_byte (0x27); //resistor ratio set
if (LCD_Mode == 1)
{
send_byte (0x81); //Electronic volume register set
send_byte (Config.LCD_Kontrast); //Electronic volume register set
}
else
{
send_byte (0x81);
send_byte (0x16);
}
send_byte (0xAC); //Cursor
send_byte (0x00); //No Cursor
send_byte (0xAF); //No indicator
if (Config.HWSound==0)
{
if (LCD_Mode == 1)
{
// Helligkeit setzen
OCR2A = Config.LCD_Helligkeit * 2.55;
}
else
{
OCR2A = 255;
}
}
lcd_cls ();
}
//-----------------------------------------------------------
void set_adress (uint16_t adress, uint8_t data)
{
uint8_t page;
uint8_t column;
page = adress >> 7;
clr_A0 ();
send_byte (0xB0 + page);
column = (adress & 0x7F) + LCD_ORIENTATION;
send_byte (0x10 + (column >> 4));
send_byte (column & 0x0F);
set_A0 ();
send_byte (data);
}
//-----------------------------------------------------------
void scroll (void)
{
uint16_t adress;
for (adress = 0; adress < 896; adress++)
{
display_buffer[adress] = display_buffer[adress + 128];
set_adress (adress, display_buffer[adress]);
}
for (adress = 896; adress < 1024; adress++)
{
display_buffer[adress] = 0;
set_adress (adress, 0);
}
}
//-----------------------------------------------------------
// sicher eine Zeile für die Statusanzeige
void copy_line (uint8_t y)
{
uint8_t i;
uint16_t adress;
adress = y * 128 + 0 * 6;
adress &= 0x3FF;
for (i = 0; i < 6*21; i++)
{
line_buffer[i] = display_buffer[adress+i];
set_adress (adress + i, display_buffer[adress + i]);
}
}
//-----------------------------------------------------------
// holt gesicherte Zeile wieder zurück
void paste_line (uint8_t y)
{
uint8_t i;
uint16_t adress;
adress = y * 128 + 0 * 6;
adress &= 0x3FF;
for (i = 0; i < 6*21; i++)
{
display_buffer[adress+i] =line_buffer[i];
set_adress (adress + i, display_buffer[adress + i]);
}
}
//-----------------------------------------------------------
void lcd_puts_at(uint8_t x, uint8_t y,const char *s, uint8_t mode )
{
while (*s)
{
lcd_putc(x, y, *s++, mode);
x++;
}
}/* lcd_puts */
//-----------------------------------------------------------
void lcd_putc (uint8_t x, uint8_t y, uint8_t c, uint8_t mode)
{
uint8_t ch;
uint8_t i;
uint16_t adress;
if (mode == 2)
lcd_frect ((x*6),(y*8),5,7,1); // invertierte Darstellung
if (mode == 3) lcd_putc_jeti (x, y, c,0);
else
if (mode == 4) lcd_putc_jeti (x, y, c,2);
else
{
switch (c)
{ // ISO 8859-1
case 0xc4: // Ä
c = 0x01;
break;
case 0xe4: // ä
c = 0x02;
break;
case 0xd6: // Ö
c = 0x03;
break;
case 0xf6: // ö
c = 0x04;
break;
case 0xdc: // Ü
c = 0x05;
break;
case 0xfc: // ü
c = 0x06;
break;
case 0xdf: // ß
//c = 0x07;
c = 0x1e; // ° (used by Jeti)
break;
}
c &= 0x7f;
adress = y * 128 + x * 6;
adress &= 0x3FF;
for (i = 0; i < 6; i++)
{
ch = pgm_read_byte (&font8x6[0][0] + i + c * 6);
switch (mode)
{
case 0:
display_buffer[adress+i] = ch;
break;
case 1:
display_buffer[adress+i] |= ch;
break;
case 2:
display_buffer[adress+i] ^= ch;
break;
case 3:
display_buffer[adress+i] &= ch;
break;
case 4:
display_buffer[adress+i] &= ~ch;
break;
}
set_adress (adress + i, display_buffer[adress + i]);
}
}
}
#if Jeti
//-----------------------------------------------------------
void lcd_putc_jeti (uint8_t x, uint8_t y, uint8_t c, uint8_t mode)
{
uint8_t ch;
uint8_t i;
uint16_t adress;
if (mode == 2)
lcd_frect ((x*8),(y*8),8,8,1); // invertierte Darstellung
switch (c)
{
case 0x7e:
c = 0x1a; // ->
break;
case 0x7f:
c = 0x1b; // <-
break;
case 0xdf:
c = 0xf8; // °
break;
}
adress = y * 128 + x * 8;
adress &= 0x3FF;
for (i = 0; i < 8; i++)
{
ch = pgm_read_byte (&Font8x8[0][0] + i + c * 8);
switch (mode)
{
case 0:
display_buffer[adress+i] = ch;
break;
case 1:
display_buffer[adress+i] |= ch;
break;
case 2:
display_buffer[adress+i] ^= ch;
break;
case 3:
display_buffer[adress+i] &= ch;
break;
case 4:
display_buffer[adress+i] &= ~ch;
break;
}
set_adress (adress + i, display_buffer[adress + i]);
}
}
//-----------------------------------------------------------
void lcd_printpj (const char *text, uint8_t mode)
{
while (pgm_read_byte(text))
{
switch (pgm_read_byte(text))
{
case 0x0D:
lcd_xpos = 0;
break;
case 0x0A:
new_line();
break;
default:
lcd_putc_jeti (lcd_xpos, lcd_ypos, pgm_read_byte(text), mode);
lcd_xpos++;
if (lcd_xpos > 20)
{
lcd_xpos = 0;
new_line ();
}
break;
}
text++;
}
}
//-----------------------------------------------------------
void lcd_printpj_at (uint8_t x, uint8_t y, const char *text, uint8_t mode)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_printpj (text, mode);
}
#endif
//-----------------------------------------------------------
void new_line (void)
{
lcd_ypos++;
if (lcd_ypos > 7)
{
scroll ();
lcd_ypos = 7;
}
}
//-----------------------------------------------------------
void lcd_printpns (const char *text, uint8_t mode)
{
while (pgm_read_byte(text))
{
switch (pgm_read_byte(text))
{
case 0x0D:
lcd_xpos = 0;
break;
case 0x0A:
new_line();
break;
default:
lcd_putc (lcd_xpos, lcd_ypos, pgm_read_byte(text), mode);
lcd_xpos++;
if (lcd_xpos > 21)
{
lcd_xpos = 0;
// new_line ();
}
break;
}
text++;
}
}
//-----------------------------------------------------------
void lcd_printpns_at (uint8_t x, uint8_t y, const char *text, uint8_t mode)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_printpns (text, mode);
}
//-----------------------------------------------------------
void lcd_printp (const char *text, uint8_t mode)
{
while (pgm_read_byte(text))
{
switch (pgm_read_byte(text))
{
case 0x0D:
lcd_xpos = 0;
break;
case 0x0A:
new_line();
break;
default:
lcd_putc (lcd_xpos, lcd_ypos, pgm_read_byte(text), mode);
lcd_xpos++;
if (lcd_xpos > 21)
{
lcd_xpos = 0;
new_line ();
}
break;
}
text++;
}
}
//-----------------------------------------------------------
void lcd_printp_at (uint8_t x, uint8_t y, const char *text, uint8_t mode)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_printp (text, mode);
}
//-----------------------------------------------------------
void lcd_print (uint8_t *text, uint8_t mode)
{
while (*text)
{
switch (*text)
{
case 0x0D:
lcd_xpos = 0;
break;
case 0x0A:
new_line();
break;
default:
lcd_putc (lcd_xpos, lcd_ypos, *text, mode);
lcd_xpos++;
if (lcd_xpos > 21)
{
lcd_xpos = 0;
new_line ();
}
break;
}
text++;
}
}
//-----------------------------------------------------------
void lcd_print_at (uint8_t x, uint8_t y, uint8_t *text, uint8_t mode)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_print (text, mode);
}
//-----------------------------------------------------------
void print_display (uint8_t *text)
{
while (*text)
{
lcd_putc (lcd_xpos, lcd_ypos, *text, 0);
lcd_xpos++;
if (lcd_xpos >= 20)
{
lcd_xpos = 0;
new_line ();
}
text++;
}
}
//-----------------------------------------------------------
void print_display_at (uint8_t x, uint8_t y, uint8_t *text)
{
lcd_xpos = x;
lcd_ypos = y;
print_display (text);
}
//-----------------------------------------------------------
// + Plot (set one Pixel)
//-----------------------------------------------------------
// mode:
// 0=Clear, 1=Set, 2=XOR
void lcd_plot (uint8_t xpos, uint8_t ypos, uint8_t mode)
{
uint16_t adress;
uint8_t mask;
if ((xpos < DISP_W) && (ypos < DISP_H))
{
adress = (ypos / 8) * DISP_W + xpos; // adress = 0/8 * 128 + 0 = 0
mask = 1 << (ypos & 0x07); // mask = 1<<0 = 1
adress &= DISP_BUFFER - 1;
switch (mode)
{
case 0:
display_buffer[adress] &= ~mask;
break;
case 1:
display_buffer[adress] |= mask;
break;
case 2:
display_buffer[adress] ^= mask;
break;
}
set_adress (adress, display_buffer[adress]);
}
}
//-----------------------------------------------------------
// + Line (draws a line from x1,y1 to x2,y2
// + Based on Bresenham line-Algorithm
// + found in the internet, modified by thkais 2007
//-----------------------------------------------------------
void lcd_line (unsigned char x1, unsigned char y1, unsigned char x2, unsigned char y2, uint8_t mode)
{
int x, y, count, xs, ys, xm, ym;
x = (int) x1;
y = (int) y1;
xs = (int) x2 - (int) x1;
ys = (int) y2 - (int) y1;
if (xs < 0)
xm = -1;
else
if (xs > 0)
xm = 1;
else
xm = 0;
if (ys < 0)
ym = -1;
else
if (ys > 0)
ym = 1;
else
ym = 0;
if (xs < 0)
xs = -xs;
if (ys < 0)
ys = -ys;
lcd_plot ((unsigned char) x, (unsigned char) y, mode);
if (xs > ys) // Flat Line <45 degrees
{
count = -(xs / 2);
while (x != x2)
{
count = count + ys;
x = x + xm;
if (count > 0)
{
y = y + ym;
count = count - xs;
}
lcd_plot ((unsigned char) x, (unsigned char) y, mode);
}
}
else // Line >=45 degrees
{
count =- (ys / 2);
while (y != y2)
{
count = count + xs;
y = y + ym;
if (count > 0)
{
x = x + xm;
count = count - ys;
}
lcd_plot ((unsigned char) x, (unsigned char) y, mode);
}
}
}
//-----------------------------------------------------------
// + Filled rectangle
// + x1, y1 = upper left corner
//-----------------------------------------------------------
void lcd_frect (uint8_t x1, uint8_t y1, uint8_t widthx, uint8_t widthy, uint8_t mode)
{
uint16_t x2, y2;
uint16_t i;
if (x1 >= DISP_W)
x1 = DISP_W - 1;
if (y1 >= DISP_H)
y1 = DISP_H - 1;
x2 = x1 + widthx;
y2 = y1 + widthy;
if (x2 > DISP_W)
x2 = DISP_W;
if (y2 > DISP_H)
y2 = DISP_H;
for (i = y1; i <= y2; i++)
{
lcd_line (x1, i, x2, i, mode);
}
}
//-----------------------------------------------------------
// + outline of rectangle
// + x1, y1 = upper left corner
//-----------------------------------------------------------
void lcd_rect (uint8_t x1, uint8_t y1, uint8_t widthx, uint8_t widthy, uint8_t mode)
{
uint16_t x2, y2;
if (x1 >= DISP_W)
x1 = DISP_W - 1;
if (y1 >= DISP_H)
y1 = DISP_H - 1;
x2 = x1 + widthx;
y2 = y1 + widthy;
if (x2 > DISP_W)
x2 = DISP_W;
if (y2 > DISP_H)
y2 = DISP_H;
lcd_line (x1, y1, x2, y1, mode);
lcd_line (x2, y1, x2, y2, mode);
lcd_line (x2, y2, x1, y2, mode);
lcd_line (x1, y2, x1, y1, mode);
}
//-----------------------------------------------------------
// + outline of a circle
// + Based on Bresenham-algorithm found in wikipedia
// + modified by thkais (2007)
//-----------------------------------------------------------
void lcd_circle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode)
{
int16_t f = 1 - radius;
int16_t ddF_x = 0;
int16_t ddF_y = -2 * radius;
int16_t x = 0;
int16_t y = radius;
lcd_plot (x0, y0 + radius, mode);
lcd_plot (x0, y0 - radius, mode);
lcd_plot (x0 + radius, y0, mode);
lcd_plot (x0 - radius, y0, mode);
while (x < y)
{
if (f >= 0)
{
y --;
ddF_y += 2;
f += ddF_y;
}
x ++;
ddF_x += 2;
f += ddF_x + 1;
lcd_plot (x0 + x, y0 + y, mode);
lcd_plot (x0 - x, y0 + y, mode);
lcd_plot (x0 + x, y0 - y, mode);
lcd_plot (x0 - x, y0 - y, mode);
lcd_plot (x0 + y, y0 + x, mode);
lcd_plot (x0 - y, y0 + x, mode);
lcd_plot (x0 + y, y0 - x, mode);
lcd_plot (x0 - y, y0 - x, mode);
}
}
//-----------------------------------------------------------
// + filled Circle
// + modified circle-algorithm thkais (2007)
//-----------------------------------------------------------
void lcd_fcircle (int16_t x0, int16_t y0, int16_t radius,uint8_t mode)
{
int16_t f = 1 - radius;
int16_t ddF_x = 0;
int16_t ddF_y = -2 * radius;
int16_t x = 0;
int16_t y = radius;
lcd_line (x0, y0 + radius, x0, y0 - radius, mode);
lcd_line (x0 + radius, y0, x0 - radius, y0, mode);
while (x < y)
{
if (f >= 0)
{
y--;
ddF_y += 2;
f += ddF_y;
}
x++;
ddF_x += 2;
f += ddF_x + 1;
lcd_line (x0 + x, y0 + y, x0 - x, y0 + y, mode);
lcd_line (x0 + x, y0 - y, x0 - x, y0 - y, mode);
lcd_line (x0 + y, y0 + x, x0 - y, y0 + x, mode);
lcd_line (x0 + y, y0 - x, x0 - y, y0 - x, mode);
}
}
//-----------------------------------------------------------
//
void lcd_circ_line (uint8_t x, uint8_t y, uint8_t r, uint16_t deg, uint8_t mode)
{
uint8_t xc, yc;
double deg_rad;
deg_rad = (deg * M_PI) / 180.0;
yc = y - (uint8_t) round (cos (deg_rad) * (double) r);
xc = x + (uint8_t) round (sin (deg_rad) * (double) r);
lcd_line (x, y, xc, yc, mode);
}
//-----------------------------------------------------------
//
void lcd_ellipse_line (uint8_t x, uint8_t y, uint8_t rx, uint8_t ry, uint16_t deg, uint8_t mode)
{
uint8_t xc, yc;
double deg_rad;
deg_rad = (deg * M_PI) / 180.0;
yc = y - (uint8_t) round (cos (deg_rad) * (double) ry);
xc = x + (uint8_t) round (sin (deg_rad) * (double) rx);
lcd_line (x, y, xc, yc, mode);
}
//-----------------------------------------------------------
//
void lcd_ellipse (int16_t x0, int16_t y0, int16_t rx, int16_t ry, uint8_t mode)
{
const int16_t rx2 = rx * rx;
const int16_t ry2 = ry * ry;
int16_t F = round (ry2 - rx2 * ry + 0.25 * rx2);
int16_t ddF_x = 0;
int16_t ddF_y = 2 * rx2 * ry;
int16_t x = 0;
int16_t y = ry;
lcd_plot (x0, y0 + ry, mode);
lcd_plot (x0, y0 - ry, mode);
lcd_plot (x0 + rx, y0, mode);
lcd_plot (x0 - rx, y0, mode);
// while ( 2*ry2*x < 2*rx2*y ) { we can use ddF_x and ddF_y
while (ddF_x < ddF_y)
{
if(F >= 0)
{
y -= 1; // south
ddF_y -= 2 * rx2;
F -= ddF_y;
}
x += 1; // east
ddF_x += 2 * ry2;
F += ddF_x + ry2;
lcd_plot (x0 + x, y0 + y, mode);
lcd_plot (x0 + x, y0 - y, mode);
lcd_plot (x0 - x, y0 + y, mode);
lcd_plot (x0 - x, y0 - y, mode);
}
F = round (ry2 * (x + 0.5) * (x + 0.5) + rx2 * (y - 1) * (y - 1) - rx2 * ry2);
while(y > 0)
{
if(F <= 0)
{
x += 1; // east
ddF_x += 2 * ry2;
F += ddF_x;
}
y -= 1; // south
ddF_y -= 2 * rx2;
F += rx2 - ddF_y;
lcd_plot (x0 + x, y0 + y, mode);
lcd_plot (x0 + x, y0 - y, mode);
lcd_plot (x0 - x, y0 + y, mode);
lcd_plot (x0 - x, y0 - y, mode);
}
}
//-----------------------------------------------------------
//
void lcd_ecircle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode)
{
lcd_ellipse (x0, y0, radius + 3, radius, mode);
}
//-----------------------------------------------------------
//
void lcd_ecirc_line (uint8_t x, uint8_t y, uint8_t r, uint16_t deg, uint8_t mode)
{
lcd_ellipse_line(x, y, r + 3, r, deg, mode);
}
//-----------------------------------------------------------
//
void lcd_view_font (uint8_t page)
{
int x;
int y;
lcd_cls ();
lcd_printp (PSTR(" 0123456789ABCDEF\r\n"), 0);
lcd_printpns_at (0, 7, PSTR(" \x1a \x1b Exit"), 0);
lcd_ypos = 2;
for (y = page * 4 ; y < (page * 4 + 4); y++)
{
if (y < 10)
{
lcd_putc (0, lcd_ypos, '0' + y, 0);
}
else
{
lcd_putc (0, lcd_ypos, 'A' + y - 10, 0);
}
lcd_xpos = 2;
for (x = 0; x < 16; x++)
{
lcd_putc (lcd_xpos, lcd_ypos, y * 16 + x, 0);
lcd_xpos++;
}
lcd_ypos++;
}
}
//-----------------------------------------------------------
uint8_t hdigit (uint8_t d)
{
if (d < 10)
{
return '0' + d;
}
else
{
return 'A' + d - 10;
}
}
//-----------------------------------------------------------
void lcd_print_hex_at (uint8_t x, uint8_t y, uint8_t h, uint8_t mode)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_putc (lcd_xpos++, lcd_ypos, hdigit (h >> 4), mode);
lcd_putc (lcd_xpos, lcd_ypos, hdigit (h & 0x0f), mode);
}
//-----------------------------------------------------------
void lcd_print_hex (uint8_t h, uint8_t mode)
{
// lcd_xpos = x;
// lcd_ypos = y;
lcd_putc (lcd_xpos++, lcd_ypos, hdigit (h >> 4), mode);
lcd_putc (lcd_xpos++, lcd_ypos, hdigit (h & 0x0f), mode);
lcd_putc (lcd_xpos++, lcd_ypos, ' ', mode);
}
//-----------------------------------------------------------
void lcd_write_number_u (uint8_t number)
{
uint8_t num = 100;
uint8_t started = 0;
while (num > 0)
{
uint8_t b = number / num;
if (b > 0 || started || num == 1)
{
lcd_putc (lcd_xpos++, lcd_ypos, '0' + b, 0);
started = 1;
}
number -= b * num;
num /= 10;
}
}
//-----------------------------------------------------------
void lcd_write_number_u_at (uint8_t x, uint8_t y, uint8_t number)
{
lcd_xpos = x;
lcd_ypos = y;
lcd_write_number_u (number);
}
//-----------------------------------------------------------
// Write only some digits of a unsigned <number> at <x>/<y> to MAX7456 display memory
// <num> represents the largest multiple of 10 that will still be displayable as
// the first digit, so num = 10 will be 0-99 and so on
// <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
//
void write_ndigit_number_u (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad, uint8_t mode)
{
char s[7];
utoa(number, s, 10 );
uint8_t len = strlen(s);
if (length < len)
{
for (uint8_t i = 0; i < length; i++)
{
lcd_putc (x++, y, '*', mode);
}
return;
}
for (uint8_t i = 0; i < length - len; i++)
{
if (pad==1)
{
lcd_putc (x++, y, '0', mode);
}
else
{
lcd_putc (x++, y, ' ', mode);
}
}
lcd_print_at(x, y, (uint8_t*)s, mode);
}
//-----------------------------------------------------------
// Write only some digits of a signed <number> at <x>/<y> to MAX7456 display memory
// <num> represents the largest multiple of 10 that will still be displayable as
// the first digit, so num = 10 will be 0-99 and so on
// <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
//
void write_ndigit_number_s (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad, uint8_t mode)
{
char s[7];
itoa(number, s, 10 );
uint8_t len = strlen(s);
if (length < len)
{
for (uint8_t i = 0; i < length; i++)
{
lcd_putc (x++, y, '*', mode);
}
return;
}
for (uint8_t i = 0; i < length - len; i++)
{
if (pad)
{
lcd_putc (x++, y, '0', mode);
}
else
{
lcd_putc (x++, y, ' ', mode);
}
}
lcd_print_at(x, y, (uint8_t*)s, mode);
}
//-----------------------------------------------------------
// Write only some digits of a unsigned <number> at <x>/<y> to MAX7456 display memory
// as /10th of the value
// <num> represents the largest multiple of 10 that will still be displayable as
// the first digit, so num = 10 will be 0-99 and so on
// <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
//
void write_ndigit_number_u_10th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad, uint8_t mode)
{
char s[7];
itoa(number, s, 10 );
uint8_t len = strlen(s);
if (length < len)
{
for (uint8_t i = 0; i < length; i++)
{
lcd_putc (x++, y, '*', mode);
}
return;
}
for (uint8_t i = 0; i < length - len; i++)
{
if (pad)
{
lcd_putc (x++, y, '0', mode);
}
else
{
lcd_putc (x++, y, ' ', mode);
}
}
char rest = s[len - 1];
s[len - 1] = 0;
if (len == 1)
{
lcd_putc (x-1, y, '0', mode);
}
else if (len == 2 && s[0] == '-')
{
lcd_putc (x-1, y, '-', mode);
lcd_putc (x, y, '0', mode);
}
else
{
lcd_print_at(x, y, (uint8_t*)s, mode);
}
x += len - 1;
lcd_putc (x++, y, '.', mode);
lcd_putc (x++, y, rest, mode);
}
//-----------------------------------------------------------
void write_ndigit_number_u_100th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad)
{
uint8_t num = 100;
while (num > 0)
{
uint8_t b = number / num;
if ((num / 10) == 1)
{
lcd_putc (x++, y, '.', 0);
}
lcd_putc (x++, y, '0' + b, 0);
number -= b * num;
num /= 10;
}
}
//-----------------------------------------------------------
// Write only some digits of a signed <number> at <x>/<y> to MAX7456 display memory
// as /10th of the value
// <num> represents the largest multiple of 10 that will still be displayable as
// the first digit, so num = 10 will be 0-99 and so on
// <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
//
void write_ndigit_number_s_10th (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad, uint8_t mode)
{
char s[7];
itoa (number, s, 10 );
uint8_t len = strlen(s);
if (length < len)
{
for (uint8_t i = 0; i < length; i++)
{
lcd_putc (x++, y, '*', mode);
}
return;
}
for (uint8_t i = 0; i < length - len; i++)
{
if (pad)
{
lcd_putc (x++, y, '0', mode);
}
else
{
lcd_putc (x++, y, ' ', mode);
}
}
char rest = s[len - 1];
s[len - 1] = 0;
if (len == 1)
{
lcd_putc (x-1, y, '0', mode);
}
else if (len == 2 && s[0] == '-')
{
lcd_putc (x-1, y, '-', mode);
lcd_putc (x, y, '0', mode);
}
else
{
lcd_print_at(x, y, (uint8_t*)s, mode);
}
x += len - 1;
lcd_putc (x++, y, '.', mode);
lcd_putc (x++, y, rest, mode);
}
//-----------------------------------------------------------
// write <seconds> as human readable time at <x>/<y> to MAX7456 display mem
//
void write_time (uint8_t x, uint8_t y, uint16_t seconds)
{
uint16_t min = seconds / 60;
seconds -= min * 60;
write_ndigit_number_u (x, y, min, 2, 0,0);
lcd_putc (x + 2, y, ':', 0);
write_ndigit_number_u (x + 3, y, seconds, 2, 1,0);
}
//-----------------------------------------------------------
// wirte a <position> at <x>/<y> assuming it is a gps position for long-/latitude
//
void write_gps_pos (uint8_t x, uint8_t y, int32_t position)
{
if (position < 0)
{
position ^= ~0;
position++;
lcd_putc (x++, y, '-', 0);
}
else
{
lcd_putc (x++, y, ' ', 0);
}
write_ndigit_number_u (x, y, (uint16_t) (position / (int32_t) 10000000), 3, 1,0);
lcd_putc (x + 3, y, '.', 0);
position = position - ((position / (int32_t) 10000000) * (int32_t) 10000000);
write_ndigit_number_u (x + 4, y, (uint16_t) (position / (int32_t) 1000), 4, 1,0);
position = position - ((uint16_t) (position / (int32_t) 1000) * (int32_t) 1000);
write_ndigit_number_u (x + 8, y, (uint16_t) position, 3, 1,0);
lcd_putc (x + 11, y, 0x1e, 0); // degree symbol
}
//------------------------------------------------------------------------------------
// Show PKT Baudrate at given position
//
void show_baudrate (uint8_t x, uint8_t y, uint8_t Baudrate, uint8_t mode)
{
switch (Baudrate)
{
case Baud_2400: lcd_printp_at (x, y, PSTR("2400"), mode);break;
case Baud_4800: lcd_printp_at (x, y, PSTR("4800"), mode);break;
case Baud_9600: lcd_printp_at (x, y, PSTR("9600"), mode);break;
case Baud_19200: lcd_printp_at (x, y, PSTR("19200"), mode);break;
case Baud_38400: lcd_printp_at (x, y, PSTR("38400"), mode);break;
case Baud_57600: lcd_printp_at (x, y, PSTR("57600"), mode);break;
case Baud_115200: lcd_printp_at (x, y, PSTR("115200"), mode);break;
break;
}
}

/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/lcd/lcd.h
0,0 → 1,303
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* - original LCD control by Thomas "thkais" Kaiser *
* - special number formating routines taken from C-OSD *
* from Claas Anders "CaScAdE" Rathje *
* - some extension, ellipse and circ_line by Peter "woggle" Mack *
* Thanks to Oliver Schwaneberg for adding several functions to this library!*
* *
* Author: Jan Michel (jan at mueschelsoft dot de) *
* License: GNU General Public License, version 3 *
* Version: v0.93 September 2010 *
* *
* 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. *
* *
*****************************************************************************/
#ifndef _LCD_H
#define _LCD_H
#define MNORMAL 0 //
#define MINVERS 2
#define MBIG 3
#define MBIGINVERS 4
//------------------------------------------------------------------------------------
// X-tended
void lcdx_putc( uint8_t x, uint8_t y, uint8_t c, uint8_t mode, int8_t xoffs, int8_t yoffs );
void lcdx_print (uint8_t *text, uint8_t mode, int8_t xoffs, int8_t yoffs);
void lcdx_print_at (uint8_t x, uint8_t y, uint8_t *text, uint8_t mode, int8_t xoffs, int8_t yoffs);
void lcdx_printp (const char *text, uint8_t mode, int8_t xoffs, int8_t yoffs);
void lcdx_printp_at (uint8_t x, uint8_t y, const char *text, uint8_t mode, int8_t xoffs, int8_t yoffs);
void writex_ndigit_number_s (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad, uint8_t mode, int8_t xoffs, int8_t yoffs);
void writex_ndigit_number_s_10th (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad, uint8_t mode, int8_t xoffs, int8_t yoffs);
void writex_ndigit_number_u (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad, uint8_t mode, int8_t xoffs, int8_t yoffs);
void writex_ndigit_number_u_10th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad, uint8_t mode, int8_t xoffs, int8_t yoffs);
void writex_ndigit_number_u_100th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad, int8_t xoffs, int8_t yoffs);
void lcdx_puts_at(uint8_t x, uint8_t y, const char *s, uint8_t mode, int8_t xoffs, int8_t yoffs);
void writex_time (uint8_t x, uint8_t y, uint16_t seconds, uint8_t mode, int8_t xoffs, int8_t yoffs);
/*
//-----------------------------------------------------------------------------
// Command Codes
//-----------------------------------------------------------------------------
//1: Display on/off
#define LCD_DISPLAY_ON 0xAF //switch display on
#define LCD_DISPLAY_OFF 0xAE //switch display off
//2: display start line set (lower 6 bits select first line on lcd from 64 lines in memory)
#define LCD_START_LINE 0x40
//3: Page address set (lower 4 bits select one of 8 pages)
#define LCD_PAGE_ADDRESS 0xB0
//4: column address (lower 4 bits are upper / lower nibble of column address)
#define LCD_COL_ADDRESS_MSB 0x10
#define LCD_COL_ADDRESS_LSB 0x00 //second part of column address
//8: select orientation (black side of the display should be further away from viewer)
#define LCD_BOTTOMVIEW 0xA1 //6 o'clock view
#define LCD_TOPVIEW 0xA0 //12 o'clock view
//9: select normal (white background, black pixels) or reverse (black background, white pixels) mode
#define LCD_DISPLAY_POSITIVE 0xA6 //not inverted mode
#define LCD_DISPLAY_INVERTED 0xA7 //inverted display
//10: show memory content or switch all pixels on
#define LCD_SHOW_NORMAL 0xA4 //show dram content
#define LCD_SHOW_ALL_POINTS 0xA5 //show all points
//11: lcd bias set
#define LCD_BIAS_1_9 0xA2
#define LCD_BIAS_1_7 0xA3
//14: Reset Controller
#define LCD_RESET_CMD 0xE2
//15: output mode select (turns display upside-down)
#define LCD_SCAN_DIR_NORMAL 0xC0 //normal scan direction
#define LCD_SCAN_DIR_REVERSE 0xC8 //reversed scan direction
//16: power control set (lower 3 bits select operating mode)
//Bit 0: Voltage follower on/off - Bit 1: Voltage regulator on/off - Bit 2: Booster circuit on/off
#define LCD_POWER_CONTROL 0x28 //base command
#define LCD_POWER_LOW_POWER 0x2F
#define LCD_POWER_WIDE_RANGE 0x2F
#define LCD_POWER_LOW_VOLTAGE 0x2B
//17: voltage regulator resistor ratio set (lower 3 bits select ratio)
//selects lcd voltage - 000 is low (~ -2V), 111 is high (~ - 10V), also depending on volume mode. Datasheet suggests 011
#define LCD_VOLTAGE 0x20
//18: Volume mode set (2-byte command, lower 6 bits in second word select value, datasheet suggests 0x1F)
#define LCD_VOLUME_MODE_1 0x81
#define LCD_VOLUME_MODE_2 0x00
//#if DISPLAY_TYPE == 128 || DISPLAY_TYPE == 132
//19: static indicator (2-byte command), first on/off, then blinking mode
#define LCD_INDICATOR_ON 0xAD //static indicator on
#define LCD_INDICATOR_OFF 0xAC //static indicator off
#define LCD_INDICATOR_MODE_OFF 0x00
#define LCD_INDICATOR_MODE_1HZ 0x01
#define LCD_INDICATOR_MODE_2HZ 0x10
#define LCD_INDICATOR_MODE_ON 0x11
//20: booster ratio set (2-byte command)
#define LCD_BOOSTER_SET 0xF8 //set booster ratio
#define LCD_BOOSTER_234 0x00 //2x-4x
#define LCD_BOOSTER_5 0x01 //5x
#define LCD_BOOSTER_6 0x03 //6x
//#endif
//22: NOP command
#define LCD_NOP 0xE3
//#if DISPLAY_TYPE == 102
////25: advanced program control
//#define LCD_ADV_PROG_CTRL 0xFA
//#define LCD_ADV_PROG_CTRL2 0x10
//#endif
//-----------------------------------------------------------------------------
// Makros to execute commands
//-----------------------------------------------------------------------------
#define LCD_SWITCH_ON() lcd_command(LCD_DISPLAY_ON)
#define LCD_SWITCH_OFF() lcd_command(LCD_DISPLAY_OFF)
#define LCD_SET_FIRST_LINE(i) lcd_command(LCD_START_LINE | ((i) & 0x3F))
#define LCD_SET_PAGE_ADDR(i) lcd_command(LCD_PAGE_ADDRESS | ((i) & 0x0F))
#define LCD_SET_COLUMN_ADDR(i) lcd_command(LCD_COL_ADDRESS_MSB | ((i>>4) & 0x0F)); \
lcd_command(LCD_COL_ADDRESS_LSB | ((i) & 0x0F))
#define LCD_GOTO_ADDRESS(page,col); lcd_command(LCD_PAGE_ADDRESS | ((page) & 0x0F)); \
lcd_command(LCD_COL_ADDRESS_MSB | ((col>>4) & 0x0F)); \
lcd_command(LCD_COL_ADDRESS_LSB | ((col) & 0x0F));
#define LCD_SET_BOTTOM_VIEW() lcd_command(LCD_BOTTOMVIEW)
#define LCD_SET_TOP_VIEW() lcd_command(LCD_TOPVIEW)
#define LCD_SET_MODE_POSITIVE() lcd_command(LCD_DISPLAY_POSITIVE)
#define LCD_SET_MODE_INVERTED() lcd_command(LCD_DISPLAY_INVERTED)
#define LCD_SHOW_ALL_PIXELS_ON() lcd_command(LCD_SHOW_ALL_POINTS)
#define LCD_SHOW_ALL_PIXELS_OFF() lcd_command(LCD_SHOW_NORMAL)
#define LCD_SET_BIAS_RATIO_1_7() lcd_command(LCD_BIAS_1_7)
#define LCD_SET_BIAS_RATIO_1_9() lcd_command(LCD_BIAS_1_9)
#define LCD_SEND_RESET() lcd_command(LCD_RESET_CMD)
#define LCD_ORIENTATION_NORMAL() lcd_command(LCD_SCAN_DIR_NORMAL)
#define LCD_ORIENTATION_UPSIDEDOWN() lcd_command(LCD_SCAN_DIR_REVERSE)
#define LCD_SET_POWER_CONTROL(i) lcd_command(LCD_POWER_CONTROL | ((i) & 0x07))
#define LCD_SET_LOW_POWER() lcd_command(LCD_POWER_LOW_POWER)
#define LCD_SET_WIDE_RANGE() lcd_command(LCD_POWER_WIDE_RANGE)
#define LCD_SET_LOW_VOLTAGE() lcd_command(LCD_POWER_LOW_VOLTAGE)
#define LCD_SET_BIAS_VOLTAGE(i) lcd_command(LCD_VOLTAGE | ((i) & 0x07))
#define LCD_SET_VOLUME_MODE(i) lcd_command(LCD_VOLUME_MODE_1); \
lcd_command(LCD_VOLUME_MODE_2 | ((i) & 0x3F))
//#if DISPLAY_TYPE == 128 || DISPLAY_TYPE == 132
#define LCD_SET_INDICATOR_OFF() lcd_command(LCD_INDICATOR_OFF); \
lcd_command(LCD_INDICATOR_MODE_OFF)
#define LCD_SET_INDICATOR_STATIC() lcd_command(LCD_INDICATOR_ON); \
lcd_command(LCD_INDICATOR_MODE_ON)
#define LCD_SET_INDICATOR_1HZ() lcd_command(LCD_INDICATOR_ON); \
lcd_command(LCD_INDICATOR_MODE_1HZ)
#define LCD_SET_INDICATOR_2HZ() lcd_command(LCD_INDICATOR_ON); \
lcd_command(LCD_INDICATOR_MODE_2HZ)
#define LCD_SET_INDICATOR(i,j) lcd_command(LCD_INDICATOR_OFF | ((i) & 1)); \
lcd_command(((j) & 2))
#define LCD_SLEEP_MODE lcd_command(LCD_INDICATOR_OFF); \
lcd_command(LCD_DISPLAY_OFF); \
lcd_command(LCD_SHOW_ALL_POINTS)
//#endif
//#if DISPLAY_TYPE == 102
//#define LCD_TEMPCOMP_HIGH 0x80
//#define LCD_COLWRAP 0x02
//#define LCD_PAGEWRAP 0x01
//#define LCD_SET_ADV_PROG_CTRL(i) lcd_command(LCD_ADV_PROG_CTRL);
// lcd_command(LCD_ADV_PROG_CTRL2 & i)
//#endif
*/
extern volatile uint8_t LCD_ORIENTATION;
//#define LCD_LINES 8
//#define LCD_COLS 21
extern uint8_t lcd_xpos;
extern uint8_t lcd_ypos;
void lcd_command(uint8_t cmd);
void send_byte (uint8_t data);
void LCD_Init (uint8_t LCD_Mode);
void new_line (void);
void lcd_puts_at(uint8_t x, uint8_t y,const char *s, uint8_t mode );
void lcd_putc (uint8_t x, uint8_t y, uint8_t c, uint8_t mode);
void send_byte (uint8_t data);
void lcd_print (uint8_t *text, uint8_t mode);
void lcd_print_at (uint8_t x, uint8_t y, uint8_t *text, uint8_t mode);
void lcd_printp (const char *text, uint8_t mode);
void lcd_printp_at (uint8_t x, uint8_t y, const char *text, uint8_t mode);
void lcd_printpns (const char *text, uint8_t mode);
void lcd_printpns_at (uint8_t x, uint8_t y, const char *text, uint8_t mode);
void lcd_cls (void);
void lcd_cls_line (uint8_t x, uint8_t y, uint8_t w);
void print_display (uint8_t *text);
void print_display_at (uint8_t x, uint8_t y, uint8_t *text);
void copy_line (uint8_t y);
void paste_line (uint8_t y);
void lcd_plot (uint8_t x, uint8_t y, uint8_t mode);
void lcd_line (unsigned char x1, unsigned char y1, unsigned char x2, unsigned char y2, uint8_t mode);
void lcd_rect (uint8_t x1, uint8_t y1, uint8_t widthx, uint8_t widthy, uint8_t mode);
void lcd_frect (uint8_t x1, uint8_t y1, uint8_t widthx, uint8_t widthy, uint8_t mode);
void lcd_circle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode);
void lcd_fcircle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode);
void lcd_circ_line (uint8_t x, uint8_t y, uint8_t r, uint16_t deg, uint8_t mode);
void lcd_ellipse (int16_t x0, int16_t y0, int16_t rx, int16_t ry, uint8_t mode);
void lcd_ellipse_line (uint8_t x, uint8_t y, uint8_t rx, uint8_t ry, uint16_t deg, uint8_t mode);
void lcd_ecircle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode);
void lcd_ecirc_line (uint8_t x, uint8_t y, uint8_t r, uint16_t deg, uint8_t mode);
void lcd_view_font (uint8_t page);
void lcd_print_hex_at (uint8_t x, uint8_t y, uint8_t h, uint8_t mode);
void lcd_write_number_u (uint8_t number);
void lcd_write_number_u_at (uint8_t x, uint8_t y, uint8_t number);
void lcd_print_hex (uint8_t h, uint8_t mode);
/**
* Write only some digits of a unsigned <number> at <x>/<y>
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
*/
void write_ndigit_number_u (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad,uint8_t mode);
/**
* Write only some digits of a signed <number> at <x>/<y>
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
*/
void write_ndigit_number_s (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad, uint8_t mode);
/**
* Write only some digits of a unsigned <number> at <x>/<y> as /10th of the value
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 00.7 instead of .7
*/
void write_ndigit_number_u_10th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad, uint8_t mode);
/**
* Write only some digits of a unsigned <number> at <x>/<y> as /100th of the value
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 00.7 instead of .7
*/
void write_ndigit_number_u_100th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad);
/**
* Write only some digits of a signed <number> at <x>/<y> as /10th of the value
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 00.7 instead of .7
*/
void write_ndigit_number_s_10th (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad, uint8_t mode);
/**
* write <seconds> as human readable time at <x>/<y>
*/
void write_time (uint8_t x, uint8_t y, uint16_t seconds);
/**
* wirte a <position> at <x>/<y> assuming it is a gps position for long-/latitude
*/
void write_gps_pos (uint8_t x, uint8_t y, int32_t position);
//------------------------------------------------------------------------------------
// Show PKT Baudrate at given position
//
void show_baudrate (uint8_t x, uint8_t y, uint8_t Baudrate, uint8_t mode);
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/lcd/lcd.hold
0,0 → 1,282
/*****************************************************************************
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* - original LCD control by Thomas "thkais" Kaiser *
* - special number formating routines taken from C-OSD *
* from Claas Anders "CaScAdE" Rathje *
* - some extension, ellipse and circ_line by Peter "woggle" Mack *
* Thanks to Oliver Schwaneberg for adding several functions to this library!*
* *
* Author: Jan Michel (jan at mueschelsoft dot de) *
* License: GNU General Public License, version 3 *
* Version: v0.93 September 2010 *
* *
* 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. *
* *
*****************************************************************************/
#ifndef _LCD_H
#define _LCD_H
/*
//-----------------------------------------------------------------------------
// Command Codes
//-----------------------------------------------------------------------------
//1: Display on/off
#define LCD_DISPLAY_ON 0xAF //switch display on
#define LCD_DISPLAY_OFF 0xAE //switch display off
//2: display start line set (lower 6 bits select first line on lcd from 64 lines in memory)
#define LCD_START_LINE 0x40
//3: Page address set (lower 4 bits select one of 8 pages)
#define LCD_PAGE_ADDRESS 0xB0
//4: column address (lower 4 bits are upper / lower nibble of column address)
#define LCD_COL_ADDRESS_MSB 0x10
#define LCD_COL_ADDRESS_LSB 0x00 //second part of column address
//8: select orientation (black side of the display should be further away from viewer)
#define LCD_BOTTOMVIEW 0xA1 //6 o'clock view
#define LCD_TOPVIEW 0xA0 //12 o'clock view
//9: select normal (white background, black pixels) or reverse (black background, white pixels) mode
#define LCD_DISPLAY_POSITIVE 0xA6 //not inverted mode
#define LCD_DISPLAY_INVERTED 0xA7 //inverted display
//10: show memory content or switch all pixels on
#define LCD_SHOW_NORMAL 0xA4 //show dram content
#define LCD_SHOW_ALL_POINTS 0xA5 //show all points
//11: lcd bias set
#define LCD_BIAS_1_9 0xA2
#define LCD_BIAS_1_7 0xA3
//14: Reset Controller
#define LCD_RESET_CMD 0xE2
//15: output mode select (turns display upside-down)
#define LCD_SCAN_DIR_NORMAL 0xC0 //normal scan direction
#define LCD_SCAN_DIR_REVERSE 0xC8 //reversed scan direction
//16: power control set (lower 3 bits select operating mode)
//Bit 0: Voltage follower on/off - Bit 1: Voltage regulator on/off - Bit 2: Booster circuit on/off
#define LCD_POWER_CONTROL 0x28 //base command
#define LCD_POWER_LOW_POWER 0x2F
#define LCD_POWER_WIDE_RANGE 0x2F
#define LCD_POWER_LOW_VOLTAGE 0x2B
//17: voltage regulator resistor ratio set (lower 3 bits select ratio)
//selects lcd voltage - 000 is low (~ -2V), 111 is high (~ - 10V), also depending on volume mode. Datasheet suggests 011
#define LCD_VOLTAGE 0x20
//18: Volume mode set (2-byte command, lower 6 bits in second word select value, datasheet suggests 0x1F)
#define LCD_VOLUME_MODE_1 0x81
#define LCD_VOLUME_MODE_2 0x00
//#if DISPLAY_TYPE == 128 || DISPLAY_TYPE == 132
//19: static indicator (2-byte command), first on/off, then blinking mode
#define LCD_INDICATOR_ON 0xAD //static indicator on
#define LCD_INDICATOR_OFF 0xAC //static indicator off
#define LCD_INDICATOR_MODE_OFF 0x00
#define LCD_INDICATOR_MODE_1HZ 0x01
#define LCD_INDICATOR_MODE_2HZ 0x10
#define LCD_INDICATOR_MODE_ON 0x11
//20: booster ratio set (2-byte command)
#define LCD_BOOSTER_SET 0xF8 //set booster ratio
#define LCD_BOOSTER_234 0x00 //2x-4x
#define LCD_BOOSTER_5 0x01 //5x
#define LCD_BOOSTER_6 0x03 //6x
//#endif
//22: NOP command
#define LCD_NOP 0xE3
//#if DISPLAY_TYPE == 102
////25: advanced program control
//#define LCD_ADV_PROG_CTRL 0xFA
//#define LCD_ADV_PROG_CTRL2 0x10
//#endif
//-----------------------------------------------------------------------------
// Makros to execute commands
//-----------------------------------------------------------------------------
#define LCD_SWITCH_ON() lcd_command(LCD_DISPLAY_ON)
#define LCD_SWITCH_OFF() lcd_command(LCD_DISPLAY_OFF)
#define LCD_SET_FIRST_LINE(i) lcd_command(LCD_START_LINE | ((i) & 0x3F))
#define LCD_SET_PAGE_ADDR(i) lcd_command(LCD_PAGE_ADDRESS | ((i) & 0x0F))
#define LCD_SET_COLUMN_ADDR(i) lcd_command(LCD_COL_ADDRESS_MSB | ((i>>4) & 0x0F)); \
lcd_command(LCD_COL_ADDRESS_LSB | ((i) & 0x0F))
#define LCD_GOTO_ADDRESS(page,col); lcd_command(LCD_PAGE_ADDRESS | ((page) & 0x0F)); \
lcd_command(LCD_COL_ADDRESS_MSB | ((col>>4) & 0x0F)); \
lcd_command(LCD_COL_ADDRESS_LSB | ((col) & 0x0F));
#define LCD_SET_BOTTOM_VIEW() lcd_command(LCD_BOTTOMVIEW)
#define LCD_SET_TOP_VIEW() lcd_command(LCD_TOPVIEW)
#define LCD_SET_MODE_POSITIVE() lcd_command(LCD_DISPLAY_POSITIVE)
#define LCD_SET_MODE_INVERTED() lcd_command(LCD_DISPLAY_INVERTED)
#define LCD_SHOW_ALL_PIXELS_ON() lcd_command(LCD_SHOW_ALL_POINTS)
#define LCD_SHOW_ALL_PIXELS_OFF() lcd_command(LCD_SHOW_NORMAL)
#define LCD_SET_BIAS_RATIO_1_7() lcd_command(LCD_BIAS_1_7)
#define LCD_SET_BIAS_RATIO_1_9() lcd_command(LCD_BIAS_1_9)
#define LCD_SEND_RESET() lcd_command(LCD_RESET_CMD)
#define LCD_ORIENTATION_NORMAL() lcd_command(LCD_SCAN_DIR_NORMAL)
#define LCD_ORIENTATION_UPSIDEDOWN() lcd_command(LCD_SCAN_DIR_REVERSE)
#define LCD_SET_POWER_CONTROL(i) lcd_command(LCD_POWER_CONTROL | ((i) & 0x07))
#define LCD_SET_LOW_POWER() lcd_command(LCD_POWER_LOW_POWER)
#define LCD_SET_WIDE_RANGE() lcd_command(LCD_POWER_WIDE_RANGE)
#define LCD_SET_LOW_VOLTAGE() lcd_command(LCD_POWER_LOW_VOLTAGE)
#define LCD_SET_BIAS_VOLTAGE(i) lcd_command(LCD_VOLTAGE | ((i) & 0x07))
#define LCD_SET_VOLUME_MODE(i) lcd_command(LCD_VOLUME_MODE_1); \
lcd_command(LCD_VOLUME_MODE_2 | ((i) & 0x3F))
//#if DISPLAY_TYPE == 128 || DISPLAY_TYPE == 132
#define LCD_SET_INDICATOR_OFF() lcd_command(LCD_INDICATOR_OFF); \
lcd_command(LCD_INDICATOR_MODE_OFF)
#define LCD_SET_INDICATOR_STATIC() lcd_command(LCD_INDICATOR_ON); \
lcd_command(LCD_INDICATOR_MODE_ON)
#define LCD_SET_INDICATOR_1HZ() lcd_command(LCD_INDICATOR_ON); \
lcd_command(LCD_INDICATOR_MODE_1HZ)
#define LCD_SET_INDICATOR_2HZ() lcd_command(LCD_INDICATOR_ON); \
lcd_command(LCD_INDICATOR_MODE_2HZ)
#define LCD_SET_INDICATOR(i,j) lcd_command(LCD_INDICATOR_OFF | ((i) & 1)); \
lcd_command(((j) & 2))
#define LCD_SLEEP_MODE lcd_command(LCD_INDICATOR_OFF); \
lcd_command(LCD_DISPLAY_OFF); \
lcd_command(LCD_SHOW_ALL_POINTS)
//#endif
//#if DISPLAY_TYPE == 102
//#define LCD_TEMPCOMP_HIGH 0x80
//#define LCD_COLWRAP 0x02
//#define LCD_PAGEWRAP 0x01
//#define LCD_SET_ADV_PROG_CTRL(i) lcd_command(LCD_ADV_PROG_CTRL);
// lcd_command(LCD_ADV_PROG_CTRL2 & i)
//#endif
*/
extern volatile uint8_t LCD_ORIENTATION;
//#define LCD_LINES 8
//#define LCD_COLS 21
extern uint8_t lcd_xpos;
extern uint8_t lcd_ypos;
void lcd_command(uint8_t cmd);
void send_byte (uint8_t data);
void LCD_Init (uint8_t LCD_Mode);
void new_line (void);
void lcd_puts_at(uint8_t x, uint8_t y,const char *s, uint8_t mode );
void lcd_putc (uint8_t x, uint8_t y, uint8_t c, uint8_t mode);
void send_byte (uint8_t data);
void lcd_print (uint8_t *text, uint8_t mode);
void lcd_print_at (uint8_t x, uint8_t y, uint8_t *text, uint8_t mode);
void lcd_printp (const char *text, uint8_t mode);
void lcd_printp_at (uint8_t x, uint8_t y, const char *text, uint8_t mode);
void lcd_printpns (const char *text, uint8_t mode);
void lcd_printpns_at (uint8_t x, uint8_t y, const char *text, uint8_t mode);
void lcd_cls (void);
void lcd_cls_line (uint8_t x, uint8_t y, uint8_t w);
void print_display (uint8_t *text);
void print_display_at (uint8_t x, uint8_t y, uint8_t *text);
void copy_line (uint8_t y);
void paste_line (uint8_t y);
// Jeti
void lcd_putc_jeti (uint8_t x, uint8_t y, uint8_t c, uint8_t mode);
void lcd_printpj (const char *text, uint8_t mode);
void lcd_printpj_at (uint8_t x, uint8_t y, const char *text, uint8_t mode);
void lcd_plot (uint8_t x, uint8_t y, uint8_t mode);
void lcd_line (unsigned char x1, unsigned char y1, unsigned char x2, unsigned char y2, uint8_t mode);
void lcd_rect (uint8_t x1, uint8_t y1, uint8_t widthx, uint8_t widthy, uint8_t mode);
void lcd_frect (uint8_t x1, uint8_t y1, uint8_t widthx, uint8_t widthy, uint8_t mode);
void lcd_circle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode);
void lcd_fcircle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode);
void lcd_circ_line (uint8_t x, uint8_t y, uint8_t r, uint16_t deg, uint8_t mode);
void lcd_ellipse (int16_t x0, int16_t y0, int16_t rx, int16_t ry, uint8_t mode);
void lcd_ellipse_line (uint8_t x, uint8_t y, uint8_t rx, uint8_t ry, uint16_t deg, uint8_t mode);
void lcd_ecircle (int16_t x0, int16_t y0, int16_t radius, uint8_t mode);
void lcd_ecirc_line (uint8_t x, uint8_t y, uint8_t r, uint16_t deg, uint8_t mode);
void lcd_view_font (uint8_t page);
void lcd_print_hex_at (uint8_t x, uint8_t y, uint8_t h, uint8_t mode);
void lcd_write_number_u (uint8_t number);
void lcd_write_number_u_at (uint8_t x, uint8_t y, uint8_t number);
void lcd_print_hex (uint8_t h, uint8_t mode);
/**
* Write only some digits of a unsigned <number> at <x>/<y>
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
*/
void write_ndigit_number_u (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad,uint8_t mode);
/**
* Write only some digits of a signed <number> at <x>/<y>
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 007 instead of 7
*/
void write_ndigit_number_s (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad, uint8_t mode);
/**
* Write only some digits of a unsigned <number> at <x>/<y> as /10th of the value
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 00.7 instead of .7
*/
void write_ndigit_number_u_10th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad, uint8_t mode);
/**
* Write only some digits of a unsigned <number> at <x>/<y> as /100th of the value
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 00.7 instead of .7
*/
void write_ndigit_number_u_100th (uint8_t x, uint8_t y, uint16_t number, int16_t length, uint8_t pad);
/**
* Write only some digits of a signed <number> at <x>/<y> as /10th of the value
* <length> represents the length to rightbound the number
* <pad> = 1 will cause blank spaced to be filled up with zeros e.g. 00.7 instead of .7
*/
void write_ndigit_number_s_10th (uint8_t x, uint8_t y, int16_t number, int16_t length, uint8_t pad, uint8_t mode);
/**
* write <seconds> as human readable time at <x>/<y>
*/
void write_time (uint8_t x, uint8_t y, uint16_t seconds);
/**
* wirte a <position> at <x>/<y> assuming it is a gps position for long-/latitude
*/
void write_gps_pos (uint8_t x, uint8_t y, int32_t position);
//------------------------------------------------------------------------------------
// Show PKT Baudrate at given position
//
void show_baudrate (uint8_t x, uint8_t y, uint8_t Baudrate, uint8_t mode);
#endif

/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/lcd/lcd.zip
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/lipo/lipo.c
0,0 → 1,152
/*****************************************************************************
* Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de *
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* based on the key handling by Peter Dannegger *
* see www.mikrocontroller.net *
* Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net *
* Copyright (C) 2011 Harald Bongartz *
* *
* 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 <util/delay.h>
#include <avr/interrupt.h>
#include <inttypes.h>
#include <stdlib.h>
#include <avr/pgmspace.h>
#include "../main.h"
#include "../lcd/lcd.h"
#include "lipo.h"
#include "../eeprom/eeprom.h"
#if defined HWVERSION1_3W || defined HWVERSION3_9 || defined HWVERSION1_2W
// Global variables
double accumulator = 0; //!< Accumulated 10-bit samples
double Vin = 0; //!< 16-bit float number result
short temp = 0; //!< Temporary variable
short samples = 0; //!< Number of conversions
uint16_t volt_avg = 0;
//! ADC interrupt routine
ISR (ADC_vect)
{
accumulator += ADCW;
samples++;
if(samples>4095)
{
oversampled();
}
}
//--------------------------------------------------------------
//
void ADC_Init (void)
{
DDRA &= ~(1<<DDA1); // MartinR
PORTA &= ~(1<<PORTA1); // MartinR
ADMUX = (0<<REFS1) | (1<<REFS0); // externe 5V Referenzspannung nutzen
ADMUX = (ADMUX & ~(0x1F)) | (1 & 0x1F); // ADC1 verwenden
ADCSRA = (1<<ADEN)|(1<<ADIE)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); // Prescaler 128, Freilaufend, Interrupte frei
}
/*! Error compensation, Scaling 16-bit result, Rounding up
, Calculate 16-bit result, Resets variables
Quelle AVR121: Enhancing ADC resolution by versampling
*/
void oversampled(void)
{
cli();
accumulator += Config.Lipo_UOffset; //5150 Offset error compensation
// accumulator *= 0.9993; // Gain error compensation
accumulator *= 0.9600; //0.9800 Gain error compensation
temp=(int)accumulator%64;
accumulator/=64; // Scaling the answer
if(temp>=32)
{
accumulator += 1; // Round up
}
// Vin = (accumulator/65536)*4.910; // Calculating 16-bit result
Vin =accumulator/7.5;
volt_avg = Vin;
// write_ndigit_number_u(0, 3, Vin, 5, 0,0);
// write_ndigit_number_u(0, 4, volt_avg, 5, 0,0);
samples = 0;
accumulator = 0;
sei();
}
void show_Lipo(void)
{
uint16_t Balken = 0;
lcd_rect(103,2,1,3,1);
if (volt_avg < 320)
{
Balken = 0;
lcd_frect(106 + Balken-1, 2, 19-Balken, 3, 0); // löschen
}
if (Config.PKT_Accutyp == true) //LiPO Akku
{
lcd_rect(104, 0, 23, 7, 1); // Rahmen
if (volt_avg >= 420) Balken = 19;
if ((volt_avg > 320) && (volt_avg < 420)) Balken = (volt_avg-320)/5;
lcd_frect(106 + Balken+1, 2, 19-Balken, 3, 0); // löschen
}
if (Config.PKT_Accutyp == false) // LiON Akku
{
lcd_rect(104, 0, 22, 7, 1); // Rahmen
if (volt_avg >= 410) Balken = 18;
if ((volt_avg > 320) && (volt_avg < 410)) Balken = ((volt_avg-320)/5);
lcd_frect(106 + Balken+1, 2, 18-Balken, 3, 0); // löschen
}
if (Balken > 0) lcd_frect(106, 2, Balken, 3, 1); // Füllung
}
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/lipo/lipo.h
0,0 → 1,50
/*****************************************************************************
* Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de *
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* based on the key handling by Peter Dannegger *
* see www.mikrocontroller.net *
* Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net *
* Copyright (C) 2011 Harald Bongartz *
* *
* 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*
*****************************************************************************/
#ifndef _LIPO_H
#define _LIPO_H
short samples; //!< Number of conversions
double Vin;
double accumulator;
uint16_t volt_avg;
void ADC_Init (void);
void oversampled(void);
void show_Lipo(void);
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/main.c
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/*****************************************************************************
* 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 *
* *
* 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 <inttypes.h>
#include <stdlib.h>
#include <avr/pgmspace.h>
#include <avr/wdt.h>
#include <util/delay.h>
#include <avr/eeprom.h>
//************************************************************************************
// Watchdog integrieren und abschalten, wird für Bootloader benötigt
// !!muss hier stehen bleiben!!
//--------------------------------------------------------------
void wdt_init(void) __attribute__((naked)) __attribute__((section(".init1")));
//--------------------------------------------------------------
void wdt_init(void)
{
MCUSR = 0;
wdt_disable();
return;
}
//************************************************************************************
// erst ab hier weitere #includes
#include "lipo/lipo.h"
#include "main.h"
#include "lcd/lcd.h"
#include "uart/usart.h"
#include "uart/uart1.h"
#include "mk-data-structs.h"
#include "parameter.h"
#include "menu.h"
#include "display.h"
#include "timer/timer.h"
#include "eeprom/eeprom.h"
#include "wi232/Wi232.h"
#include "motortest/twimaster.h"
#include "messages.h"
//#define MTEST 0 // Menu Test (skip FC/NC detection)
Version_t *version;
volatile uint8_t mode = 0;
uint8_t hardware = 0;
uint8_t current_hardware = 0;
mk_param_struct_t *mk_param_struct;
uint8_t searchMK(void)
{
uint8_t timeout;
uint8_t val =0;
uint8_t spalte =0;
uint8_t RetVal;
// switch to NC
USART_putc (0x1b);
USART_putc (0x1b);
USART_putc (0x55);
USART_putc (0xaa);
USART_putc (0x00);
mode = 'V';
//#ifndef DEBUG
do
{
timeout = 50;
lcd_cls();
lcd_puts_at(0, 4, strGet(START_SEARCHFC), 0);
lcd_puts_at(12, 7, strGet(ENDE), 0);
while (!rxd_buffer_locked && timeout)
{
SendOutData('v', ADDRESS_ANY, 0);
timer = 20;
while (timer > 0);
timeout--;
if (spalte <= 20)
{
lcd_printp_at (spalte,6,PSTR("?"),0);
spalte++;
}
else
{
lcd_cls_line (0,6,21);
spalte=0;
}
if (get_key_press (1 << KEY_ESC))
{
get_key_press(KEY_ALL);
for (;;)
{
Config.Debug = 0;
hardware = NO;
main_menu ();
}
}
}
if(timeout == 0)
{
// lcd_printp_at (0,5,PSTR("FC nicht gefunden!"), 0);
lcd_puts_at(0, 5, strGet(START_FCNOTFOUND), 0);
timer = 90;
RetVal = false;
while (timer > 0);
}
}
while(timeout == 0);
if (timeout != 0)
Decode64 ();
version = (Version_t *) pRxData;
if (Config.PKT_StartInfo == true)
{
lcd_cls ();
lcd_puts_at(0, 0, strGet(START_FCFOUND), 0);
lcd_puts_at(0, 1, strGet(START_FCFOUND1), 0);
}
if ((rxd_buffer[1] - 'a') == ADDRESS_FC)
{
if (Config.PKT_StartInfo == true)
{
lcd_puts_at(0, 2, strGet(START_FCFOUND2), 0);
}
hardware = FC;
current_hardware = hardware;
RetVal = true;
}
else if ((rxd_buffer[1] - 'a') == ADDRESS_NC)
{
if (Config.PKT_StartInfo == true)
{
// lcd_printp (PSTR("Navi-Ctrl\r\n"), 0);
lcd_puts_at(0, 2, strGet(START_FCFOUND3), 0);
}
hardware = NC;
current_hardware = hardware;
RetVal = true;
}
if (Config.PKT_StartInfo == true)
{
// lcd_printp (PSTR("Version: "), 0);
lcd_puts_at(0, 3, strGet(START_VERSIONCHECK), 0);
lcd_write_number_u_at (9, 3, version->SWMajor);
lcd_printp_at (10,3,PSTR("."), 0);
lcd_write_number_u_at (11,3,version->SWMinor);
lcd_write_number_u_at (14,3, version->SWPatch + 'a');
_delay_ms(2500);
}
SwitchToFC();
//#else
// if (PKT_StartInfo == true)
// {
// lcd_cls ();
// lcd_printp (PSTR("PKT-Test DEBUG\r\n"), 0);
// _delay_ms(1500);
// }
//
//#endif
#ifndef IgnoreFCVersion
// EEprom Version / Struktur prüfen
// val = load_setting(1); // Parameterset 1 holen
val = load_setting(0xff); // aktuelles Parameterset holen
if (!Config.Debug)
{
if (mk_param_struct->Revision != EEProm_Version)
{
lcd_cls ();
lcd_printp_at (0, 0, PSTR("EEPromRev "), 0);
lcd_write_number_u (EEProm_Version);
lcd_puts_at(13, 0, strGet(START_VERSIONCHECK1), 0);
// lcd_printp (PSTR("erwartet\r\n"), 0);
lcd_printp_at (0, 2, PSTR("EEPromRev "), 0);
lcd_write_number_u (mk_param_struct->Revision);
lcd_puts_at(13, 2, strGet(START_VERSIONCHECK2), 0);
// lcd_printp (PSTR(" gefunden\r\n"), 0);
// lcd_printp (PSTR("PKT-Tool nur mit\r\n"), 0);
// lcd_printp (PSTR("FC Software "), 0);
lcd_puts_at(0, 4, strGet(START_VERSIONCHECK3), 0);
lcd_puts_at(0, 5, strGet(START_VERSIONCHECK4), 0);
// lcd_printp (PSTR(FC_Version), 0);
lcd_printp_at (12, 5, PSTR(FC_Version), 0);
// lcd_printp (PSTR("\r\nkompatibel"), 0);
lcd_puts_at(0, 6, strGet(START_VERSIONCHECK5), 0);
hardware = NO;
set_beep ( 1500, 0x0040, BeepNormal);
_delay_ms(4000);
}
}
#endif
mode = 0;
rxd_buffer_locked = FALSE;
timer = 50;
while (timer > 0);
return RetVal;
}
//--------------------------------------------------------------
int main (void)
{
InitHWPorts(); // Hardwareanhängige Ports konfigurieren
// dafür wird je nach Hardware die HAL_HWxxx verwendet
// Define dazu in der main.h
hardware = NO;
current_hardware = 0;
if (Config.PKT_StartInfo == true)
{
lcd_cls ();
lcd_puts_at(0, 0, strGet(START_MSG1), 0);
lcd_puts_at(0, 1, strGet(START_MSG2), 0);
lcd_puts_at(0, 3, strGet(GNU_GPL), 0);
#ifdef HWVERSION1_2
// lcd_printp_at (0,4,PSTR("Hardware 1.2"), 0);
// lcd_printp_at (0,5,PSTR("ATmega 644"), 0);
lcd_puts_at(0, 4, strGet(HW12), 0);
lcd_puts_at(0, 5, strGet(ATMEGA644), 0);
#endif
#ifdef HWVERSION1_2W
// lcd_printp_at (0,4,PSTR("Hardware 1.2W"), 0);
// lcd_printp_at (0,5,PSTR("ATmega 644"), 0);
lcd_puts_at(0, 4, strGet(HW12W), 0);
lcd_puts_at(0, 5, strGet(ATMEGA644), 0);
#endif
#ifdef HWVERSION1_3
// lcd_printp_at (0,4,PSTR("Hardware 1.3"), 0);
// lcd_printp_at (0,5,PSTR("ATmega 644P"), 0);
lcd_puts_at(0, 4, strGet(HW13), 0);
lcd_puts_at(0, 5, strGet(ATMEGA644P), 0);
#endif
#ifdef HWVERSION1_3W
// lcd_printp_at (0,4,PSTR("Hardware 1.3W"), 0);
// lcd_printp_at (0,5,PSTR("ATmega 644P"), 0);
lcd_puts_at(0, 4, strGet(HW13W), 0);
lcd_puts_at(0, 5, strGet(ATMEGA644P), 0);
#endif
#ifdef HWVERSION3_9
lcd_puts_at(0, 4, strGet(HW39), 0);
lcd_puts_at(0, 5, strGet(ATMEGA1284P), 0);
#endif
_delay_ms(1500);
}
//#ifndef DEBUG
if (Config.LastLongitude>0x00000000 && Config.LastLatitude>0x00000000)
{
lcd_cls ();
// lcd_printp_at (0, 4, PSTR(" Letzte Position "), 2);
// lcd_printp_at (0, 5, PSTR(" Breitengr Längengr "), 2);
// lcd_printp_at (0, 7, PSTR("löschen weiter"), 0);
lcd_puts_at(0, 0, strGet(START_LASTPOS), 2);
lcd_puts_at(0, 1, strGet(START_LASTPOS3), 2);
lcd_puts_at(0, 2, strGet(START_LASTPOS1), 2);
lcd_puts_at(0, 7, strGet(START_LASTPOS2), 0);
write_ndigit_number_u (1, 4, (uint16_t)(Config.LastLatitude/10000000), 2, 0,0);
lcd_printp_at (3, 4, PSTR("."), 0);
write_ndigit_number_u (4, 4, (uint16_t)((Config.LastLatitude/1000) % 10000), 4, 1,0);
write_ndigit_number_u (8, 4, (uint16_t)((Config.LastLatitude/10) % 100), 2, 1,0);
write_ndigit_number_u (12, 4, (uint16_t)(Config.LastLongitude/10000000), 2, 0,0);
lcd_printp_at (14, 4, PSTR("."), 0);
write_ndigit_number_u (15, 4, (uint16_t)((Config.LastLongitude/1000) % 10000), 4, 1,0);
write_ndigit_number_u (19, 4, (uint16_t)((Config.LastLongitude/10) % 100), 2, 1,0);
for (;;)
{
if (get_key_press (1 << KEY_MINUS))
{
WriteLastPosition(0x00000000,0x00000000); // Löschen
lcd_frect (0, (8*4), 128, 8, 0); // Zeile löschen (x, y, l, h, in Pixel)
lcd_frect (0, (8*5), 128, 8, 0);
// lcd_printp_at (0,5,PSTR(" gelöscht "), 0);
lcd_puts_at(0, 5, strGet(START_LASTPOSDEL), 0);
lcd_cls_line (0, 6, 21);
lcd_cls_line (0, 7, 21);
_delay_ms(1000);
break;
}
if (get_key_press (1 << KEY_ENTER))
{
lcd_cls_line (0, 4, 21);
lcd_cls_line (0, 5, 21);
lcd_cls_line (0, 6, 21);
lcd_cls_line (0, 7, 21);
break;
}
}
}
//#endif
searchMK(); // MK suchen
for (;;)
{
main_menu ();
}
}
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/main.h
0,0 → 1,119
/*****************************************************************************
* Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de *
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* Copyright (C) 2012 Christian "Cebra" Brandtner, brandtner@brandtner.net *
* Copyright (C) 2012 Harald Bongartz *
* *
* 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*
*****************************************************************************/
/**
* @Author Cebra
*
* ${tags}
*/
//**
// *
// *
// *
//
/*
* File name: $HeadURL: http://mikrokopter.de/mikrosvn/Projects/Transportables_Koptertool/branch/GPL_PKT_V3_5_8a_FC086/main.h $
* Revision: $Revision: 1496 $
* Last modified: $Date: 2012-01-15 21:31:25 +0100 (So, 15 Jan 2012) $
* Last modified by: $Author: $
* $Id: main.h 1496 2012-01-15 20:31:25Z $
*/
#ifndef _MAIN_H
#define _MAIN_H
//#define MKVERSION088n
#define MKVERSION090b
// Version der Software
#define PKTSWVersion "3.6.7f" // PKT Version
//#define IgnoreFCVersion
//#define DEBUG
//#define analognames // Anzeige Analognames
// Fusebits für Hardware 1.2 D7 DC FC
// Fusebits für Hardware 1.3 D7 DC FC
// Fusebits für Hardware 3.x D7 DC FC
// avrdude -pm1284p -cavr109 -P/dev/ttyUSB1 -b115200 -V -Uflash:w:Dateiname.hex:a
// hier die entsprechende Hardwareversion der Leiterplatte einstellen
//#define HWVERSION1_2 // Hardware sebseb7
//#define HWVERSION1_2W // Hardware sebseb7 mit Wi232 Support
//#define HWVERSION1_3 // Hardware sebseb7
//#define HWVERSION1_3W // Hardware sebseb7 mit Wi232 Support
#define HWVERSION3_9 // Hardware Cebra Oktober 2011 ATmega1284P
#if defined HWVERSION1_2W || defined HWVERSION1_2
#include "HAL_HW1_2.h"
#endif
#if defined HWVERSION1_3W || defined HWVERSION1_3
#include "HAL_HW1_3.h"
#endif
#ifdef HWVERSION3_9
#include "HAL_HW3_9.h"
#endif
#define NO 0
#define NC 1
#define FC 2
#define MK3MAG 3
#define MKGPS 4
#define Wi232 5
#define ENABLE_PWM
// Baud Rate
#define Baud_2400 0
#define Baud_9600 1
#define Baud_19200 2
#define Baud_38400 3
#define Baud_57600 4
#define Baud_115200 5
#define Baud_4800 6
extern volatile uint8_t mode;
extern uint8_t hardware;
extern uint8_t current_hardware;
extern uint8_t searchMK(void);
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/menu.c
0,0 → 1,778
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
//############################################################################
//# HISTORY menu.c
//#
//# 10.03.2013 Cebra
//# - add: menu_select, gemeinsame Routine für alle Setupmenüs
//############################################################################
#include "cpu.h"
#include <avr/io.h>
#include <inttypes.h>
#include <stdlib.h>
#include <avr/pgmspace.h>
#include <avr/wdt.h>
#include <util/delay.h>
#include "main.h"
#include "lcd/lcd.h"
#include "parameter.h"
#include "menu.h"
#include "display.h"
#include "debug.h"
#include "timer/timer.h"
#include "osd/osd.h"
#include "motortest/motortest.h"
#include "gps/gps.h"
#include "eeprom/eeprom.h"
#include "setup/setup.h"
#include "uart/uart1.h"
#include "mk-data-structs.h"
#include "wi232/Wi232.h"
#include "tracking/servo.h"
#include "tools.h"
#include "connect.h"
#include "lipo/lipo.h"
#include "messages.h"
#include "bluetooth/bluetooth.h"
#include "followme/followme.h"
#include "tracking/ng_servo.h"
#include "tracking/tracking.h"
#include "stick/stick.h"
//// Variablen für die Menüsteuerung
uint8_t ii = 0;
uint8_t offset = 0;
uint8_t size = 0;
uint8_t dmode = 0;
uint8_t target_pos = 1;
uint8_t val;
#define ITEMS_NC 9
const prog_char param_menuitems_nc[ITEMS_NC][NUM_LANG][18]= // zeilen,zeichen+1
// German, English, French, Netherlands
{
{"OSD ","OSD ","OSD "},
{"MK Display ","MK Display ","MK Display "},
{"Tracking ","Tracking ","Tracking "},
{"Parameter \x1d","Parameter \x1d","Parameters \x1d"},
{"Debug Data ","Debug Data ","Debug Data "},
{"GPS Info ","GPS Info ","GPS Info "},
{"Follow Me ","Follow Me ","Follow Me "},
{"Joystick ","Joystick ","Joystick "},
{"PKT Tools \x1d","PKT Tools \x1d","PKT Tools \x1d"},
};
#define ITEMS_FC 5
const prog_char param_menuitems_fc[ITEMS_FC][NUM_LANG][18]= // zeilen,zeichen+1
{
{"Joystick ","Joystick ","Joystick "}, // MartinR
{"MK Display ","MK Display ","MK Display "},
{"Parameter \x1d","Parameter \x1d","Parameter \x1d"},
{"Debug Data ","Debug Data ","Debug Data "},
{"PKT Tools \x1d","PKT Tools \x1d","PKT Tools \x1d"},
};
#define ITEMS_NO 6
const prog_char param_menuitems_no[ITEMS_NO][NUM_LANG][18]= // zeilen,zeichen+1
{
{"Suche Mikrokopter","search Mikrokopt ","search Mikrokopt "},
{"BL-Ctrl. Tester ","BL-Ctrl. Tester ","BL-Ctrl. Tester "},
{"PC BT > Kopter ","PC BT > Kopter ","PC BT > Kopter "},
{"PC USB > Kopter ","PC USB > Kopter ","PC USB > Kopter "},
{"PKT Setup \x1d","PKT Setup \x1d","PKT Setup \x1d"},
{"PKT Version ","PKT Version ","PKT Versie "},
};
#define ITEMS_CR 12
const prog_char param_copyright[ITEMS_CR][22]= // zeilen,zeichen+1
{
" ",
"(C) GNU GPL License ",
" NO WARRANTY ",
" ",
"2008 Thomas Kaiser ",
"2009-2010 Peter Mack ",
"2010 Sebastian Boehm ",
"2012 Chr. Brandtner &",
" Harald Bongartz ",
"2012 gebad ",
"2012 Martin Runkel ",
"2013 Oliver Gemesi "
};
uint8_t menu_select(const char menuitem[][NUM_LANG][18],uint8_t size, uint8_t targetpos)
{
ii = 0;
offset = 0;
dmode = 0;
uint8_t target_pos = targetpos;
target_pos = targetpos;
val = 0;
while(2)
{
ii = 0;
if(offset > 0)
{
lcd_printp_at(1,1, PSTR("\x12"), 0);
}
for(ii = 0;ii < 6 ; ii++)
{
if((ii+offset) < size)
{
lcd_printp_at(3,ii+1,menuitem[ii+offset][Config.DisplayLanguage], 0);
}
if((ii == 5)&&(ii+offset < (size-1)))
{
lcd_printp_at(1,6, PSTR("\x13"), 0);
}
}
if(dmode == 0)
{
if(offset == 0)
{
if(size > 6)
{
val = menu_choose2 (1, 5, target_pos,0,1);
}
else
{
val = menu_choose2 (1, size, target_pos,0,0);
}
}
else
{
val = menu_choose2 (2, 5, target_pos,1,1);
}
}
if(dmode == 1)
{
if(offset+7 > size)
{
val = menu_choose2 (2, 6, target_pos,1,0);
}
else
{
val = menu_choose2 (2, 5, target_pos,1,1);
}
}
if(val == 254)
{
offset++;
dmode = 1;
target_pos = 5;
}
else if(val == 253)
{
offset--;
dmode = 0;
target_pos = 2;
}
else if(val == 255)
{
break;
}
else
{
break;
}
}
return val;
}
//--------------------------------------------------------------
// print cursor
void menu_set_cursor (uint8_t before, uint8_t line, uint8_t pos)
{
lcd_printp_at (pos, before, PSTR(" "), 0);
lcd_printp_at (pos, line, PSTR("\x1d"), 0);
}
// F�r Seting-Auswahl ------------------------------------------
//
uint8_t menu_choose (uint8_t min, uint8_t max, uint8_t pos, uint8_t start)
{
uint8_t line = start;
uint8_t before = start;
uint8_t k;
menu_set_cursor (line, line, pos);
do
{
if (get_key_press (1 << KEY_PLUS) | get_key_long_rpt_sp ((1 << KEY_PLUS), 1))
{
if (line < max)
line ++;
else
line = max;
// line = min; // Wenn wiederholen soll
}
if (get_key_press (1 << KEY_MINUS) | get_key_long_rpt_sp ((1 << KEY_MINUS), 1))
{
if (line > min)
line --;
else
line = min;
// line = max; // Wenn wiederholen soll
}
if (line != before)
{
menu_set_cursor (before, line, pos);
before = line;
}
}
while (!(k = get_key_press ((1 << KEY_ENTER) | (1 << KEY_ESC))));
if (k & (1 << KEY_ESC))
line = 255;
return line;
}
// F�r Setup und Parameter ------------------------------------------
//
uint8_t menu_choose2 (uint8_t min, uint8_t max, uint8_t start, uint8_t return_at_start, uint8_t return_at_end)
{
uint8_t pos = 1;
uint8_t line = start;
uint8_t before = start;
uint8_t k;
menu_set_cursor (line, line, pos);
do
{
if (get_key_press (1 << KEY_PLUS) | get_key_long_rpt_sp ((1 << KEY_PLUS), 1))
{
if (line < max)
line ++;
else
{
if(return_at_end == 1)
return 254;
else
line = max;
// line = min; // Wenn wiederholen soll
}
}
if (get_key_press (1 << KEY_MINUS) | get_key_long_rpt_sp ((1 << KEY_MINUS), 1))
{
if (line > min)
line --;
else
{
if(return_at_start == 1)
return 253;
else
line = min;
// line = max; // Wenn wiederholen soll
}
}
if (line != before)
{
menu_set_cursor (before, line, pos);
before = line;
}
}
while (!(k = get_key_press ((1 << KEY_ENTER) | (1 << KEY_ESC))));
if (k & (1 << KEY_ESC))
line = 255;
return line;
}
// F�r das Hauptmenue ------------------------------------------
//
uint8_t menu_choose3 (uint8_t min, uint8_t max,uint8_t start, uint8_t return_at_start, uint8_t return_at_end)
{
uint8_t pos = 1;
uint8_t line = start;
uint8_t before = start;
menu_set_cursor (line, line, pos);
do
{
if (get_key_press (1 << KEY_PLUS) | get_key_long_rpt_sp ((1 << KEY_PLUS), 1))
{
if (line < max)
line ++;
else
{
if(return_at_end == 1)
return 254;
else
line = max;
// line = min; // Wenn wiederholen soll
}
}
if (get_key_press (1 << KEY_MINUS) | get_key_long_rpt_sp ((1 << KEY_MINUS), 1))
{
if (line > min)
line --;
else
{
if(return_at_start == 1)
return 253;
else
line = min;
// line = max; // Wenn wiederholen soll
}
}
if (get_key_long (1 << KEY_ESC))
{
get_key_press(KEY_ALL);
return 250;
}
if(get_key_long (1 << KEY_ENTER))
{
get_key_press(KEY_ALL);
return 251;
}
if (get_key_short (1 << KEY_ESC))
{
get_key_press(KEY_ALL);
return 252;
}
if (line != before)
{
menu_set_cursor (before, line, pos);
before = line;
}
#ifdef HWVERSION3_9
show_Lipo();
#endif
}
while (!(get_key_short (1 << KEY_ENTER)));
return line;
}
//--------------------------------------------------------------
//
void main_menu (void)
{
uint8_t ii = 0;
uint8_t offset = 0;
uint8_t size = 0;
uint8_t Save_hardware = 0;
uint8_t dmode = 0;
uint8_t target_pos = 1;
uint8_t val =0;
Save_hardware = hardware;
get_key_press(KEY_ALL);
while(1)
{
if (Config.Debug==1)
hardware = NC;
if (Config.Debug==0)
hardware = Save_hardware;
if(hardware == NO)
size = ITEMS_NO ;
if(hardware == NC)
size = ITEMS_NC ;
if(hardware == FC)
size = ITEMS_FC ;
lcd_cls ();
lcd_printp_at (0, 0, PSTR("PKT-Tool FC "), 2);
lcd_printp_at (12, 0, PSTR(FC_Version), 2);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
lcd_puts_at(12, 7, strGet(OFF), 0);
while(2)
{
ii = 0;
if(offset > 0)
lcd_printp_at(1,1, PSTR("\x12"), 0);
for(ii = 0;ii < 6 ; ii++)
{
if((ii+offset) < size)
{
if(hardware == NC)
lcd_printp_at(3,ii+1,param_menuitems_nc[ii+offset][Config.DisplayLanguage], 0);
else if(hardware == FC)
lcd_printp_at(3,ii+1,param_menuitems_fc[ii+offset][Config.DisplayLanguage], 0);
else
lcd_printp_at(3,ii+1,param_menuitems_no[ii+offset][Config.DisplayLanguage], 0);
}
if((ii == 5)&&(ii+offset < (size-1)))
lcd_printp_at(1,6, PSTR("\x13"), 0);
show_Lipo();
}
if(dmode == 0)
{
if(offset == 0)
{
if(size > 6)
val = menu_choose3 (1, 5, target_pos,0,1); //menu_choose3 (min, max, start, return_at_start, return_at_end)
else
val = menu_choose3 (1, size, target_pos,0,0);
}
else
val = menu_choose3 (2, 5, target_pos,1,1);
}
if(dmode == 1)
{
if(offset+7 > size)
val = menu_choose3 (2, 6, target_pos,1,0);
else
val = menu_choose3 (2, 5, target_pos,1,1);
}
if(val == 254)
{
offset++;
dmode = 1;
target_pos = 5;
}
else if(val == 253)
{
offset--;
dmode = 0;
target_pos = 2;
}
else if(val == 252)
{
lcd_cls();
// lcd_printp_at (0, 2, PSTR(" PKT ausschalten?"),0);
lcd_puts_at(0, 2, strGet(SHUTDOWN), 0);
// lcd_printp_at (12, 7, PSTR("Nein Ja"),0);
lcd_puts_at(12, 7, strGet(YESNO), 0);
while(1)
{
if (get_key_press (1 << KEY_ENTER))
{
WriteParameter(); // am Ende alle Parameter sichern
clr_V_On(); // Spannung abschalten
}
if (get_key_short (1 << KEY_ESC))
{
get_key_press(KEY_ALL);
lcd_cls();
lcd_printp_at (0, 0, PSTR("PKT-Tool FC "), 2);
lcd_printp_at (12, 0,PSTR(FC_Version), 2);
// show_Lipo();
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// lcd_printp_at (12, 7, PSTR("Aus "), 0);
lcd_puts_at(12, 7, strGet(OFF), 0);
break;
}
}
}
else if(val == 251)
{
PC_Fast_Connect();
return;
}
else if(val == 250)
{
// Test_HB();
// Test_Language();
return;
}
else
break;
}
target_pos = val;
if(hardware == NC)
{
if((val+offset) == 1 )
osd(OSD_Mode);
if((val+offset) == 2 )
display_data();
if((val+offset) == 3 )
PKT_tracking();
if((val+offset) == 4 )
edit_parameter();
#ifdef HWVERSION3_9
if((val+offset) == 5 )
#ifdef analognames
display_debug();
#else
{
copy_line(7);
lcd_printp_at (0, 7, PSTR(" not possible "),0);
_delay_ms(1000);
paste_line(7);
}
#endif
if((val+offset) == 6 )
gps();
#endif
if((val+offset) == 7 )
FollowMe();
if((val+offset) == 8 )
joystick();
if((val+offset) == 9 )
PKT_Tools();
}
if(hardware == FC)
{
if((val+offset) == 1 )
joystick();
if((val+offset) == 2 )
display_data();
if((val+offset) == 3 )
edit_parameter();
if((val+offset) == 4 )
#ifdef analognames
display_debug();
#else
{
copy_line(7);
lcd_printp_at (0, 7, PSTR(" not possible "),0);
_delay_ms(1000);
paste_line(7);
}
#endif
if((val+offset) == 4 )
PKT_Tools();
}
if(hardware == NO)
{
if((val+offset) == 1 )
if (searchMK()){
Save_hardware = hardware;
continue;
}
if((val+offset) == 2 )
motor_test(FC_Mode);
#ifdef HWVERSION3_9
if (Config.U02SV2 == 0)
{
if((val+offset) == 3 )
Port_BT2Wi();
if((val+offset) == 4 )
Port_USB2Wi();
}
else if (Config.U02SV2 == 1)
{
if((val+offset) == 3 )
Port_BT2FC();
if((val+offset) == 4 )
Port_USB2FC();
}
#else
if((val+offset) == 3 )
Show_Error_HW();
if((val+offset) == 4 )
Show_Error_HW();
#endif
if((val+offset) == 5 )
PKT_Setup();
if((val+offset) == 6 )
Show_Version();
}
}
}
//--------------------------------------------------------------
//
void Update_PKT (void)
{
lcd_cls();
lcd_printp_at (0, 0, PSTR(" PKT Update "),2);
lcd_puts_at(0, 1, strGet(UPDATE1), 0);
lcd_puts_at(0, 2, strGet(UPDATE2), 0);
lcd_printp_at (0, 3, PSTR("Start avrdude.exe "),0);
lcd_printp_at (0, 4, PSTR("-pm1284p -cavr109 "),0);
lcd_printp_at (0, 5, PSTR("-Pcom? -b115200 "),0);
lcd_printp_at (0, 6, PSTR("-Uflash:w:FILE.hex:a "),0);
lcd_puts_at(0, 7, strGet(ENDSTART), 0);
do
{
if (get_key_press (1 << KEY_ESC))
{
get_key_press(KEY_ALL);
return;
}
}
while (!(get_key_press (1 << KEY_ENTER)));
{
// start bootloader with Reset, Hold KEY_ENTER*/
wdt_enable( WDTO_250MS );
while (1)
{;}
}
}
//--------------------------------------------------------------
//
void Show_Error_HW (void)
{
lcd_cls ();
lcd_printp_at (0, 2, PSTR(" Mit dieser Hardware"), 0);
lcd_printp_at (0, 3, PSTR(" nicht möglich!"), 0);
lcd_printp_at (12, 7, PSTR("Ende"), 0);
while (!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
return;
}
//--------------------------------------------------------------
//
void Show_Version (void)
{
uint8_t ii = 0;
uint8_t size = ITEMS_CR;
uint8_t page = 0;
lcd_cls ();
lcd_printp_at (0, 0, PSTR("PKT Tool V. "), 2);
lcd_printp_at (13,0, PSTR(PKTSWVersion),2);
lcd_printp_at (0, 1, PSTR(" "), 2); //um die ganze Zeile schwarz zu füllen.
lcd_puts_at(0, 1, strGet(START_MSG2), 2);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
while(1)
{
for(ii = 0;ii < 3 ; ii++)
if((ii + page) < size)
lcd_printp_at(0,ii + 3,param_copyright[ii + page], 0);
if (page == 0)
{
lcd_printp_at (0, 2, PSTR(" "), 0);
lcd_printp_at (0, 6, PSTR("\x13"), 0);
}
if (page > 0 && page < (size - 3))
{
lcd_printp_at (0, 2, PSTR("\x12"), 0);
lcd_printp_at (0, 6, PSTR("\x13"), 0);
}
if (page >= (size - 3))
{
lcd_printp_at (0, 2, PSTR("\x12"), 0);
lcd_printp_at (0, 6, PSTR(" "), 0);
}
if (get_key_press (1 << KEY_PLUS))
if (page < size - 3)
page++;
if (get_key_press (1 << KEY_MINUS))
if (page > 0)
page--;
if (get_key_press (1 << KEY_ESC) || get_key_press (1 << KEY_ENTER))
{
get_key_press(KEY_ALL);
return;
}
}
}
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/menu.h
0,0 → 1,66
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef MENU_H
#define MENU_H
#include "messages.h"
#define CURSOR_COL 1 // column where the menu cursor is displayed
#define MENU_LINE 1 // starting line of menu
#define MENU_COL 3 // column where the menu starts
#define OSD_Mode 1 // OSD Anzeige als OSD
#define THREE_D_Mode 3 // OSD Anzeige in 3D Position
void main_menu (void);
void Show_Version (void);
void Show_Error_HW (void);
void Update_PKT (void);
void PC_Fast_Connect (void);
//// Variablen für die Menüsteuerung
extern uint8_t ii;
extern uint8_t offset;
extern uint8_t size;
extern uint8_t dmode;
extern uint8_t target_pos;
extern uint8_t val;
uint8_t menu_select(const char menuitem[][NUM_LANG][18],uint8_t size, uint8_t targetpos);
uint8_t menu_choose (uint8_t min, uint8_t max, uint8_t pos, uint8_t start);
uint8_t menu_choose2 (uint8_t min, uint8_t max, uint8_t start, uint8_t return_at_start, uint8_t return_at_end);
uint8_t menu_choose3 (uint8_t min, uint8_t max, uint8_t start, uint8_t return_at_start, uint8_t return_at_end);
#endif
Property changes:
Added: svn:mime-type
+text/plain
\ No newline at end of property

/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/messages.c
0,0 → 1,2204
/****************************************************************************************
* Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net *
* *
* 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. *
* *
* *
* Languagesupport: *
* http://www.netrino.com/Embedded-Systems/How-To/Firmware-Internationalization *
* Nigel Jones *
****************************************************************************************/
#include "cpu.h"
#include <avr/io.h>
#include <inttypes.h>
#include <stdlib.h>
#include <avr/pgmspace.h>
#include <avr/wdt.h>
#include <util/delay.h>
#include "main.h"
#include "lcd/lcd.h"
#include "timer/timer.h"
#include "eeprom/eeprom.h"
#include "messages.h"
typedef enum
{
GERMAN,
ENGLISH,
NETHERLAND,
LAST_LANGUAGE,
} LANGUAGE;
typedef struct PROGMEM
{
/*
* Maximum length
*/
int const len;
/*
* Array of pointers to language-specific string
*/
char const * const text[LAST_LANGUAGE];
} STRING ;
//--------------------------------------------------------------------------------------------------------------------
// Typdefinitionen für alle verwendeten Strings, LAST_STR muss am Ende stehen bleiben
//typedef enum
//TESTSTRING, KEYLINE1, KEYLINE2, KEYLINE3, KEYLINE4, KEYLINE5, BOOT1, BOOT2, BOOT_WI1, BOOT_WI2, BOOT_SV, START_MSG1, START_MSG2, GNU_GPL, ATMEGA644,
//ATMEGA644P, ATMEGA1284P, HW12, HW12W, HW13, HW13W, HW39, START_LASTPOS, START_LASTPOS1, START_LASTPOS2, START_LASTPOS3, START_LASTPOSDEL,
//START_SEARCHFC, ENDE, OK, FEHLER, AKTIV, START_FCNOTFOUND, START_FCFOUND, START_FCFOUND1, START_FCFOUND2, START_FCFOUND3, START_VERSIONCHECK,
//START_VERSIONCHECK1, START_VERSIONCHECK2, START_VERSIONCHECK3, START_VERSIONCHECK4, START_VERSIONCHECK5, ON, OFF, ESC, SHUTDOWN, YESNO,
//UPDATE1, UPDATE2, ENDSTART, TOOLS1, CONNECT1, CONNECT2, CONNECT4, CONNECT5, CONNECT6, CONNECT7, CONNECT8, CONNECT9, CONNECT10, CONNECT11, CONNECT12,
//CONNECT13, CONNECT14, CONNECT15, CONNECT16, CONNECT17, CONNECT18, CONNECT19, CONNECT20, CONNECT21, CONNECT22, CONNECT23, CONNECT24, CONNECT25,
//CONNECT26, CONNECT27, CONNECT28, CONNECT29, CONNECT30, CONNECT31, KABEL, SLAVE, NORMAL, REVERSE, ENDOK, EEPROM1, EEPROM2, DEUTSCH, ENGLISCH, FRANCE,
//NETHERL, DISPLAY1, DISPLAY2, DISPLAY3, DISPLAY4, DISPLAY5, DISPLAY6, DISPLAY7, DISPLAY8, DISPLAY9, DEBUGPKT, WITXRX, WINETWG, WINETWM, WITIMEOUT,
//WIUART, WI2321, WI2322, WI2323, YES, NOO, BT1, BT2, BT3, BT4, LIPO1, LIPO2, LIPO3, LIPO4, LIPO5, LIPO6, LOWBAT, OSD_3D_V, OSD_3D_H, OSD_3D_L,
//OSD_3D_R, OSD_3D_NICK, OSD_3D_ROLL, OSD_3D_COMPASS, OSD_ERROR, OSD_POS1, OSD_POS2, PARA_SETTINGS, PARA_CHANGE, PARA_AKTIVI, PARA_AKTIV,
//PARA_SAVESETT, PARA_SETTSAVED, PARA_COPY, PARA_FROMTO, PARA_ENDE, PARA_COPYQ, PARA_COPYACTIV, PARA_CHANGESETT, PARA_SELECT, PARA_SEITE,
//PARA_SELSETT, GPS1, GPS2, GPS3, STATS_ITEM_0, STATS_ITEM_1, STATS_ITEM_2, STATS_ITEM_3, STATS_ITEM_4, STATS_ITEM_5, STATS_ITEM_6, STATS_ITEM_7,
//STATS_ITEM_8, ONLY_NC, NO_SETTINGS, OSD_ALTI_0, OSD_ALTI_1, OSD_VARIO_0, OSD_VARIO_1, OSD_CARE_FREE_0, OSD_CARE_FREE_1, OSD_LED0, OSD_LED1, OSD_LED2,
//OSD_NAVI_MODE_0, OSD_NAVI_MODE_1, OSD_NAVI_MODE_2, OSD_FLAGS_0, OSD_FLAGS_1, OSD_FLAGS_2, OSD_FLAGS_3, OSD_FLAGS_4, OSD_FLAGS_5, OSD_FLAGS_6,
//OSD_Screen, OSD_Invert_Out, OSD_LED_Form, OSD_Send_OSD, LAST_STR,
static const STRING strings[LAST_STR] PROGMEM =
{
{ /*TESTSTRING*/
21,
{
"Not format hardisk C?", /* German */
"Not format hardisk C?", /* English*/
"Not format hardisk C?", /* Dutch */
}
},
{ /*KEYLINE1*/
21,
{
" \x1a \x1b Ende OK", /* German */
" \x1a \x1b end OK", /* English*/
" \x1a \x1b Einde OK", /* Dutch */
}
},
{ /*KEYLINE2*/
21,
{
" \x18 \x19 Ende OK", /* German */
" \x18 \x19 end OK", /* English*/
" \x18 \x19 Einde OK", /* Dutch */
}
},
{ /*KEYLINE3*/
21,
{
" \x18 \x19 Ende ", /* German */
" \x18 \x19 end ", /* English*/
" \x18 \x19 Einde", /* Dutch */
}
},
{ /*KEYLINE4*/
21,
{
"Ende OK", /* German */
"end OK", /* English*/
"Einde OK", /* Dutch */
}
},
{ /*KEYLINE5*/
21,
{
"Ende Info", /* German */
"end info", /* English*/
"Eind Info", /* Dutch */
}
},
{ /*BOOT1*/
21,
{
"Taste 1 Sekunde", /* German */
"Keep the button", /* English*/
"Houd de knop ", /* Dutch */
}
},
{ /* BOOT2*/
21,
{
"lang festhalten.", /* German */
"pressed for 1 second", /* English*/
"1 seconde ingedrukt.", /* Dutch */
}
},
{ /*BOOT_WI1*/
21,
{
"Verbindung zum MK ist", /* German */
"Connection to MK is", /* English*/
"Verbinding met MK is", /* Dutch */
}
},
{ /* BOOT_WI2*/
21,
{
"auf Wi232 eingestellt", /* German */
"set to Wi232", /* English*/
"ingesteld op Wi232", /* Dutch */
}
},
{ /*BOOTSV1*/
21,
{
"auf Kabel eingestellt", /* German */
"set to kabel on SV2", /* English*/
"via kabelverbinding", /* Dutch */
}
},
{ /*START_MSG1 */
21,
{
"Portables Kopter Tool", /* German */
"Portable Kopter Tool ", /* English*/
"Portable Kopter Tool ", /* Dutch */
}
},
{ /*START_MSG2 */
21,
{
"für FC Ver "FC_Version, /* German */
"for FC Ver "FC_Version, /* English*/
"Voor FC Ver "FC_Version, /* Dutch */
}
},
{ /* GNU/GPL */
21,
{
"GNU GPL License", /* German */
"GNU GPL License", /* English*/
"GNU GPL License", /* Dutch */
}
},
{ /**/
21,
{
"ATmega 644", /* German */
"ATmega 644", /* English*/
"ATmega 644", /* Dutch */
}
},
{ /**/
21,
{
"ATmega 644P", /* German */
"ATmega 644P", /* English*/
"ATmega 644P", /* Dutch */
}
},
{ /**/
21,
{
"ATmega 1284P", /* German */
"ATmega 1284P", /* English*/
"ATmega 1284P", /* Dutch */
}
},
{ /**/
21,
{
"Hardware 1.2", /* German */
"Hardware 1.2", /* English*/
"Hardware 1.2", /* Dutch */
}
},
{ /**/
21,
{
"Hardware 1.2W", /* German */
"Hardware 1.2W", /* English*/
"Hardware 1.2W", /* Dutch */
}
},
{ /**/
21,
{
"Hardware 1.3", /* German */
"Hardware 1.3", /* English*/
"Hardware 1.3", /* Dutch */
}
},
{ /**/
21,
{
"Hardware 1.3W", /* German */
"Hardware 1.3W", /* English*/
"Hardware 1.3W", /* Dutch */
}
},
{ /**/
21,
{
"Hardware 3.9", /* German */
"Hardware 3.9", /* English*/
"Hardware 3.9", /* Dutch */
}
},
{ /*START_LASTPOS*/
21,
{
" Letzte Position ", /* German */
" last position ", /* English*/
" Laatste positie ", /* Dutch */
}
},
{ /*START_LASTPOS1*/
21,
{
" Breitengr Längengr ", /* German */
" latitude longitude ", /* English*/
"breedtegr. lengtegr. ", /* Dutch */
}
},
{ /*START_LASTPOS2*/
21,
{
"löschen weiter", /* German */
"delete exit ", /* English*/
"wissen verder", /* Dutch */
}
},
{ /*START_LASTPOS3*/
21,
{
" Google Eingabe ", /* German */
" Google Input ", /* English*/
" Google Input ", /* Dutch */
}
},
{ /*START_LASTPOSDEL*/
21,
{
" gelöscht ", /* German */
" deleted ", /* English*/
" gewist ", /* Dutch */
}
},
{ /*START_SEARCHFC*/
21,
{
"Suche FC... ", /* German */
"searching FC...", /* English*/
"zoek FC... ", /* Dutch */
}
},
{ /*ENDE*/
21,
{
"Ende ", /* German */
"end ", /* English*/
"Einde", /* Dutch */
}
},
{ /*OK*/
21,
{
"Ok ", /* German */
"ok ", /* English*/
"gued", /* Dutch */
}
},
{ /*FEHLER*/
21,
{
"Fehler ", /* German */
"error ", /* English*/
"fout ", /* Dutch */
}
},
{ /*AKTIV*/
21,
{
"aktiv ", /* German */
"activ ", /* English*/
"actief", /* Dutch */
}
},
{ /*START_FCNOTFOUND*/
21,
{
"FC nicht gefunden!", /* German */
"FC not found!", /* English*/
"FC niet gevonden!", /* Dutch */
}
},
{ /*START_FCFOUND*/
21,
{
"PKT-Tool GNU GPL", /* German */
"PKT-Tool GNU GPL", /* English*/
"PKT-Tool GNU GPL", /* Dutch */
}
},
{ /*START_FCFOUND1*/
21,
{
"gefunden: ", /* German */
"found: ", /* English*/
"gevonden: ", /* Dutch */
}
},
{ /*START_FCFOUND2*/
21,
{
"Flight-Ctrl", /* German */
"Flight-Ctrl", /* English*/
"Flight-Ctrl", /* Dutch */
}
},
{ /*START_FCFOUND3*/
21,
{
"Navi-Ctrl", /* German */
"Navi-Ctrl", /* English*/
"Navi-Ctrl", /* Dutch */
}
},
{ /*START_VERSIONCHECK*/
21,
{
"Version: ", /* German */
"Version: ", /* English*/
"Versie: ", /* Dutch */
}
},
{ /*START_VERSIONCHECK1*/
21,
{
"erwartet", /* German */
"expected", /* English*/
"verwacht", /* Dutch */
}
},
{ /*START_VERSIONCHECK2*/
21,
{
"gefunden", /* German */
"found ", /* English*/
"gevonden", /* Dutch */
}
},
{ /*START_VERSIONCHECK3*/
21,
{
"PKT-Tool nur mit", /* German */
"PKT-Tool only with", /* English*/
"PKT-Tool alleen met", /* Dutch */
}
},
{ /*START_VERSIONCHECK4*/
21,
{
"FC Software ", /* German */
"FC Software ", /* English*/
"FC Software ", /* Dutch */
}
},
{ /*START_VERSIONCHECK5*/
21,
{
"kompatibel", /* German */
"compatible", /* English*/
"compatibel", /* Dutch */
}
},
{ /*ON*/
21,
{
"Ein ", /* German */
"On ", /* English*/
"Aan ", /* Dutch */
}
},
{ /*AUS*/
21,
{
"Aus ", /* German */
"Off ", /* English*/
"Uit ", /* Dutch */
}
},
{ /*ESC*/
21,
{
"ESC", /* German */
"ESC", /* English*/
"ESC", /* Dutch */
}
},
{ /*SHUTDOWN*/
21,
{
" PKT ausschalten?", /* German */
" shutdown PKT ?", /* English*/
" PKT uitschakelen ?", /* Dutch */
}
},
{ /*YES NO*/
21,
{
"Nein Ja", /* German */
"no yes", /* English*/
"Nee Ja", /* Dutch */
}
},
{ /*UPDATE1*/
21,
{
"Verbinde PC mit PKT ", /* German */
"Connect PC to PKT-USB", /* English*/
"Verbind PC met PKT ", /* Dutch */
}
},
{ /*UPDATE2*/
21,
{
"Drücke 'Start' am PKT", /* German */
"Press 'Start' on PKT ", /* English*/
"Druk 'Start' op PKT ", /* Dutch */
}
},
{ /*ENDSTART*/
21,
{
" Ende Start", /* German */
" End Start", /* English*/
" Einde Start", /* Dutch */
}
},
{ /*TOOLS1*/
21,
{
" PC-Quick-Verbindung ", /* German */
" PC-Quick-Connection ", /* English*/
" Snelle PC-verbinding", /* Dutch */
}
},
{ /*CONNECT1,*/
21,
{
"Verbinde das PKT mit", /* German */
"Connect PKT with MK", /* English*/
"Verbind PKT ", /* Dutch */
}
},
{ /*CONNECT2*/
21,
{
"dem MK über:", /* German */
" over :", /* English*/
" met :", /* Dutch */
}
},
{ /*CONNECT4,*/
21,
{
"dem MK über: Kabel, ", /* German */
"over: Kabel", /* English*/
"MK via: kabel ", /* Dutch */
}
},
{ /*CONNECT5*/
21,
{
"es ist kein Wi.232", /* German */
"there is no Wi.232", /* English*/
"er is geen wi.232 ", /* Dutch */
}
},
{ /*CONNECT6*/
21,
{
"Modul eingebaut.", /* German */
"built in.", /* English*/
"module ingebouwd.", /* Dutch */
}
},
{ /*CONNECT7,*/
21,
{
"Wenn doch, dann bitte", /* German */
"if yes, then first", /* English*/
"zo ja, dan aub eerst", /* Dutch */
}
},
{ /*CONNECT8*/
21,
{
"das Modul zuerst im ", /* German */
"activate modul in", /* English*/
"de module aktiveren", /* Dutch */
}
},
{ /*CONNECT9*/
21,
{
"Setupmenü aktivieren.", /* German */
"Setupmenu", /* English*/
"in het Setupmenu.", /* Dutch */
}
},
{ /*CONNECT10*/
21,
{
"Sie müssen das PKT", /* German */
"You have to", /* English*/
"U moet de PKT", /* Dutch */
}
},
{ /*CONNECT11*/
21,
{
"jetzt neu starten!", /* German */
"restart PKT", /* English*/
"nu opnieuw starten!", /* Dutch */
}
},
{ /*CONNECT12*/
21,
{
"Es ist kein BTM-222", /* German */
"There is no BTM-222", /* English*/
"Er is geen BTM-222", /* Dutch */
}
},
{ /*CONNECT13*/
21,
{
"Modul eingebaut", /* German */
"Modul built in", /* English*/
"module ingebouwd.", /* Dutch */
}
},
{ /*CONNECT14*/
21,
{
" MK-USB Funktion ", /* German */
" MK-USB Function ", /* English*/
" MK-USB Functie ", /* Dutch */
}
},
{ /*CONNECT15*/
21,
{
" BT --> Kabel an FC ", /* German */
" BT --> Kabel to FC ", /* English*/
" BT --> kabel naar FC", /* Dutch */
}
},
{ /*CONNECT16*/
21,
{
"PC mit BT verb.", /* German */
"connect PC with BT", /* English*/
"PC via BT verbonden.", /* Dutch */
}
},
{ /*CONNECT17*/
21,
{
"PKT-Kabel an FC", /* German */
"PKT-Kabel to FC", /* English*/
"PKT-kabel naar FC", /* Dutch */
}
},
{ /*CONNECT18*/
21,
{
" BT --> Wi.232 ", /* German */
" BT --> Wi.232 ", /* English*/
" BT --> Wi.232 ", /* Dutch */
}
},
{ /*CONNECT19*/
21,
{
"Wi.232 an FC ", /* German */
"Wi.232 to FC ", /* English*/
"Wi.232 naar FC ", /* Dutch */
}
},
{ /*CONNECT20*/
21,
{
" USB --> Kabel an FC ", /* German */
" USB --> cable to FC ", /* English*/
"USB --> kabel naar FC", /* Dutch */
}
},
{ /*CONNECT21*/
21,
{
"PC mit USB verbinden ", /* German */
"connect PC with USB ", /* English*/
"Verbind PC met USB ", /* Dutch */
}
},
{ /*CONNECT22*/
21,
{
" USB --> Wi.232 ", /* German */
" USB --> Wi.232 ", /* English*/
" USB --> Wi.232 ", /* Dutch */
}
},
{ /*CONNECT23*/
21,
{
"MK-Tool starten", /* German */
"start MK-Tool", /* English*/
"start MK-Tool", /* Dutch */
}
},
{ /*CONNECT24*/
21,
{
" Wi.232 Konfigurieren", /* German */
" Wi.232 Configuration", /* English*/
" Wi.232 Configuratie ", /* Dutch */
}
},
{ /*CONNECT25*/
21,
{
"Programm starten. ", /* German */
"start program ", /* English*/
"start programma.", /* Dutch */
}
},
{ /*CONNECT26*/
21,
{
"BTM-222 Konfigurieren", /* German */
"BTM-222 configuration", /* English*/
"BTM-222 configuratie", /* Dutch */
}
},
{ /*CONNECT27*/
21,
{
"FC > MK-USB > BTM-222", /* German */
"FC > MK-USB > BTM-222", /* English*/
"FC > MK-USB > BTM-222", /* Dutch */
}
},
{ /*CONNECT28*/
21,
{
"MK-USB an PC anschl. ", /* German */
"connect PC to MK-USB ", /* English*/
"Verbind PC met MK-USB", /* Dutch */
}
},
{ /*CONNECT29*/
21,
{
"Zwischen MK-USB und ", /* German */
"connect crossed cable", /* English*/
"Tussen MK-USB en PKT ", /* Dutch */
}
},
{ /*CONNECT30*/
21,
{
"PKT ein gekreuztes ", /* German */
"between MK-USB and ", /* English*/
"een gekruiste kabel ", /* Dutch */
}
},
{ /*CONNECT31*/
21,
{
"Kabel anschliessen. ", /* German */
"PKT SV2", /* English*/
"aansluiten.", /* Dutch */
}
},
{ /*Kabel*/
21,
{
"Kabel", /* German */
"cable", /* English*/
"Kabel", /* Dutch */
}
},
{ /*SLAVE*/
21,
{
"Slave ", /* German */
"Slave ", /* English*/
"Slave ", /* Dutch */
}
},
{ /*NORMAL*/
21,
{
"Normal ", /* German */
"Normal ", /* English*/
"Norm. ", /* Dutch */
}
},
{ /*Reverse*/
21,
{
"Reverse", /* German */
"inverse", /* English*/
"geinver", /* Dutch */
}
},
{ /*ENDOK*/
21,
{
"Ende OK", /* German */
"End OK", /* English*/
"Eind OK", /* Dutch */
}
},
{ /*EEPROM1*/
21,
{
" EEProm wirklich", /* German */
" Realy delete", /* English*/
" Eeprom werkelijk", /* Dutch */
}
},
{ /*EEPROM2*/
21,
{
" löschen?", /* German */
" EEprom?", /* English*/
" wissen?", /* Dutch */
}
},
{ /*DEUTSCH*/
21,
{
"deutsch ", /* German */
"german ", /* English*/
"duits ", /* Dutch */
}
},
{ /*ENGLISCH*/
21,
{
"englisch ", /* German */
"english ", /* English*/
"engels ", /* Dutch */
}
},
{ /*FRANCE*/
21,
{
"französisch", /* German */
"french " , /* English*/
"frans ", /* Dutch */
}
},
{ /*NETHERL*/
21,
{
"holländisch", /* German */
"dutch ", /* English*/
"nederlands ", /* Dutch */
}
},
{ /*DISPLAY1*/
21,
{
"Anzeige Einstellungen", /* German */
" Display Setup ", /* English*/
"Display instellingen ", /* Dutch */
}
},
{ /*DISPLAY2*/
21,
{
"Infos bei Start:", /* German */
"Info at startup ", /* English*/
"Info bij opstart", /* Dutch */
}
},
{ /*DISPLAY3*/
21,
{
"Sprache : ", /* German */
"Language: ", /* English*/
"Taal: ", /* Dutch */
}
},
{ /*DISPLAY4*/
21,
{
"Licht aus nach:", /* German */
"Light off after:", /* English*/
"Licht uit na: ", /* Dutch */
}
},
{ /*DISPLAY5*/
21,
{
"LCD Helligk.:", /* German */
" Brightness :", /* English*/
" intensiteit:", /* Dutch */
}
},
{ /*DISPLAY6*/
21,
{
"LCD Kontrast:", /* German */
"LCD contrast:", /* English*/
"LCD contrast:", /* Dutch */
}
},
{ /*DISPLAY7*/
21,
{
"LCD Norm/Inv: ", /* German */
"LCD Norm/Inv: ", /* English*/
"LCD Norm/Inv: ", /* Dutch */
}
},
{ /*DISPLAY8*/
21,
{
"LCD Orient.: ", /* German */
"LCD Orient.: ", /* English*/
"LCD Orient.: ", /* Dutch */
}
},
{ /*DISPLAY9*/
21,
{
"RC Fehlerpiep :", /* German */
"RC Errorbeep :", /* English*/
"RC Errorbeep :", /* Dutch */
}
},
{ /*DEBUGPKT*/
21,
{
"Debug PKT", /* German */
"Debug PKT", /* English*/
"Debug PKT", /* Dutch */
}
},
{ /*WITXRX*/
21,
{
"Wi TX/RX Chan:", /* German */
"Wi TX/RX Chan:", /* English*/
"Wi TX/RX Chan:", /* Dutch */
}
},
{ /*WINETG*/
21,
{
"Wi NetW. Grp.:", /* German */
"Wi NetW. Grp.:", /* English*/
"Wi NetW. Grp.:", /* Dutch */
}
},
{ /*WINETM*/
21,
{
"Wi NetW. Mode:", /* German */
"Wi NetW. Mode:", /* English*/
"Wi NetW. Mode:", /* Dutch */
}
},
{ /*WITIMEOUT*/
21,
{
"Wi TX Timeout:", /* German */
"Wi TX Timeout:", /* English*/
"Wi TX Timeout:", /* Dutch */
}
},
{ /*WIUART*/
21,
{
"Wi UART MTU :", /* German */
"Wi UART MTU :", /* English*/
"Wi UART MTU :", /* Dutch */
}
},
{ /*WI2321*/
21,
{
"Wi.232 eingebaut:", /* German */
"Wi.232 built in :", /* English*/
"Wi.232 ingebouwd:", /* Dutch */
}
},
{ /*WI2322*/
21,
{
"Ist ein Wi.232-Modul ", /* German */
"Is Wi232 modul", /* English*/
"Is er een Wi.232", /* Dutch */
}
},
{ /*WI2323*/
21,
{
"eingebaut?", /* German */
"built in?", /* English*/
"module ingebouwd?", /* Dutch */
}
},
{ /*YES*/
21,
{
"Ja ", /* German */
"yes ", /* English*/
"Ja ", /* Dutch */
}
},
{ /*NO*/
21,
{
"Nein", /* German */
"no ", /* English*/
"Nee ", /* Dutch */
}
},
{ /*BT1*/
21,
{
" BTM222 Einstellungen", /* German */
" BTM-222 settings ", /* English*/
" BTM-222 settings ", /* Dutch */
}
},
{ /*BT2*/
21,
{
"Ist ein BTM-222-Modul", /* German */
"Is BTM-222 Modul", /* English*/
"Is er een BTM-222", /* Dutch */
}
},
{ /*BT3*/
21,
{
"eingebaut?", /* German */
"built in?", /* English*/
"module ingebouwd?", /* Dutch */
}
},
{ /*BT4*/
21,
{
"BTM222 eingebaut:", /* German */
"BTM222 built in :", /* English*/
"BTM222 ingebouwd:", /* Dutch */
}
},
{ /*LIPO1*/
21,
{
" PKT Akku Einstellung", /* German */
" PKT Accu Setup ", /* English*/
" PKT Accu Setup ", /* Dutch */
}
},
{ /*LIPO2*/
21,
{
"PKT Akkutyp: ", /* German */
"PKT Accutyp: ", /* English*/
"PKT Accutype: ", /* Dutch */
}
},
{ /*LIPO3*/
21,
{
"Akku U Offset: ", /* German */
"Accu U Offset: ", /* English*/
"Accu U Offset: ", /* Dutch */
}
},
{ /*LIPO4*/
21,
{
"PKT Akkutyp: ", /* German */
"PKT Accutyp: ", /* English*/
"PKT Accutype: ", /* Dutch */
}
},
{ /*LIPO5*/
21,
{
"Offset verstellen bis", /* German */
"adjust offset until", /* English*/
"Offset afregelen tot", /* Dutch */
}
},
{ /*LIPO6*/
21,
{
"die Spannung passt", /* German */
"voltage fits", /* English*/
"de spanning juist is.", /* Dutch */
}
},
{ /*LOWBAT*/
21,
{
"LowBat Warn V:", /* German */
"LowBat Warn V:", /* English*/
"LowBat alarm :", /* Dutch */
}
},
{ /*OSD_3D_V, vorne*/
21,
{
"V", /* German */
"F", /* English*/
"F", /* Dutch */
}
},
{ /*OSD_3D_H, hinten*/
21,
{
"H", /* German */
"B", /* English*/
"A", /* Dutch */
}
},
{ /*OSD_3D_L, links*/
21,
{
"L", /* German */
"L", /* English*/
"L", /* Dutch */
}
},
{ /*OSD_3D_R, rechts*/
21,
{
"R", /* German */
"R", /* English*/
"R", /* Dutch */
}
},
{ /*OSD_3D_NICK, Ni*/
21,
{
"Ni", /* German */
"Ni", /* English*/
"Ni", /* Dutch */
}
},
{ /*OSD_3D_ROLL, Ro*/
21,
{
"Ro", /* German */
"Ro", /* English*/
"Ro", /* Dutch */
}
},
{ /*OSD_3D_COMPASS, Ko*/
21,
{
"Ko", /* German */
"Co", /* English*/
"Co", /* Dutch */
}
},
{ /*OSD_ERROR*/
21,
{
"FEHLER: Datenverlust ", /* German */
"ERROR: Data lost", /* English*/
"verbinding verbroken ", /* Dutch */
}
},
{ /*OSD_POS1*/
21,
{
"Letzte bekannte", /* German */
"Last known ", /* English*/
"Laatst bekende", /* Dutch */
}
},
{ /*OSD_POS2*/
21,
{
"Position ", /* German */
"position ", /* English*/
"positie ", /* Dutch */
}
},
{ /*PARA_SETTINGS*/
21,
{
" Einstellungen ", /* German */
" Setting ", /* English*/
" Instellingen ", /* Dutch */
}
},
{ /*PARA_CHANGE*/
21,
{
"ändern", /* German */
"change", /* English*/
"verandering", /* Dutch */
}
},
{ /*PARA_AKTIVI*/
21,
{
"aktivieren", /* German */
"activate", /* English*/
"activeren", /* Dutch */
}
},
{ /*PARA_AKTIV*/
21,
{
"aktiviert", /* German */
"activated", /* English*/
"geactiveerd", /* Dutch */
}
},
{ /*PARA_SAVESETT*/
21,
{
" Setting x speichern?", /* German */
" store setting?", /* English*/
" instell.op te slaan?", /* Dutch */
}
},
{ /*PARA_SETTSAVED*/
21,
{
"Gespeichert und", /* German */
"stored and", /* English*/
"opgeslagen en", /* Dutch */
}
},
{ /*PARA_COPY*/
21,
{
"Kopiere Setting", /* German */
"copy settings", /* English*/
"kopieer instel.", /* Dutch */
}
},
{ /*PARA_FROMTO*/
21,
{
" von x nach y", /* German */
" from x to y", /* English*/
" van x na y", /* Dutch */
}
},
{ /*PARA_ENDE*/
21,
{
"von nach Ende OK", /* German */
"from to end OK", /* English*/
"van na einde OK", /* Dutch */
}
},
{ /*PARA_COPYQ*/
21,
{
"Wirklich kopieren?", /* German */
"really copy?", /* English*/
"echt kopie?", /* Dutch */
}
},
{ /*PARA_COPYACTIV*/
21,
{
"Kopiert und aktiviert", /* German */
"copied and activated ", /* English*/
"Kopieën en actief", /* Dutch */
}
},
{ /*PARA_CHANGESETT*/
21,
{
"Ändere Einstellungen ", /* German */
" change settings ", /* English*/
"instellingen wijzigen", /* Dutch */
}
},
{ /*PARA_SELECT*/
21,
{
" Wähle Parameter ", /* German */
" select parameters ", /* English*/
"Selecteer Parameters ", /* Dutch */
}
},
{ /*PARA_SEITE*/
21,
{
" Wähle Seite ", /* German */
" select page ", /* English*/
" Selecteer pagina ", /* Dutch */
}
},
{ /*PARA_SELSETT*/
21,
{
" Wähle Setting: ", /* German */
" select setting ", /* English*/
" Selecteer setting ", /* Dutch */
}
},
{ /*GPS1*/
21,
{
" GPS Einstellungen ", /* German */
" GPS settings ", /* English*/
" GPS settings ", /* Dutch */
}
},
{ /*GPS2*/
21,
{
"gewähltes GPS Gerät ", /* German */
"selected GPS device ", /* English*/
"selected GPS device ", /* Dutch */
}
},
{ /*GPS3*/
21,
{
"GPS Empf.einschalten?", /* German */
"receive GPS on? ", /* English*/
"receive GPS on? ", /* Dutch */
}
},
{ /*STATS_ITEM_0*/
21,
{
"max Höhe :", /* German */
"max Altitude:", /* English*/
"max Altitude:", /* Dutch */
}
},
{ /*STATS_ITEM_1*/
21,
{
"max Geschw. :", /* German */
"max Speed :", /* English*/
"max Speed :", /* Dutch */
}
},
{ /*STATS_ITEM_2*/
21,
{
"max Entfern.:", /* German */
"max Distance:", /* English*/
"max Distance:", /* Dutch */
}
},
{ /*STATS_ITEM_3*/
21,
{
"min Spannung:", /* German */
"min Voltage :", /* English*/
"min Voltage :", /* Dutch */
}
},
{ /*STATS_ITEM_4*/
21,
{
"max Zeit :", /* German */
"max Time :", /* English*/
"max Time :", /* Dutch */
}
},
{ /*STATS_ITEM_5*/
21,
{
"max Strom :", /* German */
"max Current :", /* English*/
"max Current :", /* Dutch */
}
},
{ /*STATS_ITEM_6*/
21,
{
"Ent.Kapazit.:", /* German */
"UsedCapacity:", /* English*/
"UsedCapacity:", /* Dutch */
}
},
{ /*STATS_ITEM_7*/
21,
{
"Long. :", /* German */
"Long. :", /* English*/
"Long. :", /* Dutch */
}
},
{ /*STATS_ITEM_8*/
21,
{
"Lat. :", /* German */
"Lat. :", /* English*/
"Lat. :", /* Dutch */
}
},
{ /*ONLY_NC*/
21,
{
"Nur mit NC ! ", /* German */
"Only with NC !", /* English*/
"Only with NC !", /* Dutch */
}
},
{ /*NO_SETTINGS*/
21,
{
"Keine Setings !! " , /* German */
"No settings read!!" , /* English*/
"No settings read!!" , /* Dutch */
}
},
{ /*OSD_ALTI_0*/
21,
{
"Höhe aus ", /* German */
"Alti. off ", /* English*/
"Alti. off ", /* Dutch */
}
},
{ /*OSD_ALTI_1*/
21,
{
"Höhe begr.", /* German */
"Alti.Limit", /* English*/
"Alti.Limit", /* Dutch */
}
},
{ /*OSD_VARIO_0*/
21,
{
"Vario aus ", /* German */
"Vario off ", /* English*/
"Vario off ", /* Dutch */
}
},
{ /*OSD_VARIO_1*/
21,
{
"Vario Höhe", /* German */
"Vario Alt.", /* English*/
"Vario Alt.", /* Dutch */
}
},
{ /*OSD_CARE_FREE_0*/
21,
{
" ", /* German */
" ", /* English*/
" ", /* Dutch */
}
},
{ /*OSD_CARE_FREE_1*/
21,
{
"Care Free", /* German */
"Care Free", /* English*/
"Care Free", /* Dutch */
}
},
{ /*OSD_LED0*/
21,
{
" ", /* German */
" ", /* English*/
" ", /* Dutch */
}
},
{ /*OSD_LED1*/
21,
{
"LED1", /* German */
"LED1", /* English*/
"LED1", /* Dutch */
}
},
{ /*OSD_LED2*/
21,
{
"LED2", /* German */
"LED2", /* English*/
"LED2", /* Dutch */
}
},
{ /*OSD_NAVI_MODE_0*/
21,
{
"Navi aus ", /* German */
"Navi off ", /* English*/
"Navi off ", /* Dutch */
}
},
{ /*OSD_NAVI_MODE_1*/
21,
{
"Pos. halten", /* German */
"Pos. Hold ", /* English*/
"Pos. Hold ", /* Dutch */
}
},
{ /*OSD_NAVI_MODE_2*/
21,
{
"Coming Home", /* German */
"Coming Home", /* English*/
"Coming Home", /* Dutch */
}
},
{ /*OSD_FLAGS_0*/
21,
{
" ", /* German */
" ", /* English*/
" ", /* Dutch */
}
},
{ /*OSD_FLAGS_1*/
21,
{
"Justieren", /* German */
"Calibrate", /* English*/
"Calibrate", /* Dutch */
}
},
{ /*OSD_FLAGS_2*/
21,
{
"Start ", /* German */
"Start ", /* English*/
"Start ", /* Dutch */
}
},
{ /*OSD_FLAGS_3*/
21,
{
"Betrieb ", /* German */
"Run ", /* English*/
"Run ", /* Dutch */
}
},
{ /*OSD_FLAGS_4*/
21,
{
"Fliegen ", /* German */
"Fly ", /* English*/
"Fly ", /* Dutch */
}
},
{ /*OSD_FLAGS_5*/
21,
{
"Landung ", /* German */
"Landing ", /* English*/
"Landing ", /* Dutch */
}
},
{ /*OSD_FLAGS_6*/
21,
{
"Akku leer", /* German */
"Low Bat. ", /* English*/
"Low Bat ", /* Dutch */
}
},
{ /*OSD_Screen*/
21,
{
" OSD Anzeige Setup ", /* German */
" OSD screen setup ", /* English*/
" OSD screen setup ", /* Dutch */
}
},
{ /*OSD_Invert_Out*/
21,
{
"Out1/2 negiert :", /* German */
"Out1/2 inverted:", /* English*/
"Out1/2 inverted:", /* Dutch */
}
},
{ /*OSD_LED_Form*/
21,
{
"Out1/2 Format:", /* German */
"Out1/2 format:", /* English*/
"Out1/2 format:", /* Dutch */
}
},
{ /*OSD_Send_OSD*/
21,
{
"Navidata an SV2:", /* German */
"Navidata to SV2:", /* English*/
"Navidata to SV2:", /* Dutch */
}
},
{ /*OSD_Fallspeed*/
21,
{
"m. Sinkrate m/s:", /* German */
"m.fallspeed m/s:", /* English*/
"m.fallspeed m/s:", /* Dutch */
}
},
{ /*OSD_VARIOBEEP*/
21,
{
"Variometer Beep:", /* German */
"variometer beep:", /* English*/
"variometer beep:", /* Dutch */
}
},
{ /*OSD_HOMEMKVIEW*/
21,
{
"Homesicht von MK:", /* German */
"homeview from MK:", /* English*/
"homeview from MK:", /* Dutch */
}
},
{ /*OSD_MAHWARNING*/
21,
{
"mAh Warnung > :", /* German */
"mAh warning > :", /* English*/
"mAh warning > :", /* Dutch */
}
},
{ /*OSD_SCREENMODE*/
21,
{
"OSD Anzeigevar:", /* German */
"OSD screenmode:", /* English*/
"OSD screenmode:", /* Dutch */
}
},
{ /*OSD_LIPOBAR*/
21,
{
"MK Volt Balken:", /* German */
"MK volt bargraph:", /* English*/
"MK volt bargraph:", /* Dutch */
}
},
{ /*PKT_BAUDRATE*/
21,
{
"Baud Wi232/BT:", /* German */
"Baud Wi232/BT:", /* English*/
"Baud Wi232/BT:", /* Dutch */
}
},
{ /*FOLLOWME_0*/
21,
{
" Follow Me Setup ", /* German */
" Follow Me Setup ", /* English*/
" Follow Me Setup ", /* Dutch */
}
},
{ /*FOLLOWME_1*/
21,
{
" Refresh :", /* German */
" Refresh :", /* English*/
" Refresh :", /* Dutch */
}
},
{ /*FOLLOWME_2*/
21,
{
"Geschwindigkeit:", /* German */
" Speed :", /* English*/
" Speed :", /* Dutch */
}
},
{ /*FOLLOWME_3*/
21,
{
"Toleranz Radius:", /* German */
"Toleranz Radius:", /* English*/
"Toleranz Radius:", /* Dutch */
}
},
{ /*HWSOUND*/
21,
{
"Tonausgabe Erw.:", /* German */
"sound extension:", /* English*/
"sound extension:", /* Dutch */
}
},
{ /*HWBEEPER*/
21,
{
"Hardware Pieper:", /* German */
"hardware beep :", /* English*/
"hardware beep :", /* Dutch */
}
},
{ /*VOLUME*/
21,
{
"Lautstärke :", /* German */
"volume :", /* English*/
"volume :", /* Dutch */
}
},
{ /*SERCHAN_0*/
21,
{
"serielle Kanäle Setup", /* German */
"serial channel setup", /* English*/
"serial channel setup", /* Dutch */
}
},
{ /*SERCHAN_1*/
21,
{
"serielle Kanäle Setup", /* German */
"serial channel setup", /* English*/
"serial channel setup", /* Dutch */
}
},
{ /*SERCHAN_2*/
21,
{
"Lipo Messung:", /* German */
"Lipo check :", /* English*/
"Lipo check :", /* Dutch */
}
},
{ /*SERCHAN_3*/
21,
{
"Kanal ", /* German */
"Channel ", /* English*/
"Channel ", /* Dutch */
}
},
{ /*SERVOSTEPS*/
21,
{
"Servoschritte: ", /* German */
"servosteps : ", /* English*/
"servosteps : ", /* Dutch */
}
},
{ /*SERVO1_TEXT*/
21,
{
" Servo 1 ", /* German */
" servo 1 ", /* English*/
" servo 1 ", /* Dutch */
}
},
{ /*SERVO2_TEXT*/
21,
{
" Servo 2 ", /* German */
" servo 2 ", /* English*/
" servo 2 ", /* Dutch */
}
},
{ /*SERVO_REVERSE*/
21,
{
"Reverse:", /* German */
"Reverse:", /* English*/
"Reverse:", /* Dutch */
}
},
{ /*SERVO_LEFT*/
21,
{
"Links:", /* German */
"lefth:", /* English*/
"lefth:", /* Dutch */
}
},
{ /*SERVO_RIGHT*/
21,
{
"Rechts:", /* German */
"right:", /* English*/
"right:", /* Dutch */
}
},
{ /*SERVO_MIDDLE*/
21,
{
"Mitte:", /* German */
"middle:", /* English*/
"middle:", /* Dutch */
}
},
{ /*SERVO_TEST1*/
21,
{
"Test Pulslänge ", /* German */
"test framewidth ", /* English*/
"test framewidth ", /* Dutch */
}
},
{ /*SV_TEST2*/
21,
{
" Servo zum Testen ", /* German */
" servo to test ", /* English*/
" servo to test ", /* Dutch */
}
},
{ /*SV_TEST3*/
21,
{
" Periode ", /* German */
" frame ", /* English*/
" frame ", /* Dutch */
}
},
{ /*SV_TESTCONT*/
21,
{
"Test fortlaufend ", /* German */
"test continues ", /* English*/
"test continues ", /* Dutch */
}
},
{ /*SV_SINGLESTEP*/
21,
{
"Einzelschritt ", /* German */
"single step ", /* English*/
"single step ", /* Dutch */
}
},
{ /*SV_COUNTTEST*/
21,
{
"Anzahl ", /* German */
"test count ", /* English*/
"test count ", /* Dutch */
}
},
{ /*SV_PAUSEEND*/
21,
{
"Pause Endposition ", /* German */
"pause endposition ", /* English*/
"pause endposition ", /* Dutch */
}
},
{ /*SV_PAUSEINC*/
21,
{
"Pause pro Inc. ", /* German */
"Pause pro Inc. ", /* English*/
"Pause pro Inc. ", /* Dutch */
}
},
{ /*GPS_MOUSETYP*/
21,
{
"GPS Maus :", /* German */
"GPS mouse:", /* English*/
"GPS mouse:", /* Dutch */
}
},
{ /*GPS_MOUSE1*/
21,
{
"GPS BT Mouse 1 ", /* German */
"GPS BT Mouse 1 ", /* English*/
"GPS BT Mouse 1 ", /* Dutch */
}
},
{ /*GPS_MK*/
21,
{
"GPS Pos. vom MK ", /* German */
"GPS pos. from MK ", /* English*/
"GPS pos. from MK ", /* Dutch */
}
},
{ /*STICK_MIN*/
21,
{
"Stick min. Wert: ", /* German */
"stick min. value: ", /* English*/
"stick min. value: ", /* Dutch */
}
},
{ /*STICK_MAX*/
21,
{
"Stick max. Wert: ", /* German */
"stick max. value: ", /* English*/
"stick max. value: ", /* Dutch */
}
},
{ /*STICK_DIR*/
21,
{
"Richtung: ", /* German */
"direction: ", /* English*/
"direction: ", /* Dutch */
}
},
{ /*STICK_TYPE*/
21,
{
"Sticktype: ", /* German */
"sticktype: ", /* English*/
"sticktype: ", /* Dutch */
}
},
{ /*STICK_NEUTRAL*/
21,
{
"Neutralisierend:", /* German */
"neutralizing:", /* English*/
"neutralizing:", /* Dutch */
}
},
{ /*LIPO_MESSUNG*/
21,
{
"Lipo Messung: ", /* German */
"Lipo measurement: ", /* English*/
"Lipo measurement: ", /* Dutch */
}
},
{ /*POTI*/
21,
{
"Poti ", /* German */
"poti ", /* English*/
"poti ", /* Dutch */
}
},
{ /*TASTER*/
21,
{
"Taster", /* German */
"switch", /* English*/
"switch", /* Dutch */
}
}
};
char const * strGet(int str_no)
{
return (char*)pgm_read_word(&strings[str_no].text[Config.DisplayLanguage]);
}
//void Test_Language (void) // bleibt für Tests
//{
// lcd_cls();
// lcd_puts_at(12, 7, strGet(YESNO),0);
//
// do
// {
// lcd_puts_at(0, 2, strGet(TESTSTRING), 0);
// }
// while(!get_key_press (1 << KEY_ESC));
// get_key_press(KEY_ALL);
// return;
//}
Property changes:
Added: svn:mime-type
+text/plain
\ No newline at end of property

/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/messages.h
0,0 → 1,58
/****************************************************************************************
* Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net *
* *
* 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. *
* *
* *
* Languagesupport: *
* http://www.netrino.com/Embedded-Systems/How-To/Firmware-Internationalization *
* Nigel Jones *
****************************************************************************************/
#ifndef MESSAGES_H
#define MESSAGES_H
//---------------------------------------------------------------------------------------------------------------------
// Typdefinitionen für alle verwendeten Strings, LAST_STR muss am Ende stehen bleiben
typedef enum
{
TESTSTRING, KEYLINE1, KEYLINE2, KEYLINE3, KEYLINE4, KEYLINE5, BOOT1, BOOT2, BOOT_WI1, BOOT_WI2, BOOT_SV, START_MSG1, START_MSG2, GNU_GPL, ATMEGA644,
ATMEGA644P, ATMEGA1284P, HW12, HW12W, HW13, HW13W, HW39, START_LASTPOS, START_LASTPOS1, START_LASTPOS2, START_LASTPOS3, START_LASTPOSDEL,
START_SEARCHFC, ENDE, OK, FEHLER, AKTIV, START_FCNOTFOUND, START_FCFOUND, START_FCFOUND1, START_FCFOUND2, START_FCFOUND3, START_VERSIONCHECK,
START_VERSIONCHECK1, START_VERSIONCHECK2, START_VERSIONCHECK3, START_VERSIONCHECK4, START_VERSIONCHECK5, ON, OFF, ESC, SHUTDOWN, YESNO,
UPDATE1, UPDATE2, ENDSTART, TOOLS1, CONNECT1, CONNECT2, CONNECT4, CONNECT5, CONNECT6, CONNECT7, CONNECT8, CONNECT9, CONNECT10, CONNECT11, CONNECT12,
CONNECT13, CONNECT14, CONNECT15, CONNECT16, CONNECT17, CONNECT18, CONNECT19, CONNECT20, CONNECT21, CONNECT22, CONNECT23, CONNECT24, CONNECT25,
CONNECT26, CONNECT27, CONNECT28, CONNECT29, CONNECT30, CONNECT31, KABEL, SLAVE, NORMAL, REVERSE, ENDOK, EEPROM1, EEPROM2, DEUTSCH, ENGLISCH, FRANCE,
NETHERL, DISPLAY1, DISPLAY2, DISPLAY3, DISPLAY4, DISPLAY5, DISPLAY6, DISPLAY7, DISPLAY8, DISPLAY9, DEBUGPKT, WITXRX, WINETWG, WINETWM, WITIMEOUT,
WIUART, WI2321, WI2322, WI2323, YES, NOO, BT1, BT2, BT3, BT4, LIPO1, LIPO2, LIPO3, LIPO4, LIPO5, LIPO6, LOWBAT, OSD_3D_V, OSD_3D_H, OSD_3D_L,
OSD_3D_R, OSD_3D_NICK, OSD_3D_ROLL, OSD_3D_COMPASS, OSD_ERROR, OSD_POS1, OSD_POS2, PARA_SETTINGS, PARA_CHANGE, PARA_AKTIVI, PARA_AKTIV,
PARA_SAVESETT, PARA_SETTSAVED, PARA_COPY, PARA_FROMTO, PARA_ENDE, PARA_COPYQ, PARA_COPYACTIV, PARA_CHANGESETT, PARA_SELECT, PARA_SEITE,
PARA_SELSETT, GPS1, GPS2, GPS3, STATS_ITEM_0, STATS_ITEM_1, STATS_ITEM_2, STATS_ITEM_3, STATS_ITEM_4, STATS_ITEM_5, STATS_ITEM_6, STATS_ITEM_7,
STATS_ITEM_8, ONLY_NC, NO_SETTINGS, OSD_ALTI_0, OSD_ALTI_1, OSD_VARIO_0, OSD_VARIO_1, OSD_CARE_FREE_0, OSD_CARE_FREE_1, OSD_LED0, OSD_LED1, OSD_LED2,
OSD_NAVI_MODE_0, OSD_NAVI_MODE_1, OSD_NAVI_MODE_2, OSD_FLAGS_0, OSD_FLAGS_1, OSD_FLAGS_2, OSD_FLAGS_3, OSD_FLAGS_4, OSD_FLAGS_5, OSD_FLAGS_6,
OSD_Screen, OSD_Invert_Out, OSD_LED_Form, OSD_Send_OSD,FALLSPEED,OSD_VARIOBEEP,OSD_HOMEMKVIEW,OSD_MAHWARNING,OSD_SCREENMODE,OSD_LIPOBAR,PKT_BAUDRATE,
FOLLOWME_0, FOLLOWME_1,FOLLOWME_2,FOLLOWME_3, HWSOUND, HWBEEPER, VOLUME, SERCHAN_0, SERCHAN_1, SERCHAN_2, SERCHAN_3, SERVOSTEPS,SERVO1_TEXT, SERVO2_TEXT,
SERVO_REVERSE, SERVO_LEFT, SERVO_RIGTH, SERVO_MID, SERVO_TEST1, SV_TEST2, SV_TEST3, SV_TESTCONT, SV_SINGLESTEP, SV_COUNTTEST, SV_PAUSEEND,
SV_PAUSEINC,GPS_MOUSETYP,GPS_MOUSE1,GPS_MK,STICK_MIN, STICK_MAX, STICK_DIR, STICK_TYPE, STICK_NEUTRAL, LIPO_MESSUNG,POTI,TASTER, LAST_STR,
} STR;
#define NUM_LANG 3 // German, English,Netherlands
char const * strGet(int str_no);
void Test_Language (void); // bleibt für Tests
#endif /* _MESSAGES_H_ */
Property changes:
Added: svn:mime-type
+text/plain
\ No newline at end of property

/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/mk-data-structs.h
0,0 → 1,491
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef _MK_DATA_STRUCTS_H
#define _MK_DATA_STRUCTS_H
#include "main.h"
//--------------------------------------------------------------------------------
#ifdef MKVERSION088n
// FC Version 0.88m
#define EEProm_Version 91 // FC EEProm Revision / Struktur FC 0.87
#define FC_Version "0.88n" //Softwareversion der FC
#define VERSION_MAJOR 0
#define VERSION_MINOR 88
#define VERSION_PATCH 12
#define VERSION_SERIAL_MAJOR 11 // Serial Protocol
#define VERSION_SERIAL_MINOR 0 // Serial Protocol
#define NC_SPI_COMPATIBLE 51 // Navi-Kompatibilität
#warning "FC-Version 0.88n"
#endif
//--------------------------------------------------------------------------------
#ifdef MKVERSION090b
// FC Version 0.89b
#define EEProm_Version 92 // FC EEProm Revision / Struktur FC 0.87
#define FC_Version "0.90b" //Softwareversion der FC
#define VERSION_MAJOR 0
#define VERSION_MINOR 89
#define VERSION_PATCH 2
#define VERSION_SERIAL_MAJOR 11 // Serial Protocol
#define VERSION_SERIAL_MINOR 0 // Serial Protocol
#define NC_SPI_COMPATIBLE 52 // Navi-Kompatibilität
#warning "FC-Version 0.90b"
#endif
//--------------------------------------------------------------------------------
#define u8 uint8_t
#define s8 int8_t
#define u16 uint16_t
#define s16 int16_t
#define u32 uint32_t
#define s32 int32_t
#define NUMBER_OF_DEBUG_DATAS 32
#define ANALOG_NAME_LENGTH 16
// Version of supported serial protocol
#define MIN_VERSION 7
#define MAX_VERSION 10
// Setting index
#define SETTING_1 1
#define SETTING_2 2
#define SETTING_3 3
#define SETTING_4 4
#define SETTING_5 5
#define SETTING_CURRENT 0xff
// MikroKopter defines
// taken from
// FC Software eeprom.h
//
//GlobalConfig3 aus FC/eeprom.h
#define CFG3_NO_SDCARD_NO_START 0x01
#define CFG3_DPH_MAX_RADIUS 0x02
#define CFG3_VARIO_FAILSAFE 0x04
#define CFG3_MOTOR_SWITCH_MODE 0x08 //FC0.88L 7.5.12
#define CFG3_NO_GPSFIX_NO_START 0x10 //FC0.88L 7.5.12
#ifdef MKVERSION090b
#define CFG3_USE_NC_FOR_OUT1 0x20
#define CFG3_SPEAK_ALL 0x40
#endif
//GlobalConfig
#define CFG_HOEHENREGELUNG 0x01
#define CFG_HOEHEN_SCHALTER 0x02
#define CFG_HEADING_HOLD 0x04
#define CFG_KOMPASS_AKTIV 0x08
#define CFG_KOMPASS_FIX 0x10
#define CFG_GPS_AKTIV 0x20
#define CFG_ACHSENKOPPLUNG_AKTIV 0x40
#define CFG_DREHRATEN_BEGRENZER 0x80
//Bitconfig MAsk
#define CFG_LOOP_OBEN 0x01
#define CFG_LOOP_UNTEN 0x02
#define CFG_LOOP_LINKS 0x04
#define CFG_LOOP_RECHTS 0x08
#define CFG_MOTOR_BLINK1 0x10
#define CFG_MOTOR_OFF_LED1 0x20
#define CFG_MOTOR_OFF_LED2 0x40
#define CFG_MOTOR_BLINK2 0x80
// ServoCompInvert, FC0.89
#define SVNick 0x01
#define SVRoll 0x02
#define SVRelMov 0x04
// ExtraConfig
#define CFG2_HEIGHT_LIMIT 0x01
#define CFG2_VARIO_BEEP 0x02
#define CFG_SENSITIVE_RC 0x04
#define CFG_3_3V_REFERENCE 0x08
#define CFG_NO_RCOFF_BEEPING 0x10
#define CFG_GPS_AID 0x20
#define CFG_LEARNABLE_CAREFREE 0x40
#define CFG_IGNORE_MAG_ERR_AT_STARTUP 0x80
// bit mask for ParamSet.Config0
#define CFG0_AIRPRESS_SENSOR 0x01
#define CFG0_HEIGHT_SWITCH 0x02
#define CFG0_HEADING_HOLD 0x04
#define CFG0_COMPASS_ACTIVE 0x08
#define CFG0_COMPASS_FIX 0x10
#define CFG0_GPS_ACTIVE 0x20
#define CFG0_AXIS_COUPLING_ACTIVE 0x40
#define CFG0_ROTARY_RATE_LIMITER 0x80
// defines for the receiver selection
#define RECEIVER_PPM 0
#define RECEIVER_SPEKTRUM 1
#define RECEIVER_SPEKTRUM_HI_RES 2
#define RECEIVER_SPEKTRUM_LOW_RES 3
#define RECEIVER_JETI 4
#define RECEIVER_ACT_DSL 5
#define RECEIVER_HOTT 6
#define RECEIVER_SBUS 7
#define RECEIVER_USER 8
#define RECEIVER_UNKNOWN 0xFF
// MikroKopter Flags
// taken from
// http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.73d%2Ffc.h
//alt 0.86
//#define FCFLAG_MOTOR_RUN 0x01
//#define FCFLAG_FLY 0x02
//#define FCFLAG_CALIBRATE 0x04
//#define FCFLAG_START 0x08
//#define FCFLAG_NOTLANDUNG 0x10
//#define FCFLAG_LOWBAT 0x20
//#define FCFLAG_SPI_RX_ERR 0x40
//#define FCFLAG_I2CERR 0x80
// FC_StatusFlags 0.88
#define FC_STATUS_MOTOR_RUN 0x01
#define FC_STATUS_FLY 0x02
#define FC_STATUS_CALIBRATE 0x04
#define FC_STATUS_START 0x08
#define FC_STATUS_EMERGENCY_LANDING 0x10
#define FC_STATUS_LOWBAT 0x20
#define FC_STATUS_VARIO_TRIM_UP 0x40
#define FC_STATUS_VARIO_TRIM_DOWN 0x80
// FC_StatusFlags2
#define FC_STATUS2_CAREFREE 0x01
#define FC_STATUS2_ALTITUDE_CONTROL 0x02
#define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
#define FC_STATUS2_OUT1_ACTIVE 0x08
#define FC_STATUS2_OUT2_ACTIVE 0x10
// NaviCtrl Flags
// taken from
// http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h
//
#define NC_FLAG_FREE 0x01
#define NC_FLAG_PH 0x02
#define NC_FLAG_CH 0x04
#define NC_FLAG_RANGE_LIMIT 0x08
#define NC_FLAG_NOSERIALLINK 0x10
#define NC_FLAG_TARGET_REACHED 0x20
#define NC_FLAG_MANUAL_CONTROL 0x40
#define NC_FLAG_GPS_OK 0x80
typedef struct
{
unsigned char SWMajor;
unsigned char SWMinor;
unsigned char ProtoMajor;
unsigned char ProtoMinor;
unsigned char SWPatch;
unsigned char HardwareError[5];
} __attribute__((packed)) Version_t;
// FC Debug Struct
// portions taken and adapted from
// http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h
//
typedef struct // 0.86
{
uint8_t Digital[2];
// NC: unsigned; FC: signed !!!!
int16_t Analog[32]; // Debugvalues
} __attribute__((packed)) DebugData_t;
//******************************************************************
// uart1.h NC 0.87, zur Zeit hier nicht verwendet 28.01.2012 CB
#define AMPEL_FC 0x01
#define AMPEL_BL 0x02
#define AMPEL_NC 0x04
#define AMPEL_COMPASS 0x08
typedef struct //0.87
{
u8 StatusGreen;
u8 StatusRed;
u16 Analog[32]; // Debugwerte
} __attribute__((packed)) DebugOut_t;
//******************************************************************
// NaviCtrl OSD Structs
// portions taken and adapted from
// http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h
//
typedef struct //NC uart1.h
{
s16 AngleNick; // in 0.1 deg
s16 AngleRoll; // in 0.1 deg
s16 Heading; // in 0.1 deg
u8 StickNick;
u8 StickRoll;
u8 StickYaw;
u8 StickGas;
u8 reserve[4];
} __attribute__((packed)) Data3D_t;
typedef struct
{
s32 Longitude; // in 1E-7 deg
s32 Latitude; // in 1E-7 deg
s32 Altitude; // in mm
u8 Status; // validity of data
} __attribute__((packed)) GPS_Pos_t;
typedef struct
{
u16 Distance; // distance to target in cm
s16 Bearing; // course to target in deg
} __attribute__((packed)) GPS_PosDev_t;
// aus NC waypoint.h
typedef struct
{
GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details
s16 Heading; // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List
u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered
u8 HoldTime; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered
u8 Event_Flag; // future implementation
u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC
u8 Type; // typeof Waypoint
u8 WP_EventChannelValue; //
u8 AltitudeRate; // rate to change the setpoint
u8 Speed; // rate to change the Position
u8 CamAngle; // Camera servo angle
u8 reserve[6]; // reserve
} __attribute__((packed)) Point_t;
// NaviCtrl struct
// taken from
// http://mikrocontroller.cco-ev.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.15c%2Fuart1.h
//
#define NAVIDATA_VERSION 5
typedef struct
{
u8 Version; // version of the data structure
GPS_Pos_t CurrentPosition; // see ubx.h for details
GPS_Pos_t TargetPosition;
GPS_PosDev_t TargetPositionDeviation;
GPS_Pos_t HomePosition;
GPS_PosDev_t HomePositionDeviation;
u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1
u8 WaypointNumber; // number of stored waypoints
u8 SatsInUse; // number of satellites used for position solution
s16 Altimeter; // hight according to air pressure
s16 Variometer; // climb(+) and sink(-) rate
u16 FlyingTime; // in seconds
u8 UBat; // Battery Voltage in 0.1 Volts
u16 GroundSpeed; // speed over ground in cm/s (2D)
s16 Heading; // current flight direction in ° as angle to north
s16 CompassHeading; // current compass value in
s8 AngleNick; // current Nick angle in 1
s8 AngleRoll; // current Roll angle in 1
u8 RC_Quality; // RC_Quality
u8 FCStatusFlags; // Flags from FC
u8 NCFlags; // Flags from NC
u8 Errorcode; // 0 --> okay
u8 OperatingRadius; // current operation radius around the Home Position in m
s16 TopSpeed; // velocity in vertical direction in cm/s
u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached
u8 FCStatusFlags2; // StatusFlags2 (since version 5 added)
s16 SetpointAltitude; // setpoint for altitude
u8 Gas; // for future use
u16 Current; // actual current in 0.1A steps
u16 UsedCapacity; // used capacity in mAh
} __attribute__((packed)) NaviData_t;
typedef struct
{
uint8_t Version; // the version of the BL (0 = old)
uint8_t SetPoint; // written by attitude controller
uint8_t SetPointLowerBits; // for higher Resolution of new BLs
uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present
uint8_t ReadMode; // select data to read
// the following bytes must be exactly in that order!
uint8_t Current; // in 0.1 A steps, read back from BL
uint8_t MaxPWM; // read back from BL -> is less than 255 if BL is in current limit, not running (250) or starting (40)
int8_t Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in �C
} __attribute__((packed)) MotorData_t;
typedef struct
{
uint8_t Revision; // must be BL_REVISION
uint8_t SetMask; // settings mask
uint8_t PwmScaling; // maximum value of control pwm, acts like a thrust limit
uint8_t CurrentLimit; // current limit in A
uint8_t TempLimit; // in �C
uint8_t CurrentScaling; // scaling factor for current measurement
uint8_t BitConfig; // see defines above
uint8_t crc; // checksum
} __attribute__((packed)) BLConfig_t;
// Aus FC eeprom.h
//
typedef struct
{
unsigned char Revision;
unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
unsigned char Hoehe_MinGas; // Wert : 0-100
unsigned char Luftdruck_D; // Wert : 0-250
unsigned char MaxHoehe; // Wert : 0-32
unsigned char Hoehe_P; // Wert : 0-32
unsigned char Hoehe_Verstaerkung; // Wert : 0-50
unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250
unsigned char Hoehe_HoverBand; // Wert : 0-250
unsigned char Hoehe_GPS_Z; // Wert : 0-250
unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
unsigned char Stick_P; // Wert : 1-6
unsigned char Stick_D; // Wert : 0-64
unsigned char StickGier_P; // Wert : 1-20
unsigned char Gas_Min; // Wert : 0-32
unsigned char Gas_Max; // Wert : 33-250
unsigned char GyroAccFaktor; // Wert : 1-64
unsigned char KompassWirkung; // Wert : 0-32
unsigned char Gyro_P; // Wert : 10-250
unsigned char Gyro_I; // Wert : 0-250
unsigned char Gyro_D; // Wert : 0-250
unsigned char Gyro_Gier_P; // Wert : 10-250
unsigned char Gyro_Gier_I; // Wert : 0-250
unsigned char Gyro_Stability; // Wert : 0-16
unsigned char UnterspannungsWarnung; // Wert : 0-250
unsigned char NotGas; // Wert : 0-250 //Gaswert bei EmpÀngsverlust
unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
unsigned char I_Faktor; // Wert : 0-250
unsigned char UserParam1; // Wert : 0-250
unsigned char UserParam2; // Wert : 0-250
unsigned char UserParam3; // Wert : 0-250
unsigned char UserParam4; // Wert : 0-250
unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos
unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo
unsigned char ServoNickMin; // Wert : 0-250 // Anschlag
unsigned char ServoNickMax; // Wert : 0-250 // Anschlag
//--- Seit V0.75
unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos
unsigned char ServoRollComp; // Wert : 0-250
unsigned char ServoRollMin; // Wert : 0-250
unsigned char ServoRollMax; // Wert : 0-250
//---
unsigned char ServoNickRefresh; // Speed of the Servo
unsigned char ServoManualControlSpeed;//
unsigned char CamOrientation; //
unsigned char Servo3; // Value or mapping of the Servo Output
unsigned char Servo4; // Value or mapping of the Servo Output
unsigned char Servo5; // Value or mapping of the Servo Output
unsigned char LoopGasLimit; // Wert: 0-250 max. Gas wÀhrend Looping
unsigned char LoopThreshold; // Wert: 0-250 Schwelle fÃŒr Stickausschlag
unsigned char LoopHysterese; // Wert: 0-250 Hysterese fÃŒr Stickausschlag
unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt
unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt
unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)
unsigned char Driftkomp;
unsigned char DynamicStability;
unsigned char UserParam5; // Wert : 0-250
unsigned char UserParam6; // Wert : 0-250
unsigned char UserParam7; // Wert : 0-250
unsigned char UserParam8; // Wert : 0-250
//---Output ---------------------------------------------
unsigned char J16Bitmask; // for the J16 Output
unsigned char J16Timing; // for the J16 Output
unsigned char J17Bitmask; // for the J17 Output
unsigned char J17Timing; // for the J17 Output
// seit version V0.75c
unsigned char WARN_J16_Bitmask; // for the J16 Output
unsigned char WARN_J17_Bitmask; // for the J17 Output
//---NaviCtrl---------------------------------------------
#ifdef MKVERSION090b
unsigned char NaviOut1Parameter; // for the J16 Output
#endif
unsigned char NaviGpsModeControl; // Parameters for the Naviboard
unsigned char NaviGpsGain;
unsigned char NaviGpsP;
unsigned char NaviGpsI;
unsigned char NaviGpsD;
unsigned char NaviGpsPLimit;
unsigned char NaviGpsILimit;
unsigned char NaviGpsDLimit;
unsigned char NaviGpsACC;
unsigned char NaviGpsMinSat;
unsigned char NaviStickThreshold;
unsigned char NaviWindCorrection;
unsigned char NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation
unsigned char NaviOperatingRadius;
unsigned char NaviAngleLimitation;
unsigned char NaviPH_LoginTime;
//---Ext.Ctrl---------------------------------------------
unsigned char ExternalControl; // for serial Control
//---CareFree---------------------------------------------
unsigned char OrientationAngle; // Where is the front-direction?
unsigned char CareFreeModeControl; // switch for CareFree
unsigned char MotorSafetySwitch;
unsigned char MotorSmooth;
unsigned char ComingHomeAltitude;
unsigned char FailSafeTime;
unsigned char MaxAltitude;
unsigned char FailsafeChannel; // if the value of this channel is > 100, the MK reports "RC-Lost"
unsigned char ServoFilterNick;
unsigned char ServoFilterRoll;
//------------------------------------------------
unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0x04 = relative moving // WICHTIG!!! am Ende lassen
unsigned char ExtraConfig; // bitcodiert
unsigned char GlobalConfig3; // bitcodiert
char Name[12];
unsigned char crc; // must be the last byte! // MUST BE THE LAST BYTE!
} __attribute__((packed)) mk_param_struct_t;
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/motortest/motortest.c
0,0 → 1,419
/*****************************************************************************
* 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 *
* *
* 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 "../main.h"
#include "motortest.h"
#include "../lcd/lcd.h"
#include "../timer/timer.h"
#include "../motortest/twimaster.h"
//#include "menu.h"
#include "../uart/uart1.h"
#include "../uart/usart.h"
#include "../messages.h"
uint8_t m;
uint8_t mmode; // 0=Value 1=Motor
uint8_t v;
volatile uint8_t i2c_state;
volatile uint8_t motor_addr = 0;
//--------------------------------------------------------------
// Senden der Motorwerte per I2C-Bus
//
void SendMotorData(uint8_t m,uint8_t v)
{
if (m==0)
for(m=0;m<MAX_MOTORS;m++) // alle Motoren
{
// Motor[m].SetPoint = MotorTest[m];
Motor[m].SetPoint = v;
Motor[m].SetPointLowerBits = 0;
// Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution
// Motor[i].SetPointLowerBits = MotorTest[i] % 4;
}
else
{
Motor[m-1].SetPoint = v;
Motor[m-1].SetPointLowerBits = 0;
}
if(I2C_TransferActive)
I2C_TransferActive = 0; // enable for the next time
else
{
motor_write = 0;
I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode
}
}
//--------------------------------------------------------------
//
void Search_BL (void)
{
uint8_t i = 0;
unsigned int timer;
lcd_cls ();
MotorenEin =0;
MotorTest[i] = 0;
lcd_printp (PSTR("Suche BL-Ctrl"), 0);
// Check connected BL-Ctrls
BLFlags |= BLFLAG_READ_VERSION;
motor_read = 0; // read the first I2C-Data
SendMotorData(0,0);
timer = SetDelay(1);
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
timer = SetDelay(1);
for(i=0; i < MAX_MOTORS; i++)
{
SendMotorData(i,0);
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
{
lcd_printp_at (0, 1, PSTR("Found BL-Ctrl:"), 0);
lcd_print_hex_at (18,1,i,0);
lcd_printp_at (0, 2, PSTR("Version:"), 0);
lcd_print_hex_at (8,2,Motor[i].Version,0);
lcd_printp_at (11, 2, PSTR("SetPoi:"), 0);
lcd_print_hex_at (18,2,Motor[i].SetPoint,0);
lcd_printp_at (0, 3, PSTR("SetPoiL:"), 0);
lcd_print_hex_at (8,3,Motor[i].SetPointLowerBits,0);
lcd_printp_at (11, 3, PSTR("State :"), 0);
lcd_print_hex_at (18,3,Motor[i].State,0);
lcd_printp_at (0, 4, PSTR("ReadMod:"), 0);
lcd_print_hex_at (8,4,Motor[i].ReadMode,0);
lcd_printp_at (11, 4, PSTR("Currnt:"), 0);
lcd_print_hex_at (18,4,Motor[i].Current,0);
lcd_printp_at (0, 5, PSTR("MaxPWM :"), 0);
lcd_print_hex_at (8,5,Motor[i].MaxPWM,0);
lcd_printp_at (11, 5, PSTR("Temp :"), 0);
write_ndigit_number_u (18,5,Motor[i].Temperature,3,1,0);
}
} //End For I
}
//--------------------------------------------------------------
//
void motor (uint8_t m,uint8_t v)
{
memset (buffer, 0, 16);
if(m == 0)
{
memset (buffer, v, 16);
}
else
{
buffer[m-1] = v;
}
SendOutData('t', ADDRESS_FC, 1, buffer, 16);
}
//--------------------------------------------------------------
//
void motor_test (uint8_t MotorMode)
{
lcd_cls ();
mmode = 1; // 1=Motor
m = 1;
v = 0;
char buffer[7];
unsigned int SerLoop;
SerLoop = 10;
if (MotorMode == I2C_Mode)
{
Search_BL();
do
{
lcd_printp_at (11, 7, PSTR("Ende Check"), 0);
if (get_key_press (1 << KEY_ESC))
{
get_key_press(KEY_ALL);
return;
}
}
while (!get_key_press (1 << KEY_ENTER));
}
lcd_cls();
lcd_printp (PSTR(" BL-Ctrl Test "), 2);
lcd_printp_at (2, 2, PSTR("Motor: 1"), 0);
lcd_printp_at (2, 3, PSTR("Value: 0"), 0);
lcd_frect ((8*1), (8*5), (0 * (14*8)) / 255, 6, 1);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_3), 0);
lcd_puts_at(0, 7, strGet(KEYLINE3), 0);
lcd_printp_at (18, 7, PSTR("\x1a \x1b"), 0);
lcd_printp_at (0, 2, PSTR("\x1d"), 0);
#if defined HWVERSION1_3W || defined HWVERSION1_3 || defined HWVERSION3_9
if (MotorMode == I2C_Mode)
uart1_puts("Motor;Version;Setpoint high;Setpoint low;State;ReadMode;Current;MaxPWM;Temperature\r");
#endif
#if defined HWVERSION1_2W || defined HWVERSION1_2
if (MotorMode == I2C_Mode)
USART_puts("Motor;Version;Setpoint high;Setpoint low;State;ReadMode;Current;MaxPWM;Temperature\r");
#endif
if (MotorMode == FC_Mode)
{
if (hardware == NC && current_hardware == NC)
{
SwitchToFC();
}
}
do
{
// mmode 0=Value 1=Motor
if ((mmode == 0) && (get_key_press (1 << KEY_PLUS) || get_key_long_rpt_sp ((1 << KEY_PLUS), 3)) && (v < 254))
{
v++;
write_ndigit_number_u (9, 3, v, 3, 0,0);
if (MotorMode == FC_Mode)
lcd_frect ((8*1), (8*5), (v * (14*8)) / 255, 6, 1);
}
if ((mmode == 0) && (get_key_press (1 << KEY_MINUS) || get_key_long_rpt_sp ((1 << KEY_MINUS), 3)) && (v > 0))
{
if (MotorMode == FC_Mode)
lcd_frect (((v * (14*8) / 255) + 8), (8*5), ((14*8) / 255), 6, 0);
v--;
write_ndigit_number_u (9, 3, v, 3, 0,0);
if (MotorMode == FC_Mode)
lcd_frect ((8*1), (8*5), (v * (14*8)) / 255, 6, 1);
}
if ((mmode == 1) && (get_key_press (1 << KEY_PLUS) || get_key_long_rpt_sp ((1 << KEY_PLUS), 1)) && (m < 16))
{
m++;
write_ndigit_number_u (9, 2, m, 3, 0,0);
}
if ((mmode == 1) && (get_key_press (1 << KEY_MINUS) || get_key_long_rpt_sp ((1 << KEY_MINUS), 1)) && (m > 0))
{
m--;
if(m > 0)
write_ndigit_number_u (9, 2, m, 3, 0,0);
if(m == 0)
lcd_printp_at (9, 2, PSTR("All"), 0);
}
if (get_key_press (1 << KEY_ENTER))
{
if (MotorMode == I2C_Mode)
{
if (v > 0)
{
m = 0;
v=0;
lcd_frect ((8*1), (8*5), (0 * (14*8)) / 255, 6, 1);
lcd_cls_line (0, 5, 21);
if(m > 0) write_ndigit_number_u (9, 2, m, 3, 0,0);
if(m == 0) lcd_printp_at (9, 2, PSTR("All"), 0);
write_ndigit_number_u (9, 3, v, 3, 0,0);
SendMotorData(m,v);
timer = SetDelay(1);
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
}
}
if(mmode == 0) // 0=Value
{
lcd_printp_at (0, 2, PSTR("\x1d"), 0);
lcd_printp_at (0, 3, PSTR(" "), 0);
mmode = 1; // 1=Motor
}
else
{
lcd_printp_at (0, 2, PSTR(" "), 0);
lcd_printp_at (0, 3, PSTR("\x1d"), 0);
mmode = 0; // 0=Value
}
}
//if (get_key_press (1 << KEY_ENTER))//
if (MotorMode == I2C_Mode)
{
SendMotorData(m,v);
timer = SetDelay(1);
lcd_printp_at (0, 3, PSTR("SetPoint :"), 0);
write_ndigit_number_u (13,3,Motor[m-1].SetPoint,3,0,0);
lcd_printp_at (0, 4, PSTR("Current :"), 0);
lcd_print_hex_at (13,4,Motor[m-1].Current,0);
write_ndigit_number_u (13,4,Motor[m-1].Current,3,0,0);
lcd_printp_at (0, 5, PSTR("Temperature:"), 0);
write_ndigit_number_u (13,5,Motor[m-1].Temperature,3,0,0);
lcd_printp_at (0, 6, PSTR("Version:"), 0);
lcd_print_hex_at (8,6,Motor[m-1].Version,0);
lcd_printp_at (11, 6, PSTR("State :"), 0);
lcd_print_hex_at (18,6,Motor[m-1].State,0);
#if defined HWVERSION1_3W || defined HWVERSION1_3 || defined HWVERSION3_9
if (Motor[m-1].SetPoint > 0)
{
if (SerLoop == 0)
{
itoa( m-1, buffer, 10); // convert interger into string (decimal format)
uart1_puts(buffer); // and transmit string to UART
uart1_puts(";");
itoa( Motor[m-1].Version, buffer, 10); //
uart1_puts(buffer);
uart1_puts(";");
itoa( Motor[m-1].SetPoint, buffer, 10); //
uart1_puts(buffer);
uart1_puts(";");
itoa( Motor[m-1].SetPointLowerBits, buffer, 10); //
uart1_puts(buffer);
uart1_puts(";");
itoa( Motor[m-1].State, buffer, 10); //
uart1_puts(buffer);
uart1_puts(";");
itoa( Motor[m-1].ReadMode, buffer, 10); //
uart1_puts(buffer);
uart1_puts(";");
itoa( Motor[m-1].Current, buffer, 10); //
uart1_puts(buffer);
uart1_puts(";");
itoa( Motor[m-1].MaxPWM, buffer, 10); //
uart1_puts(buffer);
uart1_puts(";");
itoa( Motor[m-1].Temperature, buffer, 10); //
uart1_puts(buffer);
uart1_puts("\r");
uart1_puts("\n");
SerLoop =200;
}
else
SerLoop--;
}
#endif
#if defined HWVERSION1_2W || defined HWVERSION1_2
if (Motor[m-1].SetPoint > 0)
{
if (SerLoop == 0)
{
itoa( m-1, buffer, 10); // convert interger into string (decimal format)
USART_puts(buffer); // and transmit string to UART
USART_puts(";");
itoa( Motor[m-1].Version, buffer, 10); //
USART_puts(buffer);
USART_puts(";");
itoa( Motor[m-1].SetPoint, buffer, 10); //
USART_puts(buffer);
USART_puts(";");
itoa( Motor[m-1].SetPointLowerBits, buffer, 10); //
USART_puts(buffer);
USART_puts(";");
itoa( Motor[m-1].State, buffer, 10); //
USART_puts(buffer);
USART_puts(";");
itoa( Motor[m-1].ReadMode, buffer, 10); //
USART_puts(buffer);
USART_puts(";");
itoa( Motor[m-1].Current, buffer, 10); //
USART_puts(buffer);
USART_puts(";");
itoa( Motor[m-1].MaxPWM, buffer, 10); //
USART_puts(buffer);
USART_puts(";");
itoa( Motor[m-1].Temperature, buffer, 10); //
USART_puts(buffer);
USART_puts("\r");
USART_puts("\n");
SerLoop =200;
}
else
SerLoop--;
}
#endif
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
}
else
motor (m,v); //if (MotorMode == I2C_Mode)//
}
while (!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
if (MotorMode == FC_Mode)
{
motor(0,0); // switch all engines off at exit
}
}
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/motortest/motortest.h
0,0 → 1,46
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef _MOTORTEST_H
#define _MOTORTEST_H
#define I2C_Mode 1 // Motortest Lokal
#define FC_Mode 2 // Motortest ueber FC
void motor_test (uint8_t MotorMode);
void SendMotorData(uint8_t m,uint8_t v);
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/motortest/twimaster.c
0,0 → 1,511
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + Nur f?r den privaten Gebrauch
// + www.MikroKopter.com
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt f?r das gesamte Projekt (Hardware, Software, Bin?rfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur f?r den privaten (nicht-kommerziellen) Gebrauch zul?ssig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best?ckung und Verkauf von Platinen oder Baus?tzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver?ffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m?ssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien ver?ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gew?hr auf Fehlerfreiheit, Vollst?ndigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir ?bernehmen keinerlei Haftung f?r direkte oder indirekte Personen- oder Sachsch?den
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zul?ssig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "../cpu.h"
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/twi.h>
#include <util/delay.h>
#include "../eeprom/eeprom.h"
#include "../motortest/twimaster.h"
#include "../timer/timer.h"
volatile uint8_t twi_state = TWI_STATE_MOTOR_TX;
volatile uint8_t dac_channel = 0;
volatile uint8_t motor_write = 0;
volatile uint8_t motor_read = 0;
volatile uint8_t I2C_TransferActive = 0;
volatile uint16_t I2CTimeout = 100;
uint8_t MissingMotor = 0;
uint8_t RequiredMotors = 1;
char MotorenEin = 0;
volatile uint8_t BLFlags = 0;
MotorData_t Motor[MAX_MOTORS];
// bit mask for witch BL the configuration should be sent
volatile uint16_t BLConfig_WriteMask = 0;
// bit mask for witch BL the configuration should be read
volatile uint16_t BLConfig_ReadMask = 0;
// buffer for BL Configuration
BLConfig_t BLConfig;
#define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);}
#define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);}
#define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);}
#define SCL_CLOCK 200000L
#define I2C_TIMEOUT 30000
#define TWI_BASE_ADDRESS 0x52
uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len)
{
uint8_t crc = 0xAA;
uint16_t i;
for(i=0; i<len; i++)
{
crc += pBuffer[i];
}
return crc;
}
//--------------------------------------------------------------
// Initialize I2C (TWI)
//
void I2C_Init(char clear)
{
uint8_t i;
uint8_t sreg = SREG;
cli();
// SDA is INPUT
DDRC &= ~(1<<DDC1);
// SCL is output
DDRC |= (1<<DDC0);
// pull up SDA
//PORTC |= (1<<PORTC0)|(1<<PORTC1);
// TWI Status Register
// prescaler 1 (TWPS1 = 0, TWPS0 = 0)
TWSR &= ~((1<<TWPS1)|(1<<TWPS0));
// set TWI Bit Rate Register
TWBR = ((F_CPU/SCL_CLOCK)-16)/2;
twi_state = TWI_STATE_MOTOR_TX;
motor_write = 0;
motor_read = 0;
if(clear) for(i=0; i < MAX_MOTORS; i++)
{
Motor[i].Version = 0;
Motor[i].SetPoint = 0;
Motor[i].SetPointLowerBits = 0;
Motor[i].State = 0;
Motor[i].ReadMode = BL_READMODE_STATUS;
Motor[i].Current = 0;
Motor[i].MaxPWM = 0;
Motor[i].Temperature = 0;
}
sei();
SREG = sreg;
}
//--------------------------------------------------------------
void I2C_Reset(void)
{
// stop i2c bus
I2C_Stop(TWI_STATE_MOTOR_TX);
TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset
TWAMR = 0;
TWAR = 0;
TWDR = 0;
TWSR = 0;
TWBR = 0;
I2C_TransferActive = 0;
I2C_Init(0);
I2C_WriteByte(0);
BLFlags |= BLFLAG_READ_VERSION;
}
//--------------------------------------------------------------
// I2C ISR
//
ISR (TWI_vect)
{
static uint8_t missing_motor = 0, motor_read_temperature = 0;
static uint8_t *pBuff = 0;
static uint8_t BuffLen = 0;
switch (twi_state++)
{
// Master Transmit
case 0: // TWI_STATE_MOTOR_TX
I2C_TransferActive = 1;
// skip motor if not used in mixer
// while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++;
if(motor_write >= MAX_MOTORS) // writing finished, read now
{
BLConfig_WriteMask = 0; // reset configuration bitmask
motor_write = 0; // reset motor write counter for next cycle
twi_state = TWI_STATE_MOTOR_RX;
I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode
}
else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode
break;
case 1: // Send Data to Slave
I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint
// if old version has been detected
if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK))
{
twi_state = 4; //jump over sending more data
}
// the new version has been detected
else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask ) )
{ // or LowerBits are zero and no BlConfig should be sent (saves round trip time)
twi_state = 4; //jump over sending more data
}
break;
case 2: // lower bits of setpoint (higher resolution)
if ((0x0001<<motor_write) & BLConfig_ReadMask)
{
Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request
}
else
{
Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request
}
// send read mode and the lower bits of setpoint
I2C_WriteByte((Motor[motor_write].ReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07));
// configuration tranmission request?
if((0x0001<<motor_write) & BLConfig_WriteMask)
{ // redirect tx pointer to configuration data
pBuff = (uint8_t*)&BLConfig; // select config for motor
BuffLen = sizeof(BLConfig_t);
}
else
{ // jump to end of transmission for that motor
twi_state = 4;
}
break;
case 3: // send configuration
I2C_WriteByte(*pBuff);
pBuff++;
if(--BuffLen > 0)
twi_state = 3; // if there are some bytes left
break;
case 4: // repeat case 0-4 for all motors
if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received
{
if(!missing_motor)
missing_motor = motor_write + 1;
if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK)
Motor[motor_write].State++; // increment error counter and handle overflow
}
I2C_Stop(TWI_STATE_MOTOR_TX);
I2CTimeout = 10;
motor_write++; // next motor
I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive
break;
// Master Receive Data
case 5: // TWI_STATE_MOTOR_RX
if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received
{ // no response from the addressed slave received
Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit
if(++motor_read >= MAX_MOTORS)
{ // all motors read
motor_read = 0; // restart from beginning
BLConfig_ReadMask = 0; // reset read configuration bitmask
if(++motor_read_temperature >= MAX_MOTORS)
{
motor_read_temperature = 0;
BLFlags &= ~BLFLAG_READ_VERSION;
}
}
BLFlags |= BLFLAG_TX_COMPLETE;
I2C_Stop(TWI_STATE_MOTOR_TX);
I2C_TransferActive = 0;
}
else
{ // motor successfully addressed
Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit
if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)
{
// new BL found
switch(Motor[motor_read].ReadMode)
{
case BL_READMODE_CONFIG:
pBuff = (uint8_t*)&BLConfig;
BuffLen = sizeof(BLConfig_t);
break;
case BL_READMODE_STATUS:
pBuff = (uint8_t*)&(Motor[motor_read].Current);
if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp
else BuffLen = 1;// read Current only
break;
}
}
else // old BL version
{
pBuff = (uint8_t*)&(Motor[motor_read].Current);
if((BLFlags & BLFLAG_READ_VERSION) || (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm
else BuffLen = 1; // read Current only
}
if(BuffLen == 1)
{
I2C_ReceiveLastByte(); // read last byte
}
else
{
I2C_ReceiveByte(); // read next byte
}
}
MissingMotor = missing_motor;
missing_motor = 0;
break;
case 6: // receive bytes
*pBuff = TWDR;
pBuff++;
BuffLen--;
if(BuffLen>1)
{
I2C_ReceiveByte(); // read next byte
}
else if (BuffLen == 1)
{
I2C_ReceiveLastByte(); // read last byte
}
else // nothing left
{
if(BLFlags & BLFLAG_READ_VERSION)
{
// if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN) && (Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK;
if((Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK;
else Motor[motor_read].Version = 0;
}
if(++motor_read >= MAX_MOTORS)
{
motor_read = 0; // restart from beginning
BLConfig_ReadMask = 0; // reset read configuration bitmask
if(++motor_read_temperature >= MAX_MOTORS)
{
motor_read_temperature = 0;
BLFlags &= ~BLFLAG_READ_VERSION;
}
}
I2C_Stop(TWI_STATE_MOTOR_TX);
BLFlags |= BLFLAG_TX_COMPLETE;
I2C_TransferActive = 0;
return;
}
twi_state = 6; // if there are some bytes left
break;
case 21:
I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80
break;
case 22:
I2C_Stop(TWI_STATE_MOTOR_TX);
I2C_TransferActive = 0;
I2CTimeout = 10;
// repeat case 18...22 until all DAC Channels are updated
if(dac_channel < 2)
{
dac_channel ++; // jump to next channel
I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel
}
else
{
dac_channel = 0; // reset dac channel counter
BLFlags |= BLFLAG_TX_COMPLETE;
}
break;
default:
I2C_Stop(TWI_STATE_MOTOR_TX);
BLFlags |= BLFLAG_TX_COMPLETE;
I2CTimeout = 10;
motor_write = 0;
motor_read = 0;
I2C_TransferActive = 0;
break;
}
}
//--------------------------------------------------------------
uint8_t I2C_WriteBLConfig(uint8_t motor)
{
uint8_t i;
uint16_t timer;
// if(MotorenEin || PC_MotortestActive)
// return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
if(MotorenEin)
return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
if(motor > MAX_MOTORS)
return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
if(motor)
{
if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK))
return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK))
return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!
}
// check BL configuration to send
if(BLConfig.Revision != BLCONFIG_REVISION)
return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison
i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);
if(i != BLConfig.crc)
return(BLCONFIG_ERR_CHECKSUM); // bad checksum
timer = SetDelay(2000);
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
// prepare the bitmask
if(!motor) // 0 means all
{
BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration
}
else //only one specific motor
{
BLConfig_WriteMask = 0x0001<<(motor-1);
}
for(i = 0; i < MAX_MOTORS; i++)
{
if((0x0001<<i) & BLConfig_WriteMask)
{
Motor[i].SetPoint = 0;
Motor[i].SetPointLowerBits = 0;
}
}
motor_write = 0;
// needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
do
{
I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
}
while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent
if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST);
return(BLCONFIG_SUCCESS);
}
//--------------------------------------------------------------
uint8_t I2C_ReadBLConfig(uint8_t motor)
{
uint8_t i;
uint16_t timer;
// if(MotorenEin || PC_MotortestActive)
return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
if(MotorenEin)
return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
if(motor > MAX_MOTORS)
return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
if(motor == 0)
return (BLCONFIG_ERR_READ_NOT_POSSIBLE);
if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK))
return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK))
return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!
timer = SetDelay(2000);
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
// prepare the bitmask
BLConfig_ReadMask = 0x0001<<(motor-1);
for(i = 0; i < MAX_MOTORS; i++)
{
if((0x0001<<i) & BLConfig_ReadMask)
{
Motor[i].SetPoint = 0;
Motor[i].SetPointLowerBits = 0;
}
}
motor_read = 0;
BLConfig.Revision = 0; // bad revision
BLConfig.crc = 0; // bad checksum
// needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
do
{
I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
}while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors
// validate result
if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison
i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);
if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum
return(BLCONFIG_SUCCESS);
}
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/motortest/twimaster.h
0,0 → 1,80
#ifndef _I2C_MASTER_H
#define _I2C_MASTER_H
+
+#include <inttypes.h>
+#include "../mk-data-structs.h"
+
+#define TWI_STATE_MOTOR_TX 0
+#define TWI_STATE_MOTOR_RX 5
+#define TWI_STATE_GYRO_OFFSET_TX 18
+
+extern volatile uint8_t twi_state;
+extern volatile uint8_t motor_write;
+extern volatile uint8_t motor_read;
+extern volatile uint8_t I2C_TransferActive;
+
+extern uint8_t MissingMotor;
+
+#define MAX_MOTORS 12
+#define MOTOR_STATE_PRESENT_MASK 0x80
+#define MOTOR_STATE_ERROR_MASK 0x7F
+#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01
+#define BLFLAG_TX_COMPLETE 0x01
+#define BLFLAG_READ_VERSION 0x02
+
+extern volatile uint8_t BLFlags;
+extern char MotorenEin;
+unsigned char MotorTest[16];
+#define BL_READMODE_STATUS 0
+#define BL_READMODE_CONFIG 16
+
+
+
+extern MotorData_t Motor[MAX_MOTORS];
+
+#define BLCONFIG_REVISION 2
+
+#define MASK_SET_PWM_SCALING 0x01
+#define MASK_SET_CURRENT_LIMIT 0x02
+#define MASK_SET_TEMP_LIMIT 0x04
+#define MASK_SET_CURRENT_SCALING 0x08
+#define MASK_SET_BITCONFIG 0x10
+#define MASK_RESET_CAPCOUNTER 0x20
+#define MASK_SET_DEFAULT_PARAMS 0x40
+#define MASK_SET_SAVE_EEPROM 0x80
+
+#define BITCONF_REVERSE_ROTATION 0x01
+#define BITCONF_RES1 0x02
+#define BITCONF_RES2 0x04
+#define BITCONF_RES3 0x08
+#define BITCONF_RES4 0x10
+#define BITCONF_RES5 0x20
+#define BITCONF_RES6 0x40
+#define BITCONF_RES7 0x80
+
+
+
+extern BLConfig_t BLConfig;
+
+extern volatile uint16_t I2CTimeout;
+
+void I2C_Init(char); // Initialize I2C
+#define I2C_Start(start_state) {twi_state = start_state; BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);}
+#define I2C_Stop(start_state) {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);}
+void I2C_Reset(void); // Reset I2C
+
+#define BLCONFIG_SUCCESS 0
+#define BLCONFIG_ERR_MOTOR_RUNNING 1
+#define BLCONFIG_ERR_MOTOR_NOT_EXIST 2
+#define BLCONFIG_ERR_HW_NOT_COMPATIBLE 3
+#define BLCONFIG_ERR_SW_NOT_COMPATIBLE 4
+#define BLCONFIG_ERR_CHECKSUM 5
+#define BLCONFIG_ERR_READ_NOT_POSSIBLE 6
+
+uint8_t I2C_WriteBLConfig(uint8_t motor);
+uint8_t I2C_ReadBLConfig(uint8_t motor);
+
+#endif
+
+
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/osd/.directory
0,0 → 1,3
[Dolphin]
Timestamp=2013,3,11,20,48,32
ViewMode=1

/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/osd/osd.c
0,0 → 1,2725
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
//############################################################################
//# HISTORY osd.c
//#
//# 10.03.2013 OG
//# - fix: doppelte Degree-Anzeige in OSD_Element_CompassDegree()
//# - add: neuer Screen "MK-Status"
//# - add: 7 neue OSD-Flags
//# - chg: Screen-Refresh Zeit via timer2 (einstellbar durch define OSD_REFRESH_TIME)
//# - chg: mit define OSD_DEBUG_SCREEN kann ein zusaetzlicher Screen verwendet werden zum testen/entwickeln
//# - del: entfernt CFG2_HEIGHT_LIMIT in OSD_Element_AltitudeControl() (bis bessere Loesung gefunden ist)
//#
//# 08.03.2013 OG
//# - del: OSD_Screen_Element() und cleanup in osd.h
//# - add: OSD_Element_UpDown() (steigend/sinken via Pfeilen)
//# - chg: OSD_Element_UpDown() in Screen "General" und "Navigation" hinzugefuegt (rechts neben der Hoehenanzeige)
//# - chg: Screen "General" die Sat-Warnung wurde auf OSD_Element_Flag(OSD_FLAG_S0) geaendert
//# - chg: Anzeige von Flag 'nicht genug GPS-Sateliten' (OSD_FLAG_S0) auf "S!" geändert
//#
//# 07.03.2013 OG
//# - Hinweis bzgl. LowBatt-Anzeige in den Screens "General" und "Navigation":
//# Es gibt zwei unabhängige LowBatt-Warnungen.
//# 1. die PKT LowBatt-Warnung: sie arbeitet mit der im PKT hinterlegten
//# LowBatt Spannung und stellt den Spannungswert inkl. der Einheit "V"
//# invers dar wenn der Warnwert erreicht wurde (inkl. lautem PKT-Peepen)
//# 2. die MK-LowBatt Warnung: hierbeit wird das Flag "BA" angezeigt wenn
//# der MK eine LowBatt Warnung sendet
//# Dadurch hat man nun zwei verschiedene LowBatt Warnungen die man auf Wunsch
//# verschieden einstellen kann. Bei mir ist die PKT-LowBatt etwas niedriger
//# eingestellt als die MK-Warnung und bedeutet "es ist aller hoechste Zeit zu landen".
//# Die Spannung der MK-LowBat ist ein wenig hoeher eingestellt und
//# zeigt mir "es ist bald Zeit zu landen".
//# - del: Kommunikation zu FC - siehe Kommentare in osd()
//# - chg: Kommunikation zu NC - siehe Kommentare in osd()
//# - add: neuer Screen "Navigation"
//# - chg: Layout Screen "Statistics" - Einheiten um zwei Pixel nach rechts verschoben
//# - chg: Layout von Screen "General" modifiziert (u.a. xoffs,yoffs Pixelverschiebungen)
//# - add: OSD_FLAG_BA in Screen "General"
//# - add: die OSD_Element_xyz() Funktionen in osd.h aufgenommen
//# - chg: an verschiedenen Stellen die Char-Drawmode defines MNORMAL, MINVERS, usw. eingebaut
//# - del: Kompatibilitaetscode fuer "3D-Lage" ueber Hauptmenue entfernt
//# - chg: die Funktionen OSD_Element_Switch() und OSD_Element_SwitchLabel() heissen
//# nun OSD_Element_Flag() und OSD_Element_Flag_Label()
//# - chg: die defines OSD_SWITCH_xy heissen jetzt OSD_FLAG_xy
//# - fix: letzte GPS-Koordinaten werden jetzt permanent Config.LastLatitude, Config.LastLongitude gespeichert
//#
//# 03.03.2013 OG
//# - add: delay in Mainloop von osd() um springende Werte abzudaempfen (TEST)
//# - add: Startverzoegerung der Screens bis NaviData sich etwas stabilisiert hat (TEST)
//# - add: OSD Startup Message "connecting MK..."
//# - add: 'Emergency Landing' (EL) Anzeige in Screen "General"
//# - del: OUT1/OUT2 Anzeige in Screen "General"
//# - add: RC-Quality in Screen "General"
//# - add: func: draw_symbol_rc() (alternative RC-Quality Symbol)
//# - fix: Hoehenanzeige fuer Screens "OSD0" und "OSD1"
//# - fix: OSD_Element_SwitchLabel() angepasst fuer x=0 und y=0
//# - add: OSD_Element_Switch/Label() erweitert um OSD_SWITCH_FS
//# - fix: Screen-Redraw nach OSD_Timeout() und anderen Fehlermeldungen
//# - chg: messages.c: STATS_ITEM_0 bis STATS_ITEM_6 angepasst (1 char kuerzer)
//# - chg: Layout von OSD_Info() - mehr background-clear und etwas kleiner
//#
//# 02.03.2013 OG
//# - chg: keine internal func in Screen's wegen warnings bei anderen
//# - del: Screen "OSD3"
//# - fix: Hoehenanzeige in Screen "General" (Minuszeichen)
//# - add: MK LowBat Warning in Screen "General"
//# - add: neues Degree Symbol (als func) in Screen General (kleiner als das Char 0x1E)
//# - add: weitere Flags in OSD_Element_Flag()
//#
//# 01.03.2013 OG
//# - Reskrukturierung Code (+ neuer OSD-Screens und einiges mehr)
//############################################################################
//############################################################################
//# HINWEISE:
//#
//# 1. define: OSD_DEMO
//# mit define OSD_DEMO wird ein Demo-Modus bei den neuen Screens einge-
//# schaltet - damit werden u.a. alle Flag's angezeigt fuer Scree-Fotos
//#
//# 2. define: OSD_DEBUG_SCREEN
//# mit diesem define wird ein zusaetzlicher Screen "Debug" einkompiliert
//# fuer Test / Experimente / Debug von OSD-Elementen
//#
//# 3. Informationen zum Display
//# DOG: 128 x 64 Pixel with 6x8 Font => 21 x 8
//############################################################################
#include "../cpu.h"
#include <avr/io.h>
#include <inttypes.h>
#include <stdlib.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
#include "../main.h"
#include "../osd/osd.h"
#include "../lcd/lcd.h"
#include "../timer/timer.h"
#include "../uart/usart.h"
#include "../eeprom/eeprom.h"
#include "../messages.h"
#include "../parameter.h"
#include "../sound/pwmsine8bit.h"
#include "../mk-data-structs.h"
//#define OSD_DEMO // zeigt Demo-Daten in den OSD-Screens (sofern vom Screen unterstuetzt)
//#define OSD_DEBUG_SCREEN // zusaetzlichen Debug-Screen aktivieren
#define OSD_REFRESH_TIME 45 // Screen Refresh; ein Wert von 100 entspricht ca. 1 Sekunde (Steuerung via timer2)
#define COSD_WASFLYING 4
#define TIMEOUT 200 // 2 sec
// Hier Höhenanzeigefehler Korrigieren
#define AltimeterAdjust 1.5
// global definitions and global vars
NaviData_t *naviData;
mk_param_struct_t *mk_param_struct;
uint8_t Flags_ExtraConfig;
uint8_t Flags_GlobalConfig;
uint8_t Flags_GlobalConfig3;
unsigned char Element;
uint16_t heading_home;
uint8_t drawmode;
// flags from last round to check for changes
uint8_t old_FCFlags = 0;
uint8_t old_AngleNick = 0;
uint8_t old_AngleRoll = 0;
uint16_t old_hh = 0;
// stats for after flight
int16_t max_Altimeter = 0;
uint16_t max_GroundSpeed = 0;
int16_t max_Distance = 0;
uint8_t min_UBat = 255;
uint16_t max_FlyingTime = 0;
uint16_t max_Current = 0;
uint16_t max_Capacity = 0;
// cache old vars for blinking attribute, checkup is faster than full
// attribute write each time
volatile uint8_t last_UBat = 255;
volatile uint8_t last_RC_Quality = 255;
volatile uint16_t ftimer = 0;
volatile uint8_t OSD_active;
uint8_t Vario_Beep_Up = 0;
uint8_t Vario_Beep_Down = 0;
uint8_t Vario_Beep_Up_Interval = 9;
uint8_t Vario_Beep_Down_Interval = 6;
uint8_t Vario_Threshold = 0;
uint8_t Vario_Threshold_Value = 7;
uint8_t OldWP = 0;
uint8_t NextWP = 0;
//char* rose = "-+-N-+-O-+-S-+-W-+-N-+-O-+-S-+-W-+-N-+-O-+-S-+-W";
const char rose[48] PROGMEM = {
0x0e, 0x0f, 0x0e, 'N', 0x0e, 0x0f, 0x0e, 'O', 0x0e, 0x0f, 0x0e, 'S',
0x0e, 0x0f, 0x0e, 'W', 0x0e, 0x0f, 0x0e, 'N', 0x0e, 0x0f, 0x0e, 'O',
0x0e, 0x0f, 0x0e, 'S', 0x0e, 0x0f, 0x0e, 'W', 0x0e, 0x0f, 0x0e, 'N',
0x0e, 0x0f, 0x0e, 'O', 0x0e, 0x0f, 0x0e, 'S', 0x0e, 0x0f, 0x0e, 'W',
};
// the center is char 19 (north), we add the current heading in 8th
// which would be 22.5 degrees, but float would bloat up the code
// and *10 / 225 would take ages... so we take the uncorrect way
const char str_NE[] PROGMEM = "NE";
const char str_E[] PROGMEM = "E ";
const char str_SE[] PROGMEM = "SE";
const char str_S[] PROGMEM = "S ";
const char str_SW[] PROGMEM = "SW";
const char str_W[] PROGMEM = "W ";
const char str_NW[] PROGMEM = "NW";
const char str_N[] PROGMEM = "N ";
const char *directions_p[8] PROGMEM = {
str_NE,
str_E,
str_SE,
str_S,
str_SW,
str_W,
str_NW,
str_N
};
#define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO
#define MIN_CELL_VOLTAGE 32 // min cell voltage for LiPO
// Flags
GPS_Pos_t last5pos[7];
uint8_t COSD_FLAGS2 = 0;
volatile uint8_t error = 0;
uint8_t cells = 0;
uint8_t BattLowVoltageWarning = 0;
uint8_t CellIsChecked = 0;
uint8_t AkkuWarnThreshold = 0;
uint16_t duration = 0;
//###########################################################
//###########################################################
//--------------------------------------------------------------
//--------------------------------------------------------------
void variobeep(int16_t vario)
{
{ //start Beep
if (vario >0 ) // MK steigt
{
Vario_Beep_Down = 0; // Down Beep freischalten
Vario_Threshold++;
if ((Vario_Beep_Up == 0) && (Vario_Threshold >= Vario_Threshold_Value))
{
// set_beep ( 100, 0xffff, BeepNormal);
duration = 52 -vario;
// if (duration =0); duration = 1;
// write_ndigit_number_u (0,6,duration,5,0);
playTone(300+vario*2,duration,Config.Volume);
// playTone(300,duration,volume);
Vario_Threshold = Vario_Threshold_Value; // auf Maximalwert begrenzen
}
Vario_Beep_Up++; // Interval hochzählen in dem nicht gepiept wird
if (Vario_Beep_Up == Vario_Beep_Up_Interval) Vario_Beep_Up = 0;
}
if (vario <0) // MK fällt
{
Vario_Beep_Up = 0; // Up Beep freischalten
Vario_Threshold++;
if ((Vario_Beep_Down == 0) && (Vario_Threshold >= Vario_Threshold_Value))
{
duration = 50 -vario;
// write_ndigit_number_u (0,7,duration,5,0);
// if (duration < vario) ; duration = 0;
// playTone(300,50,volume);
playTone(300+vario*2,duration,Config.Volume);
Vario_Threshold = Vario_Threshold_Value; // auf Maximalwert begrenzen
}
Vario_Beep_Down++; // Interval hochzählen in dem nicht gepiept wird
if (Vario_Beep_Down == Vario_Beep_Down_Interval) Vario_Beep_Down = 0;
}
if (vario == 0) Vario_Threshold = 0; //Startverzögerung löschen
} // end Beep
}
//--------------------------------------------------------------
// Diese Funktion Beept unabhaengig von der Einstellung Config.OSD_VarioBeep
// Aufruf ggf. mit: if( Config.OSD_VarioBeep ) Beep_Vario();
//
// Ansonten:
// -> hier noch aufräumen in Zusammenhang mit func variobeep()
//--------------------------------------------------------------
void Beep_Vario(void)
{
if ( (naviData->FCStatusFlags & FC_STATUS_MOTOR_RUN) && (naviData->FCStatusFlags2 & FC_STATUS2_ALTITUDE_CONTROL))
{ //start Beep
if (naviData->Variometer <0) // MK fällt
{
Vario_Beep_Up = 0; // Up Beep freischalten
Vario_Threshold++;
if ((Vario_Beep_Down == 0) && (Vario_Threshold >= Vario_Threshold_Value))
{
if (!Config.HWSound) set_beep ( 300, 0xffff, BeepNormal);
else variobeep(naviData->Variometer);
Vario_Threshold = Vario_Threshold_Value; // auf Maximalwert begrenzen
}
Vario_Beep_Down++; // Interval hochzählen in dem nicht gepiept wird
if (Vario_Beep_Down == Vario_Beep_Down_Interval) Vario_Beep_Down = 0;
}
if (naviData->Variometer == 0) Vario_Threshold = 0; //Startverzögerung löschen
if (naviData->Variometer >0 ) // MK steigt
{
Vario_Beep_Down = 0; // Down Beep freischalten
Vario_Threshold++;
if ((Vario_Beep_Up == 0) && (Vario_Threshold >= Vario_Threshold_Value))
{
if (!Config.HWSound) set_beep ( 100, 0xffff, BeepNormal);
else variobeep(naviData->Variometer);
Vario_Threshold = Vario_Threshold_Value; // auf Maximalwert begrenzen
}
Vario_Beep_Up++; // Interval hochzählen in dem nicht gepiept wird
if (Vario_Beep_Up == Vario_Beep_Up_Interval) Vario_Beep_Up = 0;
}
} // end Beep
}
//--------------------------------------------------------------
// Quelle Mikrokopter FC-Software Holger + Ingo
//--------------------------------------------------------------
void CheckMKLipo(void)
{
if(Config.MK_LowBat < 50) // automatische Zellenerkennung
{
if (CellIsChecked <= 2) //Nur beim Start 1x prüfen
{
// up to 6s LiPo, less than 2s is technical impossible
for(cells = 2; cells < 7; cells++)
{
if(naviData->UBat < cells * MAX_CELL_VOLTAGE) break;
}
BattLowVoltageWarning = cells * Config.MK_LowBat;
CellIsChecked++;
}
}
else BattLowVoltageWarning = Config.MK_LowBat;
if (naviData->UBat < BattLowVoltageWarning)
{
if (AkkuWarnThreshold <= 4) AkkuWarnThreshold++;
else
{ //Beeper ein
set_beep ( 1000, 0x0020, BeepSevere);
// BeepTime = 3000;
// BeepMuster = 0x0020;
}
}
}
//--------------------------------------------------------------
// convert the <heading> gotton from NC into an index
uint8_t heading_conv (uint16_t heading)
{
if (heading > 23 && heading < 68)
return 0; //direction = "NE";
else if (heading > 67 && heading < 113)
return 1; //direction = "E ";
else if (heading > 112 && heading < 158)
return 2; //direction = "SE";
else if (heading > 157 && heading < 203)
return 3; //direction = "S ";
else if (heading > 202 && heading < 248)
return 4; //direction = "SW";
else if (heading > 247 && heading < 293)
return 5; //direction = "W ";
else if (heading > 292 && heading < 338)
return 6; //direction = "NW";
return 7; //direction = "N ";
}
//--------------------------------------------------------------
// draw a compass rose at <x>/<y> for <heading>
void draw_compass (uint8_t x, uint8_t y, uint16_t heading)
{
uint8_t front = 19 + (heading / 22);
for (uint8_t i = 0; i < 9; i++)
lcd_putc (x++, y, pgm_read_byte(&rose[front - 4 + i]), 0);
}
//--------------------------------------------------------------
// variometer
// x, y in Pixel!
//--------------------------------------------------------------
void draw_variometer (uint8_t x, uint8_t y, uint8_t width, uint8_t hight, int16_t variometer)
{
lcd_rect (x, y - ((hight) / 2), width, hight, 1);
lcd_frect (x + 1, y - ((hight) / 2) + 1, width - 2, hight - 2, 0);
lcd_line (x, y, x + width, y, 1);
if (variometer > 0) // steigend
{
switch (variometer / 5)
{
case 0:
lcd_line (x + 4, y - 1, x + 6, y - 1, 1); // 1 > 4
break;
case 1:
lcd_line (x + 4, y - 1, x + 6, y - 1, 1); // 1 > 4
lcd_frect (x + 3, y - 3, 4, 1, 1); // 5 > 9
break;
case 2:
lcd_line (x + 4, y - 1, x + 6, y - 1, 1); // 1 > 4
lcd_frect (x + 3, y - 3, 4, 1, 1); // 5 > 9
lcd_frect (x + 2, y - 5, 6, 1, 1); // 10 > 14
break;
default:
lcd_line (x + 4, y - 1, x + 6, y - 1, 1); // 1 > 4
lcd_frect (x + 3, y - 3, 4, 1, 1); // 5 > 9
lcd_frect (x + 2, y - 5, 6, 1, 1); // 10 > 14
lcd_frect (x + 1, y - 6, 8, 1, 1); // 15 >
break;
}
}
else if (variometer < 0) // fallend
{
switch ((variometer) / -5)
{
case 0:
lcd_line (x + 4, y + 1, x + 6, y + 1, 1); // - 1 > - 4
break;
case 1:
lcd_line (x + 4, y + 1, x + 6, y + 1, 1); // - 1 > - 4
lcd_frect (x + 3, y + 2, 4, 1, 1); // - 5 > - 9
break;
case 2:
lcd_line (x + 4, y + 1, x + 6, y + 1, 1); // - 1 > - 4
lcd_frect (x + 3, y + 2, 4, 1, 1); // - 5 > - 9
lcd_frect (x + 2, y + 4, 6, 1, 1); // -10 > -14
break;
default:
lcd_line (x + 4, y + 1, x + 6, y + 1, 1); // - 1 > - 4
lcd_frect (x + 3, y + 2, 4, 1, 1); // - 5 > - 9
lcd_frect (x + 2, y + 4, 6, 1, 1); // -10 > -14
lcd_frect (x + 1, y + 5, 8, 1, 1); // -15 >
break;
}
}
}
//--------------------------------------------------------------
// variometer 2
//
// x, y in Pixel
// x, y top, left
//--------------------------------------------------------------
/*
void draw_variometer2( uint8_t x, uint8_t y, uint8_t width, uint8_t hight, int16_t variometer)
{
uint8_t max = 5; // max: 5 m/sec == 100%
lcd_rect (x, y, width, hight, 1);
lcd_frect(x + 1, y + 1, width - 2, hight - 2, 0);
lcd_line (x, y + ((hight) / 2), x + width, y + ((hight) / 2), 1);
}
*/
//--------------------------------------------------------------
// Home symbol
// draw Homesymbol at <x>/<y>
//--------------------------------------------------------------
void draw_homesymbol (uint8_t x, uint8_t y)
{
x *= 6;
y *= 8;
y += 7;
lcd_plot (x,y-4,1);
lcd_line (x+1,y-1,x+1,y-5,1);
lcd_plot (x+2,y-6,1);
lcd_plot (x+3,y-7,1);
lcd_plot (x+4,y-6,1);
lcd_line (x+5,y-1,x+5,y-5,1);
lcd_plot (x+6,y-4,1);
lcd_plot (x+3,y-1,1);
lcd_plot (x+3,y-2,1);
lcd_line (x+1,y,x+5,y,1);
}
//--------------------------------------------------------------
// Target symbol
// draw Targetsymbol at <x>/<y>
//--------------------------------------------------------------
void draw_targetsymbol (uint8_t x, uint8_t y)
{
x *= 6;
y *= 8;
y += 7;
lcd_circle (x+3, y-3, 4, 1);
lcd_line (x,y-3,x+6,y-3,1);
lcd_line (x+3,y,x+3,y-6,1);
lcd_circle (x+3, y-3, 2, 1);
}
//--------------------------------------------------------------
// Degree symbol
// draw Degreesymbol at <x>/<y>
//
// Ein etwas kleineres Degeree als Char 0x1E
//--------------------------------------------------------------
void draw_symbol_degree (uint8_t x, uint8_t y, int8_t xoffs, int8_t yoffs)
{
x *= 6;
y *= 8;
lcd_rect (x+1+xoffs, y+yoffs, 2, 2, 1);
}
//--------------------------------------------------------------
// RC symbol
// alternatives Symbol fuer RC-Quality
//--------------------------------------------------------------
void draw_symbol_rc (uint8_t x, uint8_t y)
{
x *= 6;
y *= 8;
y += 1;
x += 1;
lcd_plot ( x+3, y+4, 1);
lcd_line ( x+2, y+2, x+4, y+2, 1);
lcd_line ( x+1, y+0, x+5, y+0, 1);
}
//--------------------------------------------------------------
void print_position (void)
{
lcd_cls ();
lcd_puts_at(0, 0, strGet(START_LASTPOS1), 2); // Breitengr Längengr
lcd_puts_at(12, 7, strGet(ENDE), 0);
uint8_t ij =0;
for(ij=0;ij<6;ij++)
{
uint32_t lon = last5pos[ij].Latitude;
write_ndigit_number_u (1, ij+1, (uint16_t)(lon/10000000), 2, 0,0);
lcd_printp_at (3, ij+1, PSTR("."), 0);
write_ndigit_number_u (4, ij+1, (uint16_t)((lon/1000) % 10000), 4, 1,0);
write_ndigit_number_u (8, ij+1, (uint16_t)((lon/10) % 100), 2, 1,0);
uint32_t lat = last5pos[ij].Longitude;
write_ndigit_number_u (12, ij+1, (uint16_t)(lat/10000000), 2, 0,0);
lcd_printp_at (14, ij+1, PSTR("."), 0);
write_ndigit_number_u (15, ij+1, (uint16_t)((lat/1000) % 10000), 4, 1,0);
write_ndigit_number_u (19, ij+1, (uint16_t)((lat/10) % 100), 2, 1,0);
}
while (!get_key_press (1 << KEY_ESC))
timer = TIMEOUT;
get_key_press(KEY_ALL);
lcd_cls();
}
//--------------------------------------------------------------
void Show_LastPosition(void)
{
lcd_puts_at(0, 2, strGet(OSD_POS1), 0);
lcd_puts_at(0, 3, strGet(OSD_POS2), 0);
lcd_puts_at(0, 5, strGet(START_LASTPOS1), 0);
uint32_t lon = last5pos[0].Latitude;
write_ndigit_number_u (1, 6, (uint16_t)(lon/10000000), 2, 0,0);
lcd_printp_at (3, 6, PSTR("."), 0);
write_ndigit_number_u (4, 6, (uint16_t)((lon/1000) % 10000), 4, 1,0);
write_ndigit_number_u (8, 6, (uint16_t)((lon/10) % 100), 2, 1,0);
uint32_t lat = last5pos[0].Longitude;
write_ndigit_number_u (12, 6, (uint16_t)(lat/10000000), 2, 0,0);
lcd_printp_at (14, 6, PSTR("."), 0);
write_ndigit_number_u (15, 6, (uint16_t)((lat/1000) % 10000), 4, 1,0);
write_ndigit_number_u (19, 6, (uint16_t)((lat/10) % 100), 2, 1,0);
}
//--------------------------------------------------------------
void OSD_Timeout(uint8_t flag)
{
// uint8_t flag;
uint8_t tmp_dat;
// flag = 0;
timer = TIMEOUT;
// disable OSD Data from NC
// RS232_request_mk_data (1, 'o', 0);
// tmp_dat = 0;
// SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
mode = 0;
rxd_buffer_locked = FALSE;
// Bei Verbindungsverlusst werden hier die letzten bekannten Koordinaten ausgegeben!!!
if( flag )
{
// Falls Spannungswarnung an war Beeper aus//
set_beep ( 0, 0, BeepOff);
lcd_cls ();
WriteLastPosition(last5pos[0].Longitude,last5pos[0].Latitude); // im EEprom speichern
lcd_puts_at(0, 0, strGet(OSD_ERROR), 2); // ERROR: Datenverlust
lcd_puts_at(0, 2, strGet(OSD_POS1), 0); // Letzte bekannte
lcd_puts_at(0, 3, strGet(OSD_POS2), 0); // Position gespeichert.
lcd_puts_at(0, 5, strGet(START_LASTPOS1), 0); // Breitengr Längengr
// lcd_puts_at(12, 7, strGet(ENDE), 0);
// lcd_puts_at(19, 7, strGet(OK), 0);
// if (OSD_RCErrorbeep==true)
// {
set_beep ( 250, 0x0040, BeepNormal);
// }
uint32_t lon = last5pos[0].Latitude;
write_ndigit_number_u (1, 6, (uint16_t)(lon/10000000), 2, 0,0);
lcd_printp_at (3, 6, PSTR("."), 0);
write_ndigit_number_u (4, 6, (uint16_t)((lon/1000) % 10000), 4, 1,0);
write_ndigit_number_u (8, 6, (uint16_t)((lon/10) % 100), 2, 1,0);
uint32_t lat = last5pos[0].Longitude;
write_ndigit_number_u (12, 6, (uint16_t)(lat/10000000), 2, 0,0);
lcd_printp_at (14, 6, PSTR("."), 0);
write_ndigit_number_u (15, 6, (uint16_t)((lat/1000) % 10000), 4, 1,0);
write_ndigit_number_u (19, 6, (uint16_t)((lat/10) % 100), 2, 1,0);
// while (!get_key_press (1 << KEY_ENTER));
// _delay_ms(1000);
timer = TIMEOUT;
// lcd_cls();
// return;
}
else
{
lcd_puts_at(0, 0, strGet(OSD_ERROR), 2);
Show_LastPosition();
if (Config.OSD_RCErrorbeep==true) set_beep ( 200, 0x0080, BeepNormal);
// _delay_ms(2000);
}
rxd_buffer_locked = FALSE; // 07.03.2013 OG: fix
// es gab Probleme mit dem Empfang gueltiger NC-Daten, die zu unschoenen Starteffekten bei den
// OSD-Screens gefuehrt haben. Mit rxd_buffer_locked = FALSE vor SwitchToNC() ist das PKT wieder im 'Takt'
SwitchToNC();
mode = 'O';
// disable debug...
// RS232_request_mk_data (0, 'd', 0);
tmp_dat = 0;
SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
// request OSD Data from NC every 100ms
// RS232_request_mk_data (1, 'o', 100);
tmp_dat = 10;
SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
//_delay_ms(100);
//rxd_buffer_locked = FALSE;
}
//-----------------------------------------------------------
//
void lcd_o_circle (uint16_t x, uint16_t y, int16_t breite, uint8_t mode, int8_t xoffs, int8_t yoffs)
{
breite *= 6;
int16_t radius = breite / 2;
x += 2;
x *= 6;
x += 2;
y += 1;
y *= 8;
y += 3;
// 04.03.2012 OG: chg: x-radius von -3 auf -2 (runder auf dem display)
//lcd_ellipse (x, y, radius - 3, radius - 5, mode);
lcd_ellipse( x+xoffs, y+yoffs, radius - 2, radius - 5, mode);
}
//-----------------------------------------------------------
// lcd_o_circ_line( x, y, breite, deg, rOffset, mode)
//
// x, y : in Chars
// breite : in Chars
// deg : in Pixel
// rOffset: Beeinflusst den Schluss der Linie zum Huellkreis
// 0 = Standard
// >0 naeher zum Huellkreis
// <0 entfernter vom Huellkreis
// mode : siehe: lcd_ellipse_line()
//-----------------------------------------------------------
void lcd_o_circ_line( uint16_t x, uint16_t y, uint8_t breite, uint16_t deg, int8_t rOffset, uint8_t mode, int8_t xoffs, int8_t yoffs)
{
breite *= 6;
int16_t radius = breite / 3;
x += 2;
x *= 6;
x += 2;
y += 1;
y *= 8;
y += 3;
// 04.03.2013 OG: der Radius kann mit rOffset >0 vergroessert werden um zum Kreis aufzuschliessen
lcd_ellipse_line( x+xoffs, y+yoffs, radius+rOffset, radius+rOffset, deg, mode);
}
//--------------------------------------------------------------
void draw_icon_home(uint8_t x, uint8_t y)
{
//lcd_plot( x+0, y+0, 1); // Referenz 0,0
lcd_rect( x+0, y+5, 10, 8, 1); // Mitte
lcd_line( x+5, y+0, x+0, y+5, 1); // Dach Links
lcd_line( x+5, y+0, x+10, y+5, 1); // Dach Rechts
lcd_rect( x+4, y+10, 2, 3, 1); // Tuere
}
//--------------------------------------------------------------
void draw_icon_sat(uint8_t x, uint8_t y)
{
//lcd_plot( x+0, y+0, 1); // Referenz 0,0
lcd_rect( x+0, y+2, 4, 2, 1); // linker Fluegel
lcd_rect( x+8, y+2, 4, 2, 1); // rechter Fluegel
lcd_rect( x+4, y+0, 4, 6, 1); // Mitte, oben
lcd_line( x+6, y+7, x+2, y+11, 1); // Strahl Links
lcd_line( x+6, y+7, x+10, y+11, 1); // Strahl Rechts
lcd_line( x+1, y+12, x+11, y+12, 1); // Strahl Unten
}
//--------------------------------------------------------------
void draw_icon_battery(uint8_t x, uint8_t y)
{
//lcd_plot( x+0, y+0, 1); // Referenz 0,0
lcd_rect( x+2, y+0, 2, 2, 1); // der kleine Knubbel oben
lcd_rect( x+0, y+2, 6, 15, 1); // body
}
//##############################################################
//# OSD-ELEMENTS
//##############################################################
//--------------------------------------------------------------
// OSD_Element_Flag_Label( xC, yC, item, lOn, xoffs, yoffs)
//
// xC, yC : x,y in Characters
// item : OSD_FLAG_AH, OSD_FLAG_PH, usw.
// lOn : true / false
// xoffs,yoffs : x,y Pixelverschiebung
//--------------------------------------------------------------
void OSD_Element_Flag_Label( uint8_t xC, uint8_t yC, uint8_t item, uint8_t lOn, int8_t xoffs, int8_t yoffs)
{
int8_t x = (xC*6)-2;
int8_t y = (yC*8)-1;
uint8_t w = 14;
uint8_t h = 8;
const char *labels[OSD_FLAG_COUNT] =
{
PSTR("AH"), // OSD_FLAG_AH Altitue Hold
PSTR("PH"), // OSD_FLAG_PH Position Hold
PSTR("CF"), // OSD_FLAG_CF Care Free
PSTR("CH"), // OSD_FLAG_CH Coming Home
PSTR("o1"), // OSD_FLAG_O1 Out1
PSTR("o2"), // OSD_FLAG_O2 Out2
PSTR("BA"), // OSD_FLAG_BA LowBat warning (MK)
PSTR("CA"), // OSD_FLAG_CA Calibrate
PSTR("ST"), // OSD_FLAG_ST Start
PSTR("MR"), // OSD_FLAG_MR Motor Run
PSTR("FY"), // OSD_FLAG_FY Fly
PSTR("EL"), // OSD_FLAG_EL Emergency Landing
PSTR("FS"), // OSD_FLAG_FS RX Failsave Active
PSTR("GP"), // OSD_FLAG_GP GPS Ok
PSTR("S!"), // OSD_FLAG_S0 GPS-Sat not ok (GPS NOT ok)
PSTR("TU"), // OSD_FLAG_TU Vario Trim Up
PSTR("TD"), // OSD_FLAG_TD Vario Trim Down
PSTR("FR"), // OSD_FLAG_FR Free
PSTR("RL"), // OSD_FLAG_RL Range Limit
PSTR("SL"), // OSD_FLAG_SL No Serial Link
PSTR("TR"), // OSD_FLAG_TR Target Reached
PSTR("MC") // OSD_FLAG_MC Manual Control
};
//lcd_plot( x-2, y-2, 1); // Referenz
if( yC==0 ) { y = 0; h = 7; }
if( xC==0 ) { x = 0; w = 12; }
if( lOn )
{
lcd_frect( x+xoffs, y+yoffs, w, h, 1); // Filler
lcdx_printp_at( xC, yC, labels[item], MINVERS, xoffs,yoffs); // Label
}
else
{
lcd_frect( x+xoffs, y+yoffs, w, h, 0); // clear
}
}
//--------------------------------------------------------------
//--------------------------------------------------------------
void OSD_Element_Flag( uint8_t xC, uint8_t yC, uint8_t item, int8_t xoffs, int8_t yoffs)
{
uint8_t lOn = 0;
// FC_StatusFlags 0.88
switch( item )
{
// Altitue Hold
case OSD_FLAG_AH : lOn = (naviData->FCStatusFlags2 & FC_STATUS2_ALTITUDE_CONTROL);
break;
// Position Hold
case OSD_FLAG_PH : lOn = (naviData->NCFlags & NC_FLAG_PH);
break;
// Coming Home
case OSD_FLAG_CH : lOn = (naviData->NCFlags & NC_FLAG_CH);
break;
// Care Free
case OSD_FLAG_CF : lOn = (naviData->FCStatusFlags2 & FC_STATUS2_CAREFREE);
break;
// Out1
case OSD_FLAG_O1 : lOn = (naviData->FCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE);
break;
// Out2
case OSD_FLAG_O2 : lOn = (naviData->FCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE);
break;
// LowBat warning (MK)
case OSD_FLAG_BA : lOn = (naviData->FCStatusFlags & FC_STATUS_LOWBAT);
break;
// Calibrate
case OSD_FLAG_CA : lOn = (naviData->FCStatusFlags & FC_STATUS_CALIBRATE);
break;
// Start
case OSD_FLAG_ST : lOn = (naviData->FCStatusFlags & FC_STATUS_START);
break;
// Motor Run
case OSD_FLAG_MR : lOn = (naviData->FCStatusFlags & FC_STATUS_MOTOR_RUN);
break;
// Fly
case OSD_FLAG_FY : lOn = (naviData->FCStatusFlags & FC_STATUS_FLY);
break;
// Emergency Landing
case OSD_FLAG_EL : lOn = (naviData->FCStatusFlags & FC_STATUS_EMERGENCY_LANDING);
break;
// RC Failsave Active
case OSD_FLAG_FS : lOn = (naviData->FCStatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE);
break;
// GPS ok
case OSD_FLAG_GP : lOn = (naviData->NCFlags & NC_FLAG_GPS_OK);
break;
// GPS-Sat not ok (GPS NOT ok)
case OSD_FLAG_S0 : lOn = !(naviData->NCFlags & NC_FLAG_GPS_OK);
break;
// Vario Trim Up
case OSD_FLAG_TU : lOn = (naviData->FCStatusFlags & FC_STATUS_VARIO_TRIM_UP);
break;
// Vario Trim Down
case OSD_FLAG_TD : lOn = (naviData->FCStatusFlags & FC_STATUS_VARIO_TRIM_DOWN);
break;
// Free
case OSD_FLAG_FR : lOn = (naviData->NCFlags & NC_FLAG_FREE);
break;
// Range Limit
case OSD_FLAG_RL : lOn = (naviData->NCFlags & NC_FLAG_RANGE_LIMIT);
break;
// No Serial Link
case OSD_FLAG_SL : lOn = (naviData->NCFlags & NC_FLAG_NOSERIALLINK);
break;
// Target Reached
case OSD_FLAG_TR : lOn = (naviData->NCFlags & NC_FLAG_TARGET_REACHED);
break;
// Manual Control
case OSD_FLAG_MC : lOn = (naviData->NCFlags & NC_FLAG_MANUAL_CONTROL);
break;
}
OSD_Element_Flag_Label( xC, yC, item, lOn, xoffs,yoffs);
}
//--------------------------------------------------------------
// OSD_Element_AltitudeControl( x, y)
//--------------------------------------------------------------
void OSD_Element_AltitudeControl( uint8_t x, uint8_t y )
{
//---------------------------------------------------------
// 10.03.2013 OG:
// CFG2_HEIGHT_LIMIT im Augenblick nicht unterstuetzt
// Siehe Anmerkungen in osd()
//---------------------------------------------------------
/*
if (Flags_ExtraConfig & CFG2_HEIGHT_LIMIT)
{
if (naviData->FCStatusFlags2 & FC_STATUS2_ALTITUDE_CONTROL)
lcd_puts_at (x, y, strGet(OSD_ALTI_1), 0); // Höhe begr.
else
lcd_puts_at (x, y, strGet(OSD_ALTI_0), 0); // Höhe aus
}
else
{
if (naviData->FCStatusFlags2 & FC_STATUS2_ALTITUDE_CONTROL)
lcd_puts_at (x, y, strGet(OSD_VARIO_1), 0); // Vario Höhe
else
lcd_puts_at (x, y, strGet(OSD_VARIO_0), 0); // Vario aus
}
*/
if (naviData->FCStatusFlags2 & FC_STATUS2_ALTITUDE_CONTROL)
lcd_puts_at (x, y, strGet(OSD_VARIO_1), 0); // Vario Höhe
else
lcd_puts_at (x, y, strGet(OSD_VARIO_0), 0); // Vario aus
}
//--------------------------------------------------------------
// Anzeige von Steigen / Sinken
//--------------------------------------------------------------
void OSD_Element_UpDown( uint8_t x, uint8_t y, int8_t xoffs, int8_t yoffs)
{
x = (x*6) + xoffs;
y = (y*8) + yoffs;
lcd_frect( x, y, 6, 7, 0); // clear
if( naviData->Variometer > 2 ) // steigen mehr als 0.2 m/sec (ein guter Wert muss noch in der Praxis ermittelt werden)
{
lcd_line( x+2, y+0, x+0, y+2, 1);
lcd_line( x+2, y+0, x+4, y+2, 1);
}
else if( naviData->Variometer < -2 ) // sinken mehr als 0.2 m/sec
{
lcd_line( x+2, y+6, x+0, y+4, 1);
lcd_line( x+2, y+6, x+4, y+4, 1);
}
}
//--------------------------------------------------------------
// OSD_Element_Altitude( x, y, nStyle)
// nStyle entspricht dem ehemaligen 'Mode'
//--------------------------------------------------------------
void OSD_Element_Altitude( uint8_t x, uint8_t y, uint8_t nStyle )
{
switch( nStyle )
{
case 0 :
case 1 : //note:lephisto:according to several sources it's /30
if (naviData->Altimeter > (300 / AltimeterAdjust) || naviData->Altimeter < (-300 / AltimeterAdjust)) // above 10m only write full meters
write_ndigit_number_s (x, y, naviData->Altimeter / (30 / AltimeterAdjust), 4, 0,MNORMAL);
else // up to 10m write meters.dm
write_ndigit_number_s_10th (x, y, naviData->Altimeter / (3 / AltimeterAdjust), 3, 0,MNORMAL);
lcd_printp_at (x+4, y, PSTR("m"), MNORMAL);
lcd_putc (x+5, y, 0x09, 0); // Hoehensymbol
break;
case 2 : //note:lephisto:according to several sources it's /30
if (naviData->Altimeter > (300 / AltimeterAdjust) || naviData->Altimeter < (-300 / AltimeterAdjust)) // above 10m only write full meters
write_ndigit_number_s (x+4, y, naviData->Altimeter / (30 / AltimeterAdjust), 4, 0,MBIG);
else // up to 10m write meters.dm
write_ndigit_number_s_10th (x+4, y, naviData->Altimeter / (3 / AltimeterAdjust), 3, 0,MBIG);
lcd_putc( x+8, y, 'm', MBIG);
lcd_printp_at (x, y, PSTR("Höhe"), MNORMAL);
break;
}
}
//--------------------------------------------------------------
// fuer: Config.OSD_LipoBar==1
//--------------------------------------------------------------
void OSD_Element_BatteryLevel_Bar( uint8_t x, uint8_t y )
{
uint16_t Balken = 0;
drawmode = (naviData->UBat < BattLowVoltageWarning ? 2 : 0);
if( cells > 0 ) // LipobargraphAnzeige nur wenn Anzahl der Lipozellen bekannt sind
{
write_ndigit_number_u (x+6, y, cells, 1, 0, drawmode);
lcd_printp_at (x+7, y, PSTR("S"), drawmode);
if( cells==3 )
{
lcd_rect(x*6, y*8, 28, 7, 1); // Rahmen
Balken = ((naviData->UBat-(cells*MIN_CELL_VOLTAGE))*10)/12;
if((Balken > 0) && (Balken <28)) lcd_frect((x*6)+1, (y*8)+1, Balken, 5, 1); // Fuellung
if(Balken <= 26) lcd_frect(Balken+(x*6)+1, (y*8)+1, 26-Balken, 5, 0); // loeschen
}
if( cells==4 ||cells==5 )
{
lcd_rect(x*6, y*8, 30, 7, 1); // Rahmen
if (cells == 4) Balken = ((naviData->UBat-(cells*MIN_CELL_VOLTAGE))*10)/15;
if (cells == 5) Balken = ((naviData->UBat-(cells*MIN_CELL_VOLTAGE))*10)/19;
if ((Balken > 0) && (Balken <=29)) lcd_frect((x*6)+1, (y*8)+1, Balken, 5, 1); // Fuellung
if (Balken <= 27) lcd_frect(Balken+(x*6)+1, (y*8)+1, 28-Balken, 5, 0); // loeschen
}
} // end if: cells > 0 (TODO: Anzeige fuer cells==0 implementieren)
}
//--------------------------------------------------------------
// fuer die neuen OSD-Screens
//--------------------------------------------------------------
void OSD_Element_BattLevel2( uint8_t x, uint8_t y, int8_t xoffs, int8_t yoffs )
{
drawmode = (naviData->UBat < BattLowVoltageWarning ? MINVERS : MNORMAL);
writex_ndigit_number_u_10th( x, y, naviData->UBat, 3, 0, drawmode, xoffs,yoffs);
lcdx_printp_at( x+4, y, PSTR("V"), drawmode, xoffs+1,yoffs); // Einheit
lcd_line( (x+4)*6, y*8, (x+4)*6, y*8+7, (drawmode==MINVERS ? 1 : 0) ); // filler zwischen Spannung und "V"
}
//--------------------------------------------------------------
// fuer: Config.OSD_LipoBar==0
// nStyle entspricht dem ehemaligen 'Mode'
//--------------------------------------------------------------
void OSD_Element_BatteryLevel_Text( uint8_t x, uint8_t y, uint8_t nStyle )
{
if( nStyle <= 1)
drawmode = (naviData->UBat < BattLowVoltageWarning ? 2 : 0); // Normal-Schrift
else
drawmode = (naviData->UBat < BattLowVoltageWarning ? 4 : 3); // Fett-Schrift
if( nStyle <= 1)
{
write_ndigit_number_u_10th (x, y, naviData->UBat, 3, 0, drawmode);
lcd_printp_at (x+4, y, PSTR("V"), drawmode);
}
else
{
write_ndigit_number_u_10th (x-2, y, naviData->UBat, 3, 0, drawmode);
lcd_printp_at (x+2, y, PSTR("V"), drawmode);
}
}
//--------------------------------------------------------------
// nStyle entspricht dem ehemaligen 'Mode'
//--------------------------------------------------------------
void OSD_Element_BatteryLevel( uint8_t x, uint8_t y, uint8_t nStyle )
{
if( Config.OSD_LipoBar )
OSD_Element_BatteryLevel_Bar( x, y);
else
OSD_Element_BatteryLevel_Text( x, y, nStyle);
}
//--------------------------------------------------------------
//--------------------------------------------------------------
void OSD_Element_Capacity( uint8_t x, uint8_t y )
{
drawmode = (naviData->UsedCapacity > Config.OSD_mAh_Warning ? 2 : 0);
write_ndigit_number_u (x, y, naviData->UsedCapacity, 5, 0, drawmode);
lcd_printp_at (x+5, y, PSTR("mAh"), drawmode);
// BeepTime = 3000;
// BeepMuster = 0x0020;
}
//--------------------------------------------------------------
// OSD_Element_CareFree( x, y)
//--------------------------------------------------------------
void OSD_Element_CareFree( uint8_t x, uint8_t y )
{
lcd_puts_at (x, y, strGet( naviData->FCStatusFlags2 & FC_STATUS2_CAREFREE ? OSD_CARE_FREE_1 : OSD_CARE_FREE_0 ), 0);
}
//--------------------------------------------------------------
// OSD_Element_CompassDegree( x, y, nStyle)
// nStyle entspricht dem ehemaligen 'Mode'
//--------------------------------------------------------------
void OSD_Element_CompassDegree( uint8_t x, uint8_t y, uint8_t nStyle )
{
switch( nStyle )
{
case 0 :
case 1 : write_ndigit_number_u (x, y, naviData->CompassHeading, 3, 0,MNORMAL);
x += 3;
break;
case 2 : write_ndigit_number_u (x, y, naviData->CompassHeading, 3, 0,MBIG);
x += 8;
break;
}
lcd_putc( x, y, 0x1E, MNORMAL); // degree symbol
}
//--------------------------------------------------------------
//--------------------------------------------------------------
void OSD_Element_CompassDirection( uint8_t x, uint8_t y )
{
lcd_printp_at (x, y, (const char *) (pgm_read_word ( &(directions_p[heading_conv(naviData->CompassHeading)]))), 0);
}
//--------------------------------------------------------------
//--------------------------------------------------------------
void OSD_Element_CompassRose( uint8_t x, uint8_t y )
{
draw_compass (x, y, naviData->CompassHeading);
}
//--------------------------------------------------------------
//--------------------------------------------------------------
void OSD_Element_Current( uint8_t x, uint8_t y )
{
write_ndigit_number_u_10th (x, y, naviData->Current, 3, 0,0);
lcd_printp_at (x+4, y, PSTR("A"), 0);
}
//--------------------------------------------------------------
//--------------------------------------------------------------
void OSD_Element_FlyingTime( uint8_t x, uint8_t y )
{
write_time (x, y, naviData->FlyingTime);
lcd_printp_at (x+5, y, PSTR("m"), 0);
}
//--------------------------------------------------------------
//--------------------------------------------------------------
void OSD_Element_GroundSpeed( uint8_t x, uint8_t y )
{
write_ndigit_number_u (x, y, (uint16_t) (((uint32_t) naviData->GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 3, 0,0);
lcd_printp_at (x+3, y, PSTR("Kmh"), 0);
}
//--------------------------------------------------------------
//--------------------------------------------------------------
void OSD_Element_HomeCircle( uint8_t x, uint8_t y, uint8_t breite, int8_t rOffset, int8_t xoffs, int8_t yoffs )
{
lcd_o_circle( x, y, breite, 1, xoffs,yoffs);
if (Config.OSD_HomeMKView==1)
heading_home = (naviData->HomePositionDeviation.Bearing + 360 - naviData->CompassHeading) % 360;
else
heading_home = (naviData->CompassHeading- naviData->HomePositionDeviation.Bearing + 360 ) % 360;
lcd_o_circ_line( x, y, breite, old_hh , rOffset, 0, xoffs,yoffs);
lcd_o_circ_line( x, y, breite, heading_home, rOffset, 1, xoffs,yoffs);
old_hh = heading_home;
}
//--------------------------------------------------------------
//--------------------------------------------------------------
void OSD_Element_HomeDegree( uint8_t x, uint8_t y )
{
write_ndigit_number_u (x, y, heading_home, 3, 0,0);
lcd_putc (x+3, y, 0x1e, 0); // degree symbol
}
//--------------------------------------------------------------
// OSD_Element_HomeDistance( x, y, nStyle)
//--------------------------------------------------------------
void OSD_Element_HomeDistance( uint8_t x, uint8_t y, uint8_t nStyle )
{
switch( nStyle )
{
case 0 :
case 1 : write_ndigit_number_u (x, y, naviData->HomePositionDeviation.Distance / 10, 3, 0,0);
lcd_putc (x+3, y, 'm', 0);
draw_homesymbol(x+4, y);
break;
case 2 : lcd_printp_at (x, y, PSTR("Home"), 0);
write_ndigit_number_u (x+5, y, naviData->HomePositionDeviation.Distance / 10, 3, 0,0);
lcd_printp_at (x+8, y, PSTR("m -"), 0);
break;
}
}
//--------------------------------------------------------------
// OSD_Element_LEDOutput( x, y, bitmask)
//
// bitmask: LED1 = FC_STATUS2_OUT1_ACTIVE
// LED2 = FC_STATUS2_OUT2_ACTIVE
//--------------------------------------------------------------
void OSD_Element_LEDOutput( uint8_t x, uint8_t y, uint8_t bitmask )
{
uint8_t lOn;
lOn = (naviData->FCStatusFlags2 & bitmask ? 1 : 0); // Bit gesetzt?
lOn = (Config.OSD_InvertOut ? !lOn : lOn); // Invertieren?
lOn = (lOn ? 1 : 0); // auf 0 oder 1 setzen (hmm, geht auch besser...).
lcd_fcircle (x * 6 + 5, y * 8 + 3, Config.OSD_LEDform, lOn);
lcd_circle (x * 6 + 5, y * 8 + 3, 3, 1);
/*
if (!Config.OSD_InvertOut)
{
if (naviData->FCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)
{
lcd_fcircle (x * 6 + 5, y * 8 + 3, Config.OSD_LEDform, 0);
lcd_circle (x * 6 + 5, y * 8 + 3, 3, 1);
}
else
{
lcd_fcircle (x * 6 + 5, y * 8 + 3, Config.OSD_LEDform, 1);
lcd_circle (x * 6 + 5, y * 8 + 3, 3, 1);
}
}
else
{
if (naviData->FCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)
{
lcd_fcircle (x * 6 + 5, y * 8 + 3,Config.OSD_LEDform, 1);
lcd_circle (x * 6 + 5, y * 8 + 3, 3, 1);
}
else
{
lcd_fcircle (x * 6 + 5, y * 8 + 3, Config.OSD_LEDform, 0);
lcd_circle (x * 6 + 5, y * 8 + 3, 3, 1);
}
}
break;
*/
}
//--------------------------------------------------------------
// OSD_Element_LED1Output( x, y)
//--------------------------------------------------------------
void OSD_Element_LED1Output( uint8_t x, uint8_t y )
{
OSD_Element_LEDOutput( x, y, FC_STATUS2_OUT1_ACTIVE );
}
//--------------------------------------------------------------
// OSD_Element_LED2Output( x, y)
//--------------------------------------------------------------
void OSD_Element_LED2Output( uint8_t x, uint8_t y )
{
OSD_Element_LEDOutput( x, y, FC_STATUS2_OUT2_ACTIVE );
}
//--------------------------------------------------------------
// OSD_Element_Manuell( x, y)
//--------------------------------------------------------------
void OSD_Element_Manuell( uint8_t x, uint8_t y )
{
if (naviData->NCFlags & NC_FLAG_MANUAL_CONTROL)
lcd_putc (x, y, 'M', 0); // rc transmitter
else
lcd_putc (x, y, 'X', 0); // clear
}
//--------------------------------------------------------------
// OSD_Element_NaviMode( x, y)
//--------------------------------------------------------------
void OSD_Element_NaviMode( uint8_t x, uint8_t y )
{
if (naviData->NCFlags & NC_FLAG_FREE)
lcd_puts_at (x, y, strGet(OSD_NAVI_MODE_0), 0); // Navi aus
else if (naviData->NCFlags & NC_FLAG_PH)
lcd_puts_at (x, y, strGet(OSD_NAVI_MODE_1), 0); // Pos. Hold
else if (naviData->NCFlags & NC_FLAG_CH)
lcd_puts_at (x, y, strGet(OSD_NAVI_MODE_2), 0); // Coming Home
}
//--------------------------------------------------------------
// OSD_Element_RCIntensity( x, y)
//--------------------------------------------------------------
void OSD_Element_RCIntensity( uint8_t x, uint8_t y )
{
write_ndigit_number_u (x, y, naviData->RC_Quality, 3, 0,0);
lcd_printp_at (x+3, y, PSTR("\x1F"), 0); // RC-transmitter
if (naviData->NCFlags & NC_FLAG_NOSERIALLINK)
{
lcd_printpns_at(x+3, y, PSTR(" "), 0); // Clear
}
else
{
lcd_printpns_at(x+3, y, PSTR("PC"), 0);
}
}
//--------------------------------------------------------------
// OSD_Element_SatsInUse( x, y, nStyle)
//
// nStyle == 0: "00s"
// nStyle == 1: wie 0
// nStyle == 2: "00 Sat"
//
// nStyle entspricht dem ehemaligen 'Mode'
//--------------------------------------------------------------
void OSD_Element_SatsInUse( uint8_t x, uint8_t y, uint8_t nStyle )
{
drawmode = (naviData->NCFlags & NC_FLAG_GPS_OK ? 0 : 2);
switch( nStyle )
{
case 0 :
case 1 : write_ndigit_number_u (x, y, naviData->SatsInUse, 2, 0, drawmode);
lcd_putc (x+2, y, 0x08, drawmode);
break;
case 2 : write_ndigit_number_u (x, y, naviData->SatsInUse, 2, 0, drawmode);
lcd_printp_at (x+2, y, PSTR(" Sat"), drawmode);
break;
}
}
//--------------------------------------------------------------
// OSD_Element_StatusFlags( x, y)
//--------------------------------------------------------------
void OSD_Element_StatusFlags( uint8_t x, uint8_t y )
{
// FC_StatusFlags 0.88
// #define FC_STATUS_MOTOR_RUN 0x01
// #define FC_STATUS_FLY 0x02
// #define FC_STATUS_CALIBRATE 0x04
// #define FC_STATUS_START 0x08
// #define FC_STATUS_EMERGENCY_LANDING 0x10
// #define FC_STATUS_LOWBAT 0x20
// #define FC_STATUS_VARIO_TRIM_UP 0x40
// #define FC_STATUS_VARIO_TRIM_DOWN 0x80
if (naviData->FCStatusFlags & FC_STATUS_CALIBRATE)
lcd_puts_at (x, y, strGet(OSD_FLAGS_1), 0); // Calibrate
else if (naviData->FCStatusFlags & FC_STATUS_START)
lcd_puts_at (x, y, strGet(OSD_FLAGS_2), 0); // Start
else if (naviData->FCStatusFlags & FC_STATUS_MOTOR_RUN)
lcd_puts_at (x, y, strGet(OSD_FLAGS_3), 0); // Run
else if (naviData->FCStatusFlags & FC_STATUS_FLY)
lcd_puts_at (x, y, strGet(OSD_FLAGS_4), 0); // Fly
else if (naviData->FCStatusFlags & FC_STATUS_EMERGENCY_LANDING)
lcd_puts_at (x, y, strGet(OSD_FLAGS_5), 0); // Landing
else if (naviData->FCStatusFlags & FC_STATUS_LOWBAT)
lcd_puts_at (x, y, strGet(OSD_FLAGS_6), 0); // LowBat
else
// lcd_printp_at (x, y, PSTR(" "), 0); // Clear
lcd_puts_at (x, y, strGet(OSD_FLAGS_0), 0); // Clear
}
//--------------------------------------------------------------
// OSD_Element_Variometer( x, y)
//--------------------------------------------------------------
void OSD_Element_Variometer( uint8_t x, uint8_t y )
{
x *= 6;
y *= 8;
y += 7;
draw_variometer (x, y, 10, 14, naviData->Variometer);
}
//--------------------------------------------------------------
// OSD_Element_Target( x, y, nStyle)
//
// nStyle entspricht dem ehemaligen 'Mode'
// nStyle = 0,1: "000m"
// nStyle = 2,3: "Ziel 000m -"
//--------------------------------------------------------------
void OSD_Element_Target( uint8_t x, uint8_t y, uint8_t nStyle )
{
if( nStyle <= 1 )
{
write_ndigit_number_u (x, y, naviData->TargetPositionDeviation.Distance / 10, 3, 0,0);
lcd_putc (x+3, y, 'm', 0);
draw_targetsymbol(x+4,y);
}
else
{
lcd_printp_at (x, y, PSTR("Ziel"), 0);
write_ndigit_number_u (x+5, y, naviData->TargetPositionDeviation.Distance / 10, 3, 0,0);
lcd_printp_at (x+8, y, PSTR("m -"), 0);
}
}
//--------------------------------------------------------------
// TODO:
// - pruefen ob beep hier an richtiger Stelle ist
//--------------------------------------------------------------
void OSD_Element_VarioWert( uint8_t x, uint8_t y )
{
uint8_t FC_Fallspeed;
FC_Fallspeed = (unsigned int)naviData->Variometer;
FC_Fallspeed = 255-FC_Fallspeed;
drawmode = ( (naviData->Variometer < 0) && (FC_Fallspeed > Config.OSD_Fallspeed) ? 2 : 0);
if( Config.OSD_VarioBeep )
Beep_Vario(); // Beep ???
if( drawmode == 2 )
{
if( !Config.HWSound )
set_beep ( 1000, 0x0060, BeepNormal); // muss ein Beep hier hin????
else
variobeep(naviData->Variometer); // muss ein Beep hier hin????
}
write_ndigit_number_s_10th (x, y, naviData->Variometer, 3,0, drawmode);
lcd_printpns_at(x+4, y, PSTR("ms"), drawmode);
}
//--------------------------------------------------------------
//--------------------------------------------------------------
void OSD_Element_WayPoint( uint8_t x, uint8_t y )
{
if (!OldWP == naviData->WaypointIndex)
{
// BeepTime = 500;
// BeepMuster = 0x0080;
OldWP = naviData->WaypointIndex;
NextWP = true;
}
if ((NextWP==true)&& naviData->NCFlags & NC_FLAG_TARGET_REACHED)
{
set_beep ( 500, 0x0080, BeepNormal);
NextWP = false;
}
write_ndigit_number_u (x+2, y, naviData->WaypointIndex , 2, 0,0);
lcd_printp_at (x, y, PSTR("WP"), 0);
}
//--------------------------------------------------------------
//--------------------------------------------------------------
void OSD_Element_TargetDegree( uint8_t x, uint8_t y )
{
write_ndigit_number_u (x, y, naviData->TargetPositionDeviation.Bearing/ 10, 3, 0,0);
lcd_putc (x+3, y, 0x1e, 0); // degree symbol
}
//##############################################################
//# OSD-SCREENS
//##############################################################
//--------------------------------------------------------------
// OSD-Screen "General"
//
// nMode: 0 = update values
// 1 = redraw labels and update values
//--------------------------------------------------------------
const char * OSD_Screen_General( uint8_t nMode )
{
const char *ScreenName = PSTR("General");
//-----------------------------------------
// REDRAW
// statische Screen Elemente die nicht
// jedesmal neu gezeichnet werden muessen
//-----------------------------------------
if( nMode == OSD_SCREEN_REDRAW )
{
// Display: 128 x 64 with 6x8 Font => 21 x 8
// Linien: Horizontal
lcd_line (0, 28, 127, 28, 1); // mitte
lcd_line (0, 51, 127, 51, 1); // unten
// Linien: Vertikal
lcd_line (65, 0, 65, 50, 1); // mitte
//-----------------------------------------
// Block: Oben - Links
//-----------------------------------------
draw_icon_battery(0,4);
//lcdx_printp_at( 6, 0, PSTR("V") , MNORMAL, 1,0); // Spannung (Volt)
lcdx_printp_at( 7, 2, PSTR(" mA"), MNORMAL, 0,2);
//-----------------------------------------
// Block: Oben - Rechts
//-----------------------------------------
lcdx_printp_at( 12, 0, PSTR("Alt:") , MNORMAL, 0,0);
lcdx_printp_at( 12, 1, PSTR("Dir:") , MNORMAL, 0,1);
draw_symbol_degree( 20, 1, 1,1);
lcdx_printp_at( 12, 2, PSTR(" I:") , MNORMAL, 0,2);
lcdx_printp_at( 20, 2, PSTR("A") , MNORMAL, 2,2);
//-----------------------------------------
// Block: Unten - Links
//-----------------------------------------
draw_icon_sat(0,33);
lcdx_printp_at( 6, 5, PSTR(" kmh"), MNORMAL, 0,1);
//-----------------------------------------
// Block: Unten - Rechts
//-----------------------------------------
draw_icon_home( 70, 32);
lcdx_printp_at( 20, 4, PSTR("m"), MNORMAL, 2,0);
draw_symbol_degree( 20, 5, 1,1);
//lcd_putc( 20, 5, 0x1E, 0); // alternativ: degree symbol
//-----------------------------------------
// unterste Zeile
//-----------------------------------------
draw_symbol_rc(20,7); // RC-transmitter
}
//-----------------
// Batt Level (Volt)
//-----------------
OSD_Element_BattLevel2( 2, 0, 0,0 );
//-----------------
// LowBat Warnung MK
//-----------------
OSD_Element_Flag( 8, 0, OSD_FLAG_BA, 0,0 );
//-----------------
// Flugzeit
//-----------------
writex_time(2, 1, naviData->FlyingTime, MNORMAL, 0,1);
//-----------------
// entnommene Kapazitaet (mAh)
//-----------------
drawmode = (naviData->UsedCapacity > Config.OSD_mAh_Warning ? MINVERS : MNORMAL);
writex_ndigit_number_u( 2, 2, naviData->UsedCapacity, 5, 0, drawmode, 0,2);
//-----------------
// Höhe
//-----------------
if (naviData->Altimeter > (300 / AltimeterAdjust) || naviData->Altimeter < (-300 / AltimeterAdjust)) // above 10m only write full meters
write_ndigit_number_s ( 16, 0, naviData->Altimeter / (30 / AltimeterAdjust), 4, 0, MNORMAL);
else // up to 10m write meters.dm
write_ndigit_number_s_10th( 16, 0, naviData->Altimeter / (3 / AltimeterAdjust), 3, 0, MNORMAL);
//-----------------
// steigen / sinken
//-----------------
OSD_Element_UpDown( 20, 0, 2,0);
//-----------------
// Compass Degree
//-----------------
writex_ndigit_number_u (17, 1, naviData->CompassHeading, 3, 0,MNORMAL, 0,1);
//-----------------
// Strom
//-----------------
//write_ndigit_number_u_10th( 16, 2, naviData->Current, 3, 0,0); // alternativ mit Nachkomma
writex_ndigit_number_u( 17, 2, naviData->Current/10, 3, 0,MNORMAL, 0,2);
//-----------------
// Sat Anzahl
//-----------------
write_ndigit_number_u (4, 4, naviData->SatsInUse, 2, 0,MNORMAL);
//-----------------
// Sat Warnung "!"
//-----------------
/*
if( naviData->NCFlags & NC_FLAG_GPS_OK )
lcd_printp_at( 9, 4, PSTR(" "), MNORMAL);
else
lcd_printp_at( 9, 4, PSTR("!"), MNORMAL);
*/
OSD_Element_Flag( 8, 4, OSD_FLAG_S0, -1,0 ); // Sat Warnung (GPS not ok)
//-----------------
// Geschwindigkeit
//-----------------
writex_ndigit_number_u( 3, 5, (uint16_t) (((uint32_t) naviData->GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 3, 0,MNORMAL, 0,1);
//-----------------
// Home Distance
//-----------------
write_ndigit_number_u( 17, 4, naviData->HomePositionDeviation.Distance / 10, 3, 0,MNORMAL);
//-----------------
// Home Winkel
//-----------------
writex_ndigit_number_u( 16, 5, heading_home, 4, 0,MNORMAL, 0,1);
//-----------------
// Flags
//-----------------
OSD_Element_Flag( 1, 7, OSD_FLAG_CF, 0,0 ); // Care Free
OSD_Element_Flag( 4, 7, OSD_FLAG_AH, 0,0 ); // Altitude Hold
OSD_Element_Flag( 7, 7, OSD_FLAG_PH, 0,0 ); // Position Hold
OSD_Element_Flag( 10, 7, OSD_FLAG_CH, 0,0 ); // Coming Home
OSD_Element_Flag( 13, 7, OSD_FLAG_EL, 0,0 ); // Emergency Landing
//-----------------
// RC-Quality (MK)
//-----------------
write_ndigit_number_u( 17, 7, naviData->RC_Quality, 3, 0,MNORMAL);
#ifdef OSD_DEMO
//-----------------
// Flags
//-----------------
OSD_Element_Flag_Label( 8, 0, OSD_FLAG_BA, true, 0,0 ); // DEMO: Batterie Warnung
OSD_Element_Flag_Label( 8, 4, OSD_FLAG_S0, true, -1,0 ); // DEMO: Sat Warnung (GPS not ok)
OSD_Element_Flag_Label( 1, 7, OSD_FLAG_CF, true, 0,0 ); // DEMO
OSD_Element_Flag_Label( 4, 7, OSD_FLAG_AH, true, 0,0 ); // DEMO
OSD_Element_Flag_Label( 7, 7, OSD_FLAG_PH, true, 0,0 ); // DEMO
OSD_Element_Flag_Label( 10, 7, OSD_FLAG_CH, true, 0,0 ); // DEMO
OSD_Element_Flag_Label( 13, 7, OSD_FLAG_EL, true, 0,0 ); // DEMO
#endif
return( ScreenName );
}
//--------------------------------------------------------------
// OSD-Screen "Navigation"
//
// nMode: 0 = update values
// 1 = redraw labels and update values
//--------------------------------------------------------------
const char * OSD_Screen_Navigation( uint8_t nMode )
{
const char *ScreenName = PSTR("Navigation");
int8_t xoffs, yoffs;
//-----------------------------------------
// REDRAW
// statische Screen Elemente die nicht
// jedesmal neu gezeichnet werden muessen
//-----------------------------------------
if( nMode == OSD_SCREEN_REDRAW )
{
// do things here for static screen elements like labels and so....
lcd_line ((6*6-4), 0, (6*6-4), 9, 1); // Linie Vertikal links
lcd_line ((15*6+3), 0, (15*6+3), 9, 1); // Linie Vertikal rechts
lcd_line (0, 10, 127, 10, 1); // Linie Horizontal
lcdx_printp_at( 0, 2, PSTR("Alt:"), MNORMAL, 0,2); // Hoehe
lcdx_printp_at( 0, 5, PSTR("Home:"), MNORMAL, 0,3); // Home Distance
}
//-----------------
// Oben: Batt Level (Volt)
//-----------------
OSD_Element_BattLevel2( 0, 0, 0,0 );
//-----------------
// Oben: Kompass Rose
//-----------------
OSD_Element_CompassRose( 6, 0);
//-----------------
// Oben: Flugzeit
//-----------------
write_time(16, 0, naviData->FlyingTime);
//-----------------
// Hoehe
//-----------------
xoffs = 0;
yoffs = 3;
drawmode = MNORMAL;
if (naviData->Altimeter > (300 / AltimeterAdjust) || naviData->Altimeter < (-300 / AltimeterAdjust)) // above 10m only write full meters
writex_ndigit_number_s ( 0, 3, naviData->Altimeter / (30 / AltimeterAdjust), 4, 0, drawmode, xoffs,yoffs);
else // up to 10m write meters.dm
writex_ndigit_number_s_10th( 0, 3, naviData->Altimeter / (3 / AltimeterAdjust), 3, 0, drawmode, xoffs,yoffs);
//-----------------
// Steigen / Sinken
//-----------------
OSD_Element_UpDown( 4, 3, 1,yoffs);
//-----------------
// Home Distance
//-----------------
yoffs = 3;
writex_ndigit_number_u( 0, 6, naviData->HomePositionDeviation.Distance / 10, 4, 0,MNORMAL, 0,yoffs+1);
lcdx_printp_at( 4, 6, PSTR("m"), MNORMAL, 2,yoffs+1); // Home
//-----------------
// Home Circle
//-----------------
xoffs = 0;
yoffs = 3;
OSD_Element_HomeCircle( 8, 3, 9, 4, xoffs,yoffs); // Home Circle
lcd_frect( (9*6)-3+xoffs, (4*8)-2+yoffs, (3*6)+4, (1*8)+2, 0); // inner clear
lcd_rect ( (9*6)-4+xoffs, (4*8)-3+yoffs, (3*6)+6, (1*8)+4, 1); // inner rect
lcd_frect ( 61+xoffs, 57+yoffs, 2, 2, 1); // bottom mini rect
writex_ndigit_number_u( 9, 4, heading_home, 3, 0,MNORMAL, xoffs,yoffs); // Degree (Winkel)
//-----------------
// Variometer
//-----------------
//void draw_variometer (uint8_t x, uint8_t y, uint8_t width, uint8_t hight, int16_t variometer)
//draw_variometer( 95, 38, 7, 30, naviData->Variometer);
//draw_variometer( 94, 38, 7, 21, naviData->Variometer);
//draw_variometer2( 94, 28, 7, 21, naviData->Variometer);
//-----------------
// Flags
//-----------------
OSD_Element_Flag( 16, 2, OSD_FLAG_BA, -3, 0); // MK Batt Warning
OSD_Element_Flag( 19, 2, OSD_FLAG_CF, 0, 0); // Carefree
OSD_Element_Flag( 19, 4, OSD_FLAG_AH, 0,-3); // Altitude Hold
OSD_Element_Flag( 19, 6, OSD_FLAG_PH, 0,-6); // Position Hold
OSD_Element_Flag( 19, 7, OSD_FLAG_CH, 0,-1); // Coming Home
OSD_Element_Flag( 16, 7, OSD_FLAG_S0, -3,-1); // GPS-Sat not ok (GPS NOT ok)
#ifdef OSD_DEMO
//-----------------
// Flags
//-----------------
OSD_Element_Flag_Label( 16, 2, OSD_FLAG_BA, true, -3,0); // DEMO
OSD_Element_Flag_Label( 19, 2, OSD_FLAG_CF, true, 0,0); // DEMO
OSD_Element_Flag_Label( 19, 4, OSD_FLAG_AH, true, 0,-3); // DEMO
OSD_Element_Flag_Label( 19, 6, OSD_FLAG_PH, true, 0,-6); // DEMO
OSD_Element_Flag_Label( 19, 7, OSD_FLAG_CH, true, 0,-1); // DEMO
OSD_Element_Flag_Label( 16, 7, OSD_FLAG_S0, true, -3,-1); // DEMO
#endif
return( ScreenName );
}
//--------------------------------------------------------------
// OSD-Screen "Status"
//
// nMode: 0 = update values
// 1 = redraw labels and update values
//--------------------------------------------------------------
const char * OSD_Screen_MKStatus( uint8_t nMode )
{
const char *ScreenName = PSTR("MK-Status");
int8_t xoffs;
//-----------------------------------------
// REDRAW
// statische Screen Elemente die nicht
// jedesmal neu gezeichnet werden muessen
//-----------------------------------------
if( nMode == OSD_SCREEN_REDRAW )
{
// do things here for static screen elements like labels and so....
lcd_line ((6*6-3), 0, (6*6-3), 9, 1); // Linie Vertikal links
lcd_line ((15*6+3), 0, (15*6+3), 9, 1); // Linie Vertikal rechts
lcd_line (0, 10, 127, 10, 1); // Linie Horizontal
//lcdx_printp_at( 8, 0, PSTR("Status"), MNORMAL, -3,0); // oben, mitte Text
lcdx_printp_at( 13, 0, PSTR("A"), MNORMAL, -4,0); // oben, mitte "A"
}
//-----------------
// Oben: Batt Level (Volt)
//-----------------
OSD_Element_BattLevel2( 0, 0, 0,0 );
//-----------------
// Strom
//-----------------
writex_ndigit_number_u_10th( 7, 0, naviData->Current, 4, 0,MNORMAL, 1,0); // Strom mit Nachkomma
//-----------------
// Oben: Flugzeit
//-----------------
write_time(16, 0, naviData->FlyingTime);
//-----------------
// Flags
//-----------------
xoffs = -7;
OSD_Element_Flag( 19, 2, OSD_FLAG_CF, 0+xoffs, 0); // Carefree
OSD_Element_Flag( 19, 4, OSD_FLAG_AH, 0+xoffs,-3); // Altitude Hold
OSD_Element_Flag( 19, 6, OSD_FLAG_PH, 0+xoffs,-6); // Position Hold
OSD_Element_Flag( 19, 7, OSD_FLAG_CH, 0+xoffs,-1); // Coming Home
xoffs -= 4;
OSD_Element_Flag( 16, 2, OSD_FLAG_BA, -3+xoffs, 0); // MK Batt Warning
OSD_Element_Flag( 16, 4, OSD_FLAG_EL, -3+xoffs,-3); // Emergency Landing
OSD_Element_Flag( 16, 6, OSD_FLAG_RL, -3+xoffs,-6); // Range Limit
OSD_Element_Flag( 16, 7, OSD_FLAG_S0, -3+xoffs,-1); // GPS-Sat not ok (GPS NOT ok)
xoffs -= 4;
OSD_Element_Flag( 12, 2, OSD_FLAG_CA, 0+xoffs, 0); // Calibrate
OSD_Element_Flag( 12, 4, OSD_FLAG_ST, 0+xoffs,-3); // Start
OSD_Element_Flag( 12, 6, OSD_FLAG_MR, 0+xoffs,-6); // Motor Run
OSD_Element_Flag( 12, 7, OSD_FLAG_FY, 0+xoffs,-1); // Fly
xoffs -= 4;
OSD_Element_Flag( 9, 2, OSD_FLAG_O1, -2+xoffs, 0); // Out1
OSD_Element_Flag( 9, 4, OSD_FLAG_O2, -2+xoffs,-3); // Out2
OSD_Element_Flag( 9, 6, OSD_FLAG_TR, -2+xoffs,-6); // Target Reached
OSD_Element_Flag( 9, 7, OSD_FLAG_MC, -2+xoffs,-1); // Manual Control
xoffs -= 4;
OSD_Element_Flag( 6, 2, OSD_FLAG_TU, -4+xoffs, 0); // Vario Trim Up
OSD_Element_Flag( 6, 4, OSD_FLAG_TD, -4+xoffs,-3); // Vario Trim Down
OSD_Element_Flag( 6, 6, OSD_FLAG_FR, -4+xoffs,-6); // Free
OSD_Element_Flag( 6, 7, OSD_FLAG_SL, -4+xoffs,-1); // No Serial Link
#ifdef OSD_DEMO
//-----------------
// Flags
//-----------------
/*
PSTR("AH"), // OSD_FLAG_AH Altitue Hold
PSTR("PH"), // OSD_FLAG_PH Position Hold
PSTR("CF"), // OSD_FLAG_CF Care Free
PSTR("CH"), // OSD_FLAG_CH Coming Home
PSTR("o1"), // OSD_FLAG_O1 Out1
PSTR("o2"), // OSD_FLAG_O2 Out2
PSTR("BA"), // OSD_FLAG_BA LowBat warning (MK)
PSTR("CA"), // OSD_FLAG_CA Calibrate
PSTR("ST"), // OSD_FLAG_ST Start
PSTR("MR"), // OSD_FLAG_MR Motor Run
PSTR("FY"), // OSD_FLAG_FY Fly
PSTR("EL"), // OSD_FLAG_EL Emergency Landing
PSTR("FS"), // OSD_FLAG_FS RX Failsave Active
PSTR("GP"), // OSD_FLAG_GP GPS Ok
PSTR("S!") // OSD_FLAG_S0 GPS-Sat not ok (GPS NOT ok)
PSTR("TU"), // OSD_FLAG_TU Vario Trim Up
PSTR("TD"), // OSD_FLAG_TD Vario Trim Down
PSTR("FR"), // OSD_FLAG_FR Free
PSTR("RL"), // OSD_FLAG_RL Range Limit
PSTR("SL"), // OSD_FLAG_SL No Serial Link
PSTR("TR"), // OSD_FLAG_TR Target Reached
PSTR("MC") // OSD_FLAG_MC Manual Control
*/
xoffs = -7;
OSD_Element_Flag_Label( 19, 2, OSD_FLAG_CF, true, 0+xoffs, 0); // DEMO: Carefree
OSD_Element_Flag_Label( 19, 4, OSD_FLAG_AH, true, 0+xoffs,-3); // DEMO: Altitude Hold
OSD_Element_Flag_Label( 19, 6, OSD_FLAG_PH, true, 0+xoffs,-6); // DEMO: Position Hold
OSD_Element_Flag_Label( 19, 7, OSD_FLAG_CH, true, 0+xoffs,-1); // DEMO: Coming Home
xoffs -= 4;
OSD_Element_Flag_Label( 16, 2, OSD_FLAG_BA, true, -3+xoffs, 0); // DEMO: MK Batt Warning
OSD_Element_Flag_Label( 16, 4, OSD_FLAG_EL, true, -3+xoffs,-3); // DEMO: Emergency Landing
OSD_Element_Flag_Label( 16, 6, OSD_FLAG_RL, true, -3+xoffs,-6); // DEMO: Range Limit
OSD_Element_Flag_Label( 16, 7, OSD_FLAG_S0, true, -3+xoffs,-1); // DEMO: GPS-Sat not ok (GPS NOT ok)
xoffs -= 4;
OSD_Element_Flag_Label( 12, 2, OSD_FLAG_CA, true, 0+xoffs, 0); // DEMO: Calibrate
OSD_Element_Flag_Label( 12, 4, OSD_FLAG_ST, true, 0+xoffs,-3); // DEMO: Start
OSD_Element_Flag_Label( 12, 6, OSD_FLAG_MR, true, 0+xoffs,-6); // DEMO: Motor Run
OSD_Element_Flag_Label( 12, 7, OSD_FLAG_FY, true, 0+xoffs,-1); // DEMO: Fly
xoffs -= 4;
OSD_Element_Flag_Label( 9, 2, OSD_FLAG_O1, true, -2+xoffs, 0); // DEMO: Out1
OSD_Element_Flag_Label( 9, 4, OSD_FLAG_O2, true, -2+xoffs,-3); // DEMO: Out2
OSD_Element_Flag_Label( 9, 6, OSD_FLAG_TR, true, -2+xoffs,-6); // DEMO: Target Reached
OSD_Element_Flag_Label( 9, 7, OSD_FLAG_MC, true, -2+xoffs,-1); // DEMO: Manual Control
xoffs -= 4;
OSD_Element_Flag_Label( 6, 2, OSD_FLAG_TU, true, -4+xoffs, 0); // DEMO: Vario Trim Up
OSD_Element_Flag_Label( 6, 4, OSD_FLAG_TD, true, -4+xoffs,-3); // DEMO: Vario Trim Down
OSD_Element_Flag_Label( 6, 6, OSD_FLAG_FR, true, -4+xoffs,-6); // DEMO: Free
OSD_Element_Flag_Label( 6, 7, OSD_FLAG_SL, true, -4+xoffs,-1); // DEMO: No Serial Link
#endif
return( ScreenName );
}
//##############################################################
#ifdef OSD_DEBUG_SCREEN
//##############################################################
//**************************************************************
//* OSD_DEBUG_SCREEN - Experimental-Code usw.
//* - nicht fuer die Oeffentlichkeit bestimmt
//* - gesteuert ueber define OSD_DEBUG_SCREEN
//**************************************************************
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// NOTIZEN
//
// 1. Thema: Motorwerte abfragen
//
// ja, auf die gleiche Weise wie man an die Config Parameter kommt.
//
// SwitchToFC();
// SendOutData( 'u', ADDRESS_FC, BL-Adresse, &tmp_dat, 1);
//
// Die Daten kommen dann in der Form:
// typedef struct
// {
// uint8_t Version; // the version of the BL (0 = old)
// uint8_t SetPoint; // written by attitude controller
// uint8_t SetPointLowerBits; // for higher Resolution of new BLs
// uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present
// uint8_t ReadMode; // select data to read
// // the following bytes must be exactly in that order!
// uint8_t Current; // in 0.1 A steps, read back from BL
// uint8_t MaxPWM; // read back from BL -> is less than 255 if BL is in current limit, not running (250) or starting (40)
// int8_t Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in ?C
// } __attribute__((packed)) MotorData_t;
//
//
// kennst Du die Seite?:http://www.mikrokopter.de/ucwiki/en/SerialProtocol?highlight=%28%28----%28-*%29%28\r%29%3F\n%29%28.*%29CategoryCoding%29#en.2BAC8-SerialCommands.Flight-Ctrl
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//--------------------------------------------------------------
//--------------------------------------------------------------
uint8_t xload_setting( uint8_t setting )
{
mode = 'Q'; // Settings
uint8_t timeout = 50;
rxd_buffer_locked = FALSE;
while (!rxd_buffer_locked && timeout)
{
SendOutData ('q', ADDRESS_FC, 1, &setting, 1);
// _delay_ms(50);
timer = 20;
while (timer > 0);
timeout--;
}
if (timeout != 0)
{
Decode64 ();
setting = *pRxData;
mk_param_struct = (mk_param_struct_t *) (pRxData + 1) ;
}
else
{ // timeout occured
// lcd_printp_at (0, 2, PSTR("Fehler: keine Daten"), 0);
lcd_puts_at(0, 2, strGet(OSD_ERROR), 0);
timer = 100;
while (timer > 0);
setting = 255;
}
return setting;
}
//--------------------------------------------------------------
//--------------------------------------------------------------
const char * OSD_Screen_Debug( uint8_t nMode )
{
const char *ScreenName = PSTR("Debug");
static s16 min_debug = 0;
static s16 max_debug = 0;
static uint16_t debug_count = 0;
//-----------------------------------------
// REDRAW
// statische Screen Elemente die nicht
// jedesmal neu gezeichnet werden muessen
//-----------------------------------------
if( nMode == OSD_SCREEN_REDRAW )
{
// do things here for static screen elements like labels and so....
min_debug = 0;
max_debug = 0;
}
lcd_printp_at( 0, 0, PSTR("Debug"), 0);
debug_count++;
if( naviData->Variometer < min_debug ) min_debug = naviData->Variometer;
if( naviData->Variometer > max_debug ) max_debug = naviData->Variometer;
write_ndigit_number_s ( 8, 1, (naviData->Variometer), 12, 0,MNORMAL); // s16 Variometer;
write_ndigit_number_s ( 8, 2, (min_debug), 12, 0,MNORMAL); // s16 Variometer;
write_ndigit_number_s ( 8, 3, (max_debug), 12, 0,MNORMAL); // s16 Variometer;
write_ndigit_number_u ( 8, 5, (debug_count), 12, 0,MNORMAL); //
//write_ndigit_number_u ( 8, 6, (timer), 12, 0,MNORMAL); //
//draw_variometer2( 6, 19, 7, 21, naviData->Variometer);
return( ScreenName );
}
//##############################################################
#endif // OSD_DEBUG_SCREEN
//##############################################################
//--------------------------------------------------------------
// ehemals: OSD_ALTITUDE,Config.OSD_ScreenMode == 0
//--------------------------------------------------------------
const char * OSD_Screen_OSD0( uint8_t nMode )
{
const char *ScreenName = PSTR("OSD0");
//uint8_t xoffs;
//-----------------------------------------
// REDRAW static screen elements
//-----------------------------------------
if( nMode == OSD_SCREEN_REDRAW )
{
// do things here for static screen elements like labels and so....
}
OSD_Element_AltitudeControl ( 0, 3);
OSD_Element_Altitude ( 11, 3, 0);
OSD_Element_BatteryLevel ( 0, 7, 0);
OSD_Element_Capacity ( 13, 7);
OSD_Element_Current ( 8, 7);
OSD_Element_CareFree ( 0, 5);
OSD_Element_CompassDegree ( 13, 0, 0);
OSD_Element_CompassDirection( 18, 0);
OSD_Element_CompassRose ( 12, 1);
OSD_Element_FlyingTime ( 0, 1);
OSD_Element_GroundSpeed ( 0, 0);
OSD_Element_HomeCircle ( 16, 4, 5, 0, 0,0);
OSD_Element_HomeDegree ( 12, 4);
OSD_Element_HomeDistance ( 10, 5, 0);
OSD_Element_Target ( 10, 6, 0);
//OSD_Element_TargetDegree ( x, y);
OSD_Element_WayPoint ( 5, 6);
OSD_Element_LED1Output ( 0, 6);
OSD_Element_LED2Output ( 3, 6);
//OSD_Element_Manuell ( x, y);
OSD_Element_NaviMode ( 0, 4);
//OSD_Element_RCIntensity ( x, y);
OSD_Element_VarioWert ( 12, 2);
OSD_Element_SatsInUse ( 18, 2, 0);
OSD_Element_StatusFlags ( 0, 2);
OSD_Element_Variometer ( 9, 0);
return( ScreenName );
}
//--------------------------------------------------------------
// ehemals: OSD_ALTITUDE,Config.OSD_ScreenMode == 1
//--------------------------------------------------------------
const char * OSD_Screen_OSD1( uint8_t nMode )
{
const char *ScreenName = PSTR("OSD1");
//uint8_t xoffs;
//-----------------------------------------
// REDRAW static screen elements
//-----------------------------------------
if( nMode == OSD_SCREEN_REDRAW )
{
// do things here for static screen elements like labels and so....
}
//OSD_Element_AltitudeControl( x, y);
OSD_Element_Altitude ( 1, 1, 1);
OSD_Element_BatteryLevel ( 0, 7, 1);
OSD_Element_Capacity ( 13, 7);
OSD_Element_Current ( 8, 7);
//OSD_Element_CareFree ( x, y);
OSD_Element_CompassDegree ( 13, 0, 1);
OSD_Element_CompassDirection( 18, 0);
OSD_Element_CompassRose ( 12, 1);
OSD_Element_FlyingTime ( 7, 6);
OSD_Element_GroundSpeed ( 0, 0);
OSD_Element_HomeCircle ( 1, 3, 7, 0, 0,0);
OSD_Element_HomeDegree ( 8, 3);
OSD_Element_HomeDistance ( 7, 2, 1);
//OSD_Element_Target ( x, y, 1);
//OSD_Element_TargetDegree ( x, y);
//OSD_Element_WayPoint ( x, y);
//OSD_Element_LED1Output ( x, y);
//OSD_Element_LED2Output ( x, y);
//OSD_Element_Manuell ( x, y);
OSD_Element_NaviMode ( 8, 5);
OSD_Element_RCIntensity ( 15, 6);
OSD_Element_VarioWert ( 15, 2);
OSD_Element_SatsInUse ( 8, 4, 1);
//OSD_Element_StatusFlags ( x, y);
OSD_Element_Variometer ( 9, 0);
return( ScreenName );
}
//--------------------------------------------------------------
// ehemals: OSD_ALTITUDE,Config.OSD_ScreenMode == 2
//--------------------------------------------------------------
const char * OSD_Screen_OSD2( uint8_t nMode )
{
const char *ScreenName = PSTR("OSD2");
//uint8_t xoffs;
//-----------------------------------------
// REDRAW static screen elements
//-----------------------------------------
if( nMode == OSD_SCREEN_REDRAW )
{
// do things here for static screen elements like labels and so....
}
OSD_Element_AltitudeControl ( 0, 1);
OSD_Element_Altitude ( 0, 4, 2);
OSD_Element_BatteryLevel ( 13, 7, 2);
OSD_Element_Capacity ( 0, 7);
OSD_Element_Current ( 8, 7);
OSD_Element_CareFree ( 0, 3);
OSD_Element_CompassDegree ( 12, 3, 2);
//OSD_Element_CompassDirection( x, y);
//OSD_Element_CompassRose ( x, y);
OSD_Element_FlyingTime ( 15, 5);
//OSD_Element_GroundSpeed ( x, y);
OSD_Element_HomeCircle ( 16, 0, 5, 0, 0,0);
OSD_Element_HomeDegree ( 11, 5);
OSD_Element_HomeDistance ( 0, 5, 2);
OSD_Element_Target ( 0, 6, 2);
OSD_Element_TargetDegree ( 11, 6);
//OSD_Element_WayPoint ( x, y);
OSD_Element_LED1Output ( 12, 2);
OSD_Element_LED2Output ( 14, 2);
//OSD_Element_Manuell ( x, y);
OSD_Element_NaviMode ( 0, 2);
//OSD_Element_RCIntensity ( x, y);
OSD_Element_VarioWert ( 15, 4);
OSD_Element_SatsInUse ( 10, 0, 2);
OSD_Element_StatusFlags ( 0, 0);
//OSD_Element_Variometer ( x, y);
return( ScreenName );
}
//--------------------------------------------------------------
//--------------------------------------------------------------
const char * OSD_Screen_3DLage( uint8_t nMode )
{
const char *ScreenName = PSTR("3D Lage");
uint16_t head_home;
uint8_t Nick;
uint8_t Roll;
//-----------------------------------------
// REDRAW static screen elements
//-----------------------------------------
if( nMode == OSD_SCREEN_REDRAW )
{
// do things here for static screen elements like labels and so....
}
head_home = (naviData->HomePositionDeviation.Bearing + 360 - naviData->CompassHeading) % 360;
//lcd_cls ();
lcd_line(26,32,100,32,1); // horizontal //
lcd_line(63,0,63,63,1); // vertical //
//lcd_puts_at(12, 7, strGet(KEYLINE5), 0);
// 45' Angel
lcd_line(61,11,65,11,1); // -- //
lcd_line(40,30,40,34,1); // | //
lcd_line(86,30,86,34,1); // | //
lcd_line(61,53,65,53,1); // -- //
lcd_puts_at(9, 0, strGet(OSD_3D_V), 0); // V
lcd_puts_at(3, 3, strGet(OSD_3D_L), 0); // L
lcd_puts_at(17, 3, strGet(OSD_3D_R), 0); // R
lcd_puts_at(9, 7, strGet(OSD_3D_H), 0); // H
lcd_puts_at(0, 0, strGet(OSD_3D_NICK), 0); // Ni
write_ndigit_number_s (2, 0, naviData->AngleNick, 3, 0,0);
lcd_putc (5, 0, 0x1e, 0); // degree symbol
lcd_puts_at(0, 7, strGet(OSD_3D_ROLL), 0); // Ro
write_ndigit_number_s (2, 7, naviData->AngleRoll, 3, 0,0);
lcd_putc (5, 7, 0x1e, 0); // degree symbol
lcd_puts_at(13, 0, strGet(OSD_3D_COMPASS), 0);
//write_ndigit_number_s (15, 0,head_home, 3, 0);
write_ndigit_number_u (15, 0, naviData->CompassHeading, 3, 0,0);
lcd_putc (18, 0, 0x1e, 0); // degree symbol
lcd_printp_at (19, 0, (const char *) (pgm_read_word ( &(directions_p[heading_conv(naviData->CompassHeading)]))), 0);
Nick = ((-naviData->AngleNick/2)+32);
Roll = ((-naviData->AngleRoll/2)+63);
lcd_ellipse ( old_AngleRoll, old_AngleNick, 9, 8, 0);
lcd_ellipse_line( old_AngleRoll, old_AngleNick, 8, 7, old_hh, 0);
lcd_ellipse ( Roll, Nick, 9, 8, 1);
lcd_ellipse_line( Roll, Nick, 8, 7, head_home, 1);
// remember last values (3DL)
old_hh = head_home;
old_AngleNick = Nick;
old_AngleRoll = Roll;
return( ScreenName );
}
//--------------------------------------------------------------
//--------------------------------------------------------------
const char * OSD_Screen_Statistics( uint8_t nMode )
{
const char *ScreenName = PSTR("Statistics");
uint8_t line = 0;
//-----------------------------------------
// REDRAW static screen elements
//-----------------------------------------
/*
if( nMode == OSD_SCREEN_REDRAW )
{
// do things here for static screen elements like labels and so....
}
*/
//---------------------------
// max Altitude
lcd_puts_at (0, line, strGet(STATS_ITEM_0), MNORMAL);
write_ndigit_number_s (14, line, max_Altimeter / (30 / AltimeterAdjust), 4, 0,MNORMAL);
lcdx_putc (18, line, 'm', MNORMAL, 2,0);
//---------------------------
// max Speed
// max_GroundSpeed = 1;
lcd_puts_at (0, ++line, strGet(STATS_ITEM_1), MNORMAL);
write_ndigit_number_u (15, line, (uint16_t) (((uint32_t) max_GroundSpeed * (uint32_t) 9) / (uint32_t) 250), 3, 0,MNORMAL);
lcdx_printp_at(18, line, PSTR("kmh"), MNORMAL, 2,0);
//---------------------------
// max Distance
// max_Distance = 64512;
lcd_puts_at (0, ++line, strGet(STATS_ITEM_2), MNORMAL);
write_ndigit_number_u (14, line, max_Distance / 10, 4, 0,MNORMAL);
lcdx_putc (18, line, 'm', MNORMAL, 2,0);
//---------------------------
// max time
// max_FlyingTime = 3600;
lcd_puts_at (0, ++line, strGet(STATS_ITEM_4), MNORMAL);
write_time (13, line, max_FlyingTime);
//---------------------------
// min voltage
lcd_puts_at (0, ++line, strGet(STATS_ITEM_3), MNORMAL);
if( min_UBat==255 )
lcd_printp_at(14, line, PSTR(" 0"), MNORMAL);
else
write_ndigit_number_u_10th (14, line, min_UBat, 3, 0,MNORMAL);
lcdx_putc (18, line, 'V', MNORMAL, 2,0);
//---------------------------
// max Current
// max_Current = 1000;
lcd_puts_at (0, ++line, strGet(STATS_ITEM_5), MNORMAL);
write_ndigit_number_u_10th (13, line, max_Current, 4, 0,MNORMAL);
lcdx_putc (18, line, 'A', MNORMAL, 2,0);
//---------------------------
// Used Capacity
lcd_puts_at (0, ++line, strGet(STATS_ITEM_6), MNORMAL);
write_ndigit_number_u (14, line, max_Capacity, 4, 0,MNORMAL);
lcdx_printp_at(18, line, PSTR("mAh"), MNORMAL, 2,0);
return( ScreenName );
}
//--------------------------------------------------------------
//--------------------------------------------------------------
void print_statistics (void)
{
lcd_cls ();
lcd_puts_at(12, 7, strGet(ENDE), 0);
OSD_Screen_Statistics( OSD_SCREEN_REDRAW );
while (!get_key_press (1 << KEY_ESC))
timer = TIMEOUT;
COSD_FLAGS2 &= ~COSD_WASFLYING;
get_key_press(KEY_ALL);
lcd_cls();
}
//-----------------------------------------------------------
//-----------------------------------------------------------
void OSD_Info( uint8_t ScreenNum, const char *ScreenName)
{
lcd_frect( 0, 36, 127, 10, 0); // clear
lcd_frect( 0, 34, 4, 4, 0); // clear links
lcd_frect( 0, 40, 127, 24, 1); // Box
lcd_frect( 10, 36, 108, 4, 1); // Filler oben
lcd_fcircle( 8, 39, 7, 1); // Links
lcd_fcircle( 121, 41, 5, 1); // Rechts
lcd_line ( 4, 51, 122, 51, 0); // Linie mitte
//-----------------------
// ScreenNummer: ScreenName
//-----------------------
write_ndigit_number_s ( 1, 5, ScreenNum, 2, 1,2);
lcd_printp_at( 3, 5, PSTR(":"), 2);
lcd_printp_at( 5, 5, ScreenName, 2);
//-----------------------
// Key's
//-----------------------
lcd_puts_at(0, 7, strGet(KEYLINE3), 2);
lcd_printp_at (17, 7, PSTR("Info"), 2);
do
{
timer = TIMEOUT;
_delay_ms(50);
} while ( !( (get_key_press (1 << KEY_ENTER)) || (get_key_press (1 << KEY_ESC)) || (get_key_press (1 << KEY_PLUS)) || (get_key_press (1 << KEY_MINUS)) ) );
}
//##############################################################
//# OSD MAIN LOOP
//##############################################################
//--------------------------------------------------------------
// OSD MAIN LOOP
//--------------------------------------------------------------
void osd( uint8_t ShowMode )
{
uint8_t flag;
uint8_t tmp_dat;
uint8_t ScreenRefresh;
uint8_t MAX_OSD_Screens;
//uint8_t status; // FC Kommunikation
const char *ScreenName = PSTR("");
lcd_cls();
//----------------------------------------
// NC Hardware needed
//----------------------------------------
if( hardware == FC )
{
lcd_puts_at(0, 3, strGet(ONLY_NC), 0); // Nur mit NC
timer = 100;
while (timer > 0);
return;
}
/*
//-----------------------------------------------------------------------------------------------
// 07.03.2013 OG: del
// Dieser Teil hat immer wieder Probleme bereitet bei der Verbindung des PKT-OSD zum MK da
// Timeouts zustande kamen. Eine Recherche im Code ergab, dass die Nutzdaten die
// hierueber bezogen werden sich lediglich auf Flags_ExtraConfig beschraenkten (CFG2_HEIGHT_LIMIT).
// Siehe dazu untere Kommentare.
//
// Der negative Effekt moeglicher Timeouts und Verzoegerungen sind es aktuell nicht Wert
// CFG2_HEIGHT_LIMIT zu unterstuetzen. Dieses Feature ist erstmal raus.
//
// Falls gewuenscht wird, dass CFG2_HEIGHT_LIMIT wieder in das PKT-OSD kommt muss
// es zuverlaessig an anderer Stelle implementiert werden - und zwar nicht in osd.c
// weil es eine statische FC-Information ist (ggf. beim Verbindungsaufbau PKT <-> MK).
//
// Hat auch aktuell Auswirkung auf den Code OSD_Element_AltitudeControl()
//
lcd_printp_at( 0, 3, PSTR("connecting MK..."), 0);
SwitchToFC();
status = load_setting(0xff);
if( status == 255 )
{
lcd_puts_at(0, 0, strGet(NO_SETTINGS), 0); // Keine Settings
_delay_ms(2000);
}
Flags_ExtraConfig = mk_param_struct->ExtraConfig; // OG: wird in osd.c nur verwendet von: OSD_Element_AltitudeControl()
Flags_GlobalConfig = mk_param_struct->GlobalConfig; // OG: wird nicht in osd.c verwendet
Flags_GlobalConfig3 = mk_param_struct->GlobalConfig3; // OG: wird nicht in osd.c verwendet
*/
rxd_buffer_locked = FALSE; // 07.03.2013 OG: fix
// es gab Probleme mit dem Empfang gueltiger NC-Daten, die zu unschoenen Starteffekten bei den
// OSD-Screens gefuehrt haben. Mit rxd_buffer_locked = FALSE vor SwitchToNC() ist das PKT wieder im 'Takt'
SwitchToNC();
mode = 'O';
// disable debug...
// RS232_request_mk_data (0, 'd', 0);
tmp_dat = 0;
SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
// request OSD Data from NC every 100ms
// RS232_request_mk_data (1, 'o', 100);
tmp_dat = 10;
OSD_active = true; // benoetigt für Navidata Ausgabe an SV2
SendOutData( 'o', ADDRESS_NC, 1, &tmp_dat, 1);
//-------------------------
// Clear statistics
//-------------------------
max_Altimeter = 0;
max_GroundSpeed = 0;
max_Distance = 0;
min_UBat = 255;
max_FlyingTime = 0;
CellIsChecked = 0;
cells = 0;
AkkuWarnThreshold = 0;
OldWP = 0;
NextWP = false;
//-------------------------
//-------------------------
MAX_OSD_Screens = 8;
#ifdef OSD_DEBUG_SCREEN
MAX_OSD_Screens += 1;
#endif
if( Config.OSD_ScreenMode >= MAX_OSD_Screens ) Config.OSD_ScreenMode = 0;
//-------------------------
// Timer & Flags
//-------------------------
ScreenRefresh = OSD_SCREEN_REDRAW;
flag = 0;
timer = TIMEOUT;
abo_timer = ABO_TIMEOUT;
timer2 = OSD_REFRESH_TIME;
do
{
if( rxd_buffer_locked )
{
timer = TIMEOUT;
Decode64 ();
naviData = (NaviData_t *) pRxData;
//----------------------------------
// Winkel zu Home
//----------------------------------
if( Config.OSD_HomeMKView == 1 )
heading_home = (naviData->HomePositionDeviation.Bearing + 360 - naviData->CompassHeading) % 360;
else
heading_home = (naviData->CompassHeading - naviData->HomePositionDeviation.Bearing + 360 ) % 360;
//----------------------------------
// speichere letzte GPS-Positionen
//----------------------------------
GPS_Pos_t currpos;
currpos.Latitude = naviData->CurrentPosition.Latitude;
currpos.Longitude = naviData->CurrentPosition.Longitude;
if((currpos.Latitude != last5pos[0].Latitude)&&(currpos.Longitude != last5pos[0].Longitude))
{
last5pos[6] = last5pos[5];
last5pos[5] = last5pos[4];
last5pos[4] = last5pos[3];
last5pos[3] = last5pos[2];
last5pos[2] = last5pos[1];
last5pos[1] = last5pos[0];
last5pos[0] = currpos;
}
// 07.03.2013 OG: Speichere permanent letzte Position in Config
// wurde vorher nur in OSD_TimeOut() gemacht
Config.LastLatitude = currpos.Latitude; // speichere letzte Position in Config
Config.LastLongitude = currpos.Longitude; // speichere letzte Position in Config
flag = 1;
if (naviData->FCStatusFlags & FC_STATUS_MOTOR_RUN)
{ // should be engines running
// motors are on, assume we were/are flying
COSD_FLAGS2 |= COSD_WASFLYING;
}
//----------------------------------
// remember statistics (only when engines running)
//----------------------------------
if( naviData->FCStatusFlags & FC_STATUS_MOTOR_RUN )
{
if (naviData->Altimeter > max_Altimeter) max_Altimeter = naviData->Altimeter;
if (naviData->GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData->GroundSpeed;
if (naviData->HomePositionDeviation.Distance > max_Distance) max_Distance = naviData->HomePositionDeviation.Distance;
if (naviData->FlyingTime > max_FlyingTime) max_FlyingTime = naviData->FlyingTime;
if (naviData->UBat < min_UBat) min_UBat = naviData->UBat;
if (naviData->Current > max_Current) max_Current = naviData->Current;
if (naviData->UsedCapacity > max_Capacity) max_Capacity = naviData->UsedCapacity;
}
//----------------------------------
// OSD-Screens
//----------------------------------
if( ScreenRefresh == OSD_SCREEN_REDRAW ) lcd_cls();
if( timer2 == 0 || ScreenRefresh == OSD_SCREEN_REDRAW)
{
if( Config.OSD_ScreenMode == 0) ScreenName = OSD_Screen_General( ScreenRefresh );
else if( Config.OSD_ScreenMode == 1) ScreenName = OSD_Screen_Navigation( ScreenRefresh );
else if( Config.OSD_ScreenMode == 2) ScreenName = OSD_Screen_MKStatus( ScreenRefresh );
else if( Config.OSD_ScreenMode == 3) ScreenName = OSD_Screen_OSD0( ScreenRefresh );
else if( Config.OSD_ScreenMode == 4) ScreenName = OSD_Screen_OSD1( ScreenRefresh );
else if( Config.OSD_ScreenMode == 5) ScreenName = OSD_Screen_OSD2( ScreenRefresh );
else if( Config.OSD_ScreenMode == 6) ScreenName = OSD_Screen_3DLage( ScreenRefresh );
else if( Config.OSD_ScreenMode == 7) ScreenName = OSD_Screen_Statistics( ScreenRefresh );
#ifdef OSD_DEBUG_SCREEN
else if( Config.OSD_ScreenMode == (MAX_OSD_Screens-1) ) ScreenName = OSD_Screen_Debug( ScreenRefresh );
#endif
}
ScreenRefresh = OSD_SCREEN_REFRESH;
if( timer2 == 0 ) timer2 = OSD_REFRESH_TIME;
//-----------------------
// Key-Handler
//-----------------------
//if (get_key_press (1 << KEY_PLUS))
//{
// print_position ();
//}
if( get_key_press (1 << KEY_ENTER) ) // info
{
OSD_Info( Config.OSD_ScreenMode, ScreenName);
ScreenRefresh = OSD_SCREEN_REDRAW;
}
if (get_key_press (1 << KEY_MINUS)) // previous screen
{
if( Config.OSD_ScreenMode == 0 )
Config.OSD_ScreenMode = MAX_OSD_Screens-1;
else
Config.OSD_ScreenMode--;
ScreenRefresh = OSD_SCREEN_REDRAW;
}
if (get_key_press (1 << KEY_PLUS)) // next Screen
{
Config.OSD_ScreenMode++;
Config.OSD_ScreenMode = ( Config.OSD_ScreenMode >= MAX_OSD_Screens ? 0 : Config.OSD_ScreenMode );
ScreenRefresh = OSD_SCREEN_REDRAW;
}
//-----------------------
// Akku Warnung
//-----------------------
CheckMKLipo();
// if (naviData->UBat > MK_LowBat) //bei kurzzeitigen Schwankungen Beeper erst wieder aus wenn UBat 0,2 V höher als Warnschwelle
// { //Beeper aus
// BeepTime = 0;
// BeepMuster = 0xFFFF;
// }
// Akku Warnung Ende
//-----------------------
// remember last values
//-----------------------
last_RC_Quality = naviData->RC_Quality;
last_UBat = naviData->UBat;
old_FCFlags = naviData->FCStatusFlags;
rxd_buffer_locked = FALSE;
//-----------------------
// abo_timer
//-----------------------
if (!abo_timer)
{ // renew abo every 3 sec
// request OSD Data from NC every 100ms
// RS232_request_mk_data (1, 'o', 100);
tmp_dat = 10;
SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
abo_timer = ABO_TIMEOUT;
}
} //if (rxd_buffer_locked)
if (!timer)
{
OSD_Timeout(flag);
flag = 0;
ScreenRefresh = OSD_SCREEN_REDRAW;
}
} while (!get_key_press (1 << KEY_ESC));
OSD_active = false;
}
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/osd/osd.h
0,0 → 1,111
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef _OSD_H
#define _OSD_H
#define OSD_SCREEN_REFRESH 0 // Screen: Werte anzeigen
#define OSD_SCREEN_REDRAW 1 // Screen: Labels und statischer Elemente neu zeichen, Werte anzeigen
// Flags
#define OSD_FLAG_AH 0 // Altitue Hold
#define OSD_FLAG_PH 1 // Position Hold
#define OSD_FLAG_CF 2 // Care Free
#define OSD_FLAG_CH 3 // Coming Home
#define OSD_FLAG_O1 4 // Out1 (LED 1)
#define OSD_FLAG_O2 5 // Out2 (LED 2)
#define OSD_FLAG_BA 6 // LowBat warning (MK)
#define OSD_FLAG_CA 7 // Calibrate
#define OSD_FLAG_ST 8 // Start
#define OSD_FLAG_MR 9 // Motor Run
#define OSD_FLAG_FY 10 // Fly
#define OSD_FLAG_EL 11 // Emergency Landing
#define OSD_FLAG_FS 12 // RS Failsave Active
#define OSD_FLAG_GP 13 // GPS ok
#define OSD_FLAG_S0 14 // GPS-Sat not ok (GPS NOT ok)
#define OSD_FLAG_TU 15 // Vario Trim Up
#define OSD_FLAG_TD 16 // Vario Trim Down
#define OSD_FLAG_FR 17 // Free
#define OSD_FLAG_RL 18 // Range Limit
#define OSD_FLAG_SL 19 // No Serial Link
#define OSD_FLAG_TR 20 // Target Reached
#define OSD_FLAG_MC 21 // Manual Control
#define OSD_FLAG_COUNT 22
void osd (uint8_t ShowMode);
void vario_beep_output (void);
void OSD_Timeout(uint8_t flag);
void CheckMKLipo(void);
extern volatile uint8_t OSD_active;
extern volatile uint8_t error;
void OSD_Element_Flag_Label( uint8_t xC, uint8_t yC, uint8_t item, uint8_t lOn, int8_t xoffs, int8_t yoffs);
void OSD_Element_Flag( uint8_t xC, uint8_t yC, uint8_t item, int8_t xoffs, int8_t yoffs);
void OSD_Element_AltitudeControl( uint8_t x, uint8_t y );
void OSD_Element_Altitude( uint8_t x, uint8_t y, uint8_t nStyle );
void OSD_Element_BattLevel2( uint8_t x, uint8_t y, int8_t xoffs, int8_t yoffs );
void OSD_Element_BatteryLevel_Bar( uint8_t x, uint8_t y );
void OSD_Element_BatteryLevel_Text( uint8_t x, uint8_t y, uint8_t nStyle );
void OSD_Element_BatteryLevel( uint8_t x, uint8_t y, uint8_t nStyle );
void OSD_Element_Capacity( uint8_t x, uint8_t y );
void OSD_Element_CareFree( uint8_t x, uint8_t y );
void OSD_Element_CompassDegree( uint8_t x, uint8_t y, uint8_t nStyle );
void OSD_Element_CompassDirection( uint8_t x, uint8_t y );
void OSD_Element_CompassRose( uint8_t x, uint8_t y );
void OSD_Element_Current( uint8_t x, uint8_t y );
void OSD_Element_FlyingTime( uint8_t x, uint8_t y );
void OSD_Element_GroundSpeed( uint8_t x, uint8_t y );
void OSD_Element_HomeCircle( uint8_t x, uint8_t y, uint8_t breite, int8_t rOffset, int8_t xoffs, int8_t yoffs );
void OSD_Element_HomeDegree( uint8_t x, uint8_t y );
void OSD_Element_HomeDistance( uint8_t x, uint8_t y, uint8_t nStyle );
void OSD_Element_LEDOutput( uint8_t x, uint8_t y, uint8_t bitmask );
void OSD_Element_LED1Output( uint8_t x, uint8_t y );
void OSD_Element_LED2Output( uint8_t x, uint8_t y );
void OSD_Element_Manuell( uint8_t x, uint8_t y );
void OSD_Element_NaviMode( uint8_t x, uint8_t y );
void OSD_Element_RCIntensity( uint8_t x, uint8_t y );
void OSD_Element_SatsInUse( uint8_t x, uint8_t y, uint8_t nStyle );
void OSD_Element_StatusFlags( uint8_t x, uint8_t y );
void OSD_Element_Variometer( uint8_t x, uint8_t y );
void OSD_Element_Target( uint8_t x, uint8_t y, uint8_t nStyle );
void OSD_Element_VarioWert( uint8_t x, uint8_t y );
void OSD_Element_WayPoint( uint8_t x, uint8_t y );
void OSD_Element_TargetDegree( uint8_t x, uint8_t y );
void OSD_Element_UpDown( uint8_t x, uint8_t y, int8_t xoffs, int8_t yoffs);
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/parameter.c
0,0 → 1,1449
/*****************************************************************************
* 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 *
* *
* 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/pgmspace.h>
#include <util/delay.h>
#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include "lcd/lcd.h"
#include "timer/timer.h"
#include "uart/usart.h"
#include "mk-data-structs.h"
#include "parameter.h"
#include "menu.h"
#include "eeprom/eeprom.h"
#include "parameter_names.h"
#include "messages.h"
#include "menu.h"
#define TIMEOUT 500 // 5 sec
uint8_t display_settings_menu (void);
uint8_t display_param_menu (uint8_t);
uint8_t load_setting (uint8_t);
uint8_t write_setting (uint8_t);
uint8_t display_section_menu(void);
void edit_param(uint8_t);
void copy_setting(void);
mk_param_struct_t *mk_param_struct;
//uint8_t ii;
//volatile uint8_t offset = 0;
//volatile uint8_t dmode = 0;
//volatile uint8_t target_pos = 1;
volatile uint8_t offset2 = 0;
volatile uint8_t pmode = 0;
volatile uint8_t target_pos2 = 1;
volatile uint8_t setting = 0;
uint8_t changes = 0;
#define OFFSETOF(type, field) ((unsigned int) &(((type *) 0)->field))
#define MKOSO(field) (uint8_t)OFFSETOF(mk_param_struct_t, field)
//--------------------------------------------------------------
// Typ == (0 ohne Poti, 1 mit Poti, 2 bitfield, 3 serCh, 4 LEDmask, 5 Angle, 6 Empfaenger),
// |||
// Group, Typ, Min, Max, Struct-Name(Value), Default1, Default2, Default3+4+5,
// 0 1 2 3 4 5 6 7
// | | | | | | | |
// | | | / | | | /
// | | | / | | | /
// | | | / | | | /
// | | / / | | | /
// | | / / | | | /
// | / / / | | / /
// | / / / | | / /
// | / / / | | / /
// | / / / | | / /
// | / / / | | / /
// | | / / | | / /
// | | | | | | / /
// | | | | | | / /
// | | | | | | | /
// | | | | | | | /
// | | | | | | | |
// | | | | | | | |
// 0,0,1,12, MKOSO(Kanalbelegung)+2 , 1,1,1, // gas
prog_uchar param_config[8*PARAM_COUNT]=
{
// group 0 (kanaele) 1-15
0,0,1,12, MKOSO(Kanalbelegung)+2 , 1,1,1, // gas
0,0,1,12, MKOSO(Kanalbelegung)+3 , 4,4,4, // gier
0,0,1,12, MKOSO(Kanalbelegung)+0 , 3,3,3, // nick
0,0,1,12, MKOSO(Kanalbelegung)+1 , 2,2,2, // roll
0,3,1,25, MKOSO(Kanalbelegung)+4 , 5,5,5, // poti1
0,3,1,25, MKOSO(Kanalbelegung)+5 , 6,6,6, // poti2
0,3,1,25, MKOSO(Kanalbelegung)+6 , 7,7,7, // poti3
0,3,1,25, MKOSO(Kanalbelegung)+7 , 8,8,8, // poti4
0,3,1,25, MKOSO(Kanalbelegung)+8 , 9,9,9, // poti5
0,3,1,25, MKOSO(Kanalbelegung)+9 , 10,10,10, // poti6
0,3,1,25, MKOSO(Kanalbelegung)+10, 11,11,11, // poti7
0,3,1,25, MKOSO(Kanalbelegung)+11, 12,12,12, // poti8
0,0,0,12, MKOSO(MotorSafetySwitch), 0,0,0, // Motor Sicherungsswitch
0,2,0,CFG3_MOTOR_SWITCH_MODE , MKOSO(GlobalConfig3), 0,0,0, // kein Start ohne GPS Fix
0,2,0,CFG_SENSITIVE_RC, MKOSO(ExtraConfig), 0,0,0, // erweiterte signal pruefung
0,6,0,6, MKOSO(Receiver), 1,1,1,
#ifdef MKVERSION090b
0,2,0,CFG3_SPEAK_ALL , MKOSO(GlobalConfig3), 0,0,0, // Telemetry Speak all Events
#endif
// group 1 (main) 16-23
1,2,0,CFG_HOEHENREGELUNG, MKOSO(GlobalConfig), 0,0,0, // hoehenregler
1,2,0,CFG_GPS_AKTIV, MKOSO(GlobalConfig), 1,1,1, // gps
1,2,0,CFG_KOMPASS_AKTIV, MKOSO(GlobalConfig), 1,1,1, // kompass
1,2,0,CFG_KOMPASS_FIX, MKOSO(GlobalConfig), 0,0,0, // feste ausrichtung
1,2,0,CFG_SENSITIVE_RC, MKOSO(ExtraConfig), 0,0,0, // erweiterte signal pruefung
1,2,0,CFG_ACHSENKOPPLUNG_AKTIV, MKOSO(GlobalConfig), 1,1,1, // achsentkopplung
1,2,0,CFG_DREHRATEN_BEGRENZER, MKOSO(GlobalConfig), 0,0,0, // drehratenbregrenzung
1,2,0,CFG_HEADING_HOLD, MKOSO(GlobalConfig), 0,0,0, // heading hold
// group 2 (stick) 24-27
2,0,0,20, MKOSO(Stick_P), 10,8,6,
2,0,0,20, MKOSO(Stick_D), 16,16,10,
2,1,0,255, MKOSO(StickGier_P), 6,6,4,
2,1,0,255, MKOSO(ExternalControl), 0,0,0,
// group3 : looping 28-36
3,2,0,CFG_LOOP_OBEN, MKOSO(BitConfig), 0,0,0, // oben
3,2,0,CFG_LOOP_UNTEN, MKOSO(BitConfig), 0,0,0, // unten
3,2,0,CFG_LOOP_LINKS, MKOSO(BitConfig), 0,0,0, // links
3,2,0,CFG_LOOP_RECHTS, MKOSO(BitConfig), 0,0,0, // rechts
3,1,0,255, MKOSO(LoopGasLimit), 50,50,50,
3,0,0,247, MKOSO(LoopThreshold), 90,90,90,
3,0,0,247, MKOSO(LoopHysterese), 50,50,50,
3,0,0,247, MKOSO(WinkelUmschlagNick), 78,78,78,
3,0,0,247, MKOSO(WinkelUmschlagRoll), 78,78,78,
// group 4 (hoehe) 37-50
4,2,0,CFG_HOEHENREGELUNG, MKOSO(GlobalConfig), 0,0,0, // hoehenrelger
4,2,0,CFG2_HEIGHT_LIMIT, MKOSO(ExtraConfig), 0,0,0, // vario oder hoeenbergenzung
4,2,0,CFG_HOEHEN_SCHALTER, MKOSO(GlobalConfig), 1,1,1, // hoehenschalter
4,2,0,CFG2_VARIO_BEEP, MKOSO(ExtraConfig), 1,1,1, // variobeep
4,1,0,255, MKOSO(MaxHoehe), 255,255,255,
4,0,0,247, MKOSO(Hoehe_MinGas), 30,30,30,
4,1,0,255, MKOSO(Hoehe_P), 15,15,15,
4,1,0,255, MKOSO(Luftdruck_D), 30,30,30,
4,1,0,255, MKOSO(Hoehe_ACC_Wirkung), 0,0,0,
4,1,0,255, MKOSO(MaxAltitude), 150,150,150,
4,0,0,247, MKOSO(Hoehe_Verstaerkung), 15,15,15,
4,0,0,247, MKOSO(Hoehe_HoverBand), 8,8,8,
4,1,0,255, MKOSO(Hoehe_GPS_Z), 64,64,64,
4,0,0,160, MKOSO(Hoehe_StickNeutralPoint), 0,0,0,
// group 5 : kamera 51-68
5,1,0,255, MKOSO(ServoNickControl), 128,128,128,
5,0,0,247, MKOSO(ServoNickComp), 50,50,50,
5,2,0,SVNick, MKOSO(ServoCompInvert), 0,0,0, // nick
#ifdef MKVERSION090b
5,2,0,SVRelMov, MKOSO(ServoCompInvert), 0,0,0, // nick Servo relative
#endif
5,0,0,247, MKOSO(ServoNickMin), 15,15,15,
5,0,0,247, MKOSO(ServoNickMax), 230,230,230,
5,0,0,25, MKOSO(ServoFilterNick), 0,0,0, //FC0.87
5,1,0,255, MKOSO(ServoRollControl), 128,128,128,
5,0,0,247, MKOSO(ServoRollComp), 85,85,85,
5,2,0,SVRoll, MKOSO(ServoCompInvert), 0,0,0, // roll
5,0,0,247, MKOSO(ServoRollMin), 70,70,70,
5,0,0,247, MKOSO(ServoRollMax), 220,220,220,
5,0,0,25, MKOSO(ServoFilterRoll), 0,0,0, //FC0.87
5,0,2,8, MKOSO(ServoNickRefresh), 4,4,4,
5,0,0,247, MKOSO(ServoManualControlSpeed), 60,60,60,
5,5,0,247, MKOSO(CamOrientation), 0,0,0,
5,1,0,255, MKOSO(Servo3), 125,125,125,
5,1,0,255, MKOSO(Servo4), 125,125,125,
5,1,0,255, MKOSO(Servo5), 125,125,125,
// group 6 : navictrl 67-85
6,2,0,0x20, MKOSO(GlobalConfig), 1,1,1, // gps
6,1,0,255, MKOSO(NaviGpsModeControl), 254,254,254,
6,1,0,255, MKOSO(NaviGpsGain), 100,100,100,
6,0,0,247, MKOSO(NaviStickThreshold), 8,8,8,
6,0,0,247, MKOSO(NaviGpsMinSat), 6,6,6,
6,1,0,255, MKOSO(NaviGpsP), 90,90,90,
6,1,0,255, MKOSO(NaviGpsI), 90,90,90,
6,1,0,255, MKOSO(NaviGpsD), 90,90,90,
6,1,0,255, MKOSO(NaviGpsPLimit), 75,75,75,
6,1,0,255, MKOSO(NaviGpsILimit), 85,85,85,
6,1,0,255, MKOSO(NaviGpsDLimit), 75,75,75,
6,1,0,255, MKOSO(NaviGpsACC), 0,0,0,
6,1,0,255, MKOSO(NaviWindCorrection), 90,90,90,
6,1,0,255, MKOSO(NaviAccCompensation), 42,42,42,
6,1,0,255, MKOSO(NaviOperatingRadius), 245,245,245,
6,1,0,255, MKOSO(NaviAngleLimitation), 140,140,140,
6,0,0,247, MKOSO(NaviPH_LoginTime), 5,5,5,
6,2,0,CFG_GPS_AID, MKOSO(ExtraConfig), 0,0,0, // FC0.87dynamic ph
6,2,0,CFG3_DPH_MAX_RADIUS , MKOSO(GlobalConfig3), 0,0,0, // FC0.87
6,0,0,247, MKOSO(ComingHomeAltitude), 0,0,0,
// group 7 : ausgaenge 86-95
7,4,0,255, MKOSO(J16Bitmask), 95,95,95,
7,1,0,255, MKOSO(J16Timing), 20,20,20,
7,2,0,CFG_MOTOR_OFF_LED1, MKOSO(BitConfig), 0,0,0, // Motor_Off_Led1
7,2,0,CFG_MOTOR_BLINK1, MKOSO(BitConfig), 1,1,1, // Motor_Blink1
#ifdef MKVERSION090b
7,2,0,CFG3_USE_NC_FOR_OUT1, MKOSO(GlobalConfig3), 0,0,0, // combine with WP-WEvent
7,1,0,255, MKOSO(NaviOut1Parameter), 0,0,0,
#endif
7,4,0,255, MKOSO(J17Bitmask), 243,243,243,
7,1,0,255, MKOSO(J17Timing), 20,20,20,
7,2,0,CFG_MOTOR_OFF_LED2, MKOSO(BitConfig), 0,0,0, // Motor_Off_Led2
7,2,0,CFG_MOTOR_BLINK2, MKOSO(BitConfig), 1,1,1, // Motor_Blink2
7,4,0,255, MKOSO(WARN_J16_Bitmask), 170,170,170,
7,4,0,255, MKOSO(WARN_J17_Bitmask), 170,170,170,
// group 8 : versch. 96-107
8,0,0,247, MKOSO(Gas_Min), 8,8,8,
8,0,0,247, MKOSO(Gas_Max), 230,230,230,
8,1,0,255, MKOSO(KompassWirkung), 64,64,64,
8,1,0,255, MKOSO(CareFreeModeControl), 0,0,0, // Carefree
8,2,0,CFG_LEARNABLE_CAREFREE, MKOSO(ExtraConfig), 0,0,0, // teachable Carefree
8,0,0,247, MKOSO(UnterspannungsWarnung), 33,33,33,
8,2,0,CFG_3_3V_REFERENCE, MKOSO(ExtraConfig), 0,0,0, // Voltage referenz
8,0,0,247, MKOSO(NotGasZeit), 90,90,90,
8,0,0,247, MKOSO(NotGas), 45,45,45,
8,0,0,247, MKOSO(FailSafeTime), 0,0,0, // Failsavetime
8,0,0,12, MKOSO(FailsafeChannel), 0,0,0, // FC0.87 Failsave Channel
8,2,0,CFG_NO_RCOFF_BEEPING, MKOSO(ExtraConfig), 0,0,0, // Kein Summer ohne Sender beim Start
8,2,0,CFG3_VARIO_FAILSAFE, MKOSO(GlobalConfig3), 0,0,0, //use vario Control for failsafe altitude
8,2,0,CFG_IGNORE_MAG_ERR_AT_STARTUP, MKOSO(ExtraConfig), 0,0,0, // Ignore Compass Error
8,2,0,CFG3_NO_SDCARD_NO_START , MKOSO(GlobalConfig3), 0,0,0, // nicht starten ohne SD Karte
8,2,0,CFG3_NO_GPSFIX_NO_START , MKOSO(GlobalConfig3), 0,0,0, // kein Start ohne GPS Fix
// group 9 : gyro 108-120
9,1,0,255, MKOSO(Gyro_P), 90,100,100,
9,1,0,255, MKOSO(Gyro_I), 120,120,120,
9,1,0,255, MKOSO(Gyro_D), 10,10,10,
9,1,0,255, MKOSO(Gyro_Gier_P), 90,100,100,
9,1,0,255, MKOSO(Gyro_Gier_I), 120,120,120,
9,1,0,255, MKOSO(DynamicStability), 70,70,70,
9,2,0,CFG_DREHRATEN_BEGRENZER, MKOSO(GlobalConfig), 0,0,0, // drehratenbregrenzung
9,0,0,247, MKOSO(GyroAccFaktor), 27,27,27,
9,0,0,247, MKOSO(GyroAccAbgleich), 32,32,32,
9,1,0,255, MKOSO(I_Faktor), 16,16,16,
9,0,0,247, MKOSO(Driftkomp), 0,0,0,
9,0,0,16, MKOSO(Gyro_Stability), 6,6,6,
9,0,0,247, MKOSO(MotorSmooth), 0,0,0,
// group 10: benutzer 121-128
10,1,0,255, MKOSO(UserParam1), 0,0,0,
10,1,0,255, MKOSO(UserParam2), 0,0,0,
10,1,0,255, MKOSO(UserParam3), 0,0,0,
10,1,0,255, MKOSO(UserParam4), 0,0,0,
10,1,0,255, MKOSO(UserParam5), 0,0,0,
10,1,0,255, MKOSO(UserParam6), 0,0,0,
10,1,0,255, MKOSO(UserParam7), 0,0,0,
10,1,0,255, MKOSO(UserParam8), 0,0,0,
// group 11: achskoppl 129-132
11,2,0,CFG_ACHSENKOPPLUNG_AKTIV, MKOSO(GlobalConfig), 0,0,0, // achsentkopplung
11,1,0,255, MKOSO(AchsKopplung1), 90,90,90,
11,1,0,255, MKOSO(AchsKopplung2), 55,55,55,
11,1,0,255, MKOSO(CouplingYawCorrection), 70,70,70,
// group 12: mixer 133
12,5,0,23,MKOSO(OrientationAngle), 0,0,0,
// group 13 (easy-setup) 134-144
13,2,0,0x01, MKOSO(GlobalConfig), 0,0,0, // hoehenrelger
13,1,0,255, MKOSO(MaxHoehe), 255,255,255,
13,0,0,160, MKOSO(Hoehe_StickNeutralPoint), 0,0,0,
13,2,0,0x20, MKOSO(GlobalConfig), 1,1,1, // gps
13,1,0,255, MKOSO(NaviGpsModeControl), 254,254,254,
13,2,0,0x20, MKOSO(ExtraConfig), 0,0,0, // dynamic ph
13,0,0,247, MKOSO(ComingHomeAltitude), 0,0,0,
13,1,0,255, MKOSO(CareFreeModeControl), 0,0,0, // Carefree
13,2,0,0x40, MKOSO(ExtraConfig), 0,0,0, // teachable Carefree
13,0,0,12, MKOSO(MotorSafetySwitch), 0,0,0, // Motor Sicherungsswitch
13,5,0,23, MKOSO(OrientationAngle), 0,0,0,
};
//--------------------------------------------------------------
#define ITEMS_RX 9
prog_char param_items_rx[ITEMS_RX][17]= // zeilen,zeichen+1
{
"PPM ",
"Spektrum ",
"Spektrum HiRes ",
"Spektrum LoRes ",
"Jeti ",
"ACT DSL ",
"HOTT ",
"Futuba SBUS ",
"User ",
};
//--------------------------------------------------------------
void edit_parameter(void)
{
SwitchToFC();
// uint8_t setting;
setting = display_settings_menu();
if(setting == 255)
return;
if(setting == 6)
{
copy_setting();
return;
}
lcd_cls();
// lcd_printp_at (0, 0, PSTR(" Setting x "), 2);
lcd_puts_at(0, 0, strGet(PARA_SETTINGS), 2);
lcd_putc (15, 0, (setting + 48), 2); // ASCII ab 48 (hex 30) beginnt 0 - 9
// lcd_printp_at (3, 2, PSTR("ändern"), 0);
// lcd_printp_at (3, 3, PSTR("aktivieren"), 0);
lcd_puts_at(3, 2, strGet(PARA_CHANGE), 0);
lcd_puts_at(3, 3, strGet(PARA_AKTIVI), 0);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
uint8_t val = menu_choose2 (2, 3, 2, 0, 0);
if (val == 255)
return;
if(val == 3)
{
load_setting(setting);
uint8_t setting_written = write_setting(setting);
if(setting_written == setting)
{
lcd_cls_line (0,2,21);
lcd_cls_line (0,3,21);
// lcd_printp_at (11, 0, PSTR("aktiviert"), 0);
lcd_puts_at(5, 2, strGet(PARA_AKTIV), 0);
}
else
{
lcd_cls_line (0,2,21);
lcd_cls_line (0,3,21);
// lcd_printp_at (0, 4, PSTR("Error"), 0);
lcd_puts_at(0, 4, strGet(FEHLER), 0);
}
_delay_ms(2000);
return;
}
if(setting == 255)
return;
uint8_t setting_loaded = load_setting(setting);
if(setting_loaded == 255)
return;
offset = 0;
dmode = 0;
target_pos = 1;
changes =0;
uint8_t group =0;
do
{
group = display_section_menu();
if(group != 255)
{
offset2 = 0;
pmode = 0;
target_pos2 = 1;
uint8_t param;
do
{
param = display_param_menu(group);
if(param != 255)
{
edit_param(param);
}
}
while(param != 255);
}
}
while(group != 255);
if(changes == 1)
{
lcd_cls();
// lcd_printp_at (0, 0, PSTR(" Setting x speichern?"), 2);
lcd_puts_at(0, 0, strGet(PARA_SAVESETT), 2);
lcd_putc (9, 0, (setting + 48), 2); // ASCII ab 48 (hex 30) beginnt 0 - 9
write_ndigit_number_u(9, 0, setting, 1, 0,0);
// lcd_printp_at (3, 2, PSTR("Ja"), 0);
// lcd_printp_at (3, 3, PSTR("Nein"), 0);
lcd_puts_at(3, 2, strGet(YES), 0);
lcd_puts_at(3, 3, strGet(NOO), 0);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
uint8_t val = menu_choose2 (2, 3, 2, 0, 0);
if(val == 2)
{
uint8_t setting_written = write_setting(setting);
if(setting_written == setting)
{
// lcd_printp_at (3, 4, PSTR("Gespeichert und"), 0);
lcd_puts_at(3, 4, strGet(PARA_SETTSAVED), 0);
// lcd_printp_at (3, 5, PSTR("Aktiviert"), 0);
lcd_puts_at(3, 5, strGet(PARA_AKTIV), 0);
}
else
{
// lcd_printp_at (0, 4, PSTR("Error"), 0);
lcd_puts_at(0, 4, strGet(FEHLER), 0);
}
timer = 100;
while (timer > 0);
}
}
}
//--------------------------------------------------------------
void copy_setting(void)
{
uint8_t fromsetting = 3;
uint8_t tosetting = 5;
lcd_cls();
// lcd_printp_at (0, 1, PSTR("Kopiere Setting"), 0);
// lcd_printp_at (0, 3, PSTR("von x nach y"), 0);
// lcd_printp_at (0, 7, PSTR("von nach Ende OK"), 0);
lcd_puts_at(0, 1, strGet(PARA_COPY), 0);
lcd_puts_at(0, 3, strGet(PARA_FROMTO), 0);
lcd_puts_at(0, 7, strGet(PARA_ENDE), 0);
do
{
write_ndigit_number_u(5,3,fromsetting, 1,0,0);
write_ndigit_number_u(14,3,tosetting, 1,0,0);
if(get_key_press (1 << KEY_MINUS))
{
fromsetting++;
if(fromsetting == 6) fromsetting = 1;
}
if(get_key_press (1 << KEY_PLUS))
{
tosetting++;
if(tosetting == 6) tosetting = 1;
}
if(get_key_press (1 << KEY_ENTER))
{
lcd_printp_at (0, 5, PSTR("Wirklich Kopieren?"), 0);
lcd_puts_at(0, 5, strGet(PARA_COPYQ), 0);
// lcd_printp_at (0, 7, PSTR(" Ende OK"), 0);
lcd_puts_at(12, 7, strGet(KEYLINE4), 0);
do
{
if(get_key_press (1 << KEY_ENTER))
{
uint8_t loaded = load_setting(fromsetting);
if(loaded == fromsetting)
{
uint8_t written = write_setting(tosetting);
if(written == tosetting)
{
lcd_printp_at (0, 5, PSTR("Kopiert und Aktiviert"), 0);
lcd_puts_at(0, 5, strGet(PARA_COPYACTIV), 0);
}
else
{
// lcd_printp_at (0, 5, PSTR("Fehler"), 0);
lcd_puts_at(0, 5, strGet(FEHLER), 0);
lcd_cls_line (6, 5, 14);
}
}
else
{
// lcd_printp_at (0, 5, PSTR("Fehler"), 0);
lcd_puts_at(0, 5, strGet(FEHLER), 0);
lcd_cls_line (6, 5, 14);
}
timer = 100;
while (timer > 0);
return;
}
}
while (!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
lcd_cls_line (0, 5, 21);
// lcd_printp_at (0, 7, PSTR("von nach Ende OK"), 0);
lcd_puts_at(0, 7, strGet(PARA_ENDE), 0);
}
}
while (!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
}
//--------------------------------------------------------------
void edit_param(uint8_t param)
{
lcd_cls();
uint8_t type = pgm_read_byte(param_config+(8*param)+1);
// lcd_printp_at (0, 0, PSTR(" Ändere Setting: "), 2);
lcd_puts_at(0, 0, strGet(PARA_CHANGESETT), 2);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
if(type != 6)
lcd_printp_at(0,2,param_names[param][Config.DisplayLanguage], 0);
//-------------------------------------------------------
if(type == 0) // ohne poti
{
lcd_printp_at (4, 4, PSTR("( - ) (d: )"), 0);
lcd_printp_at (12, 6, PSTR("Std."), 0);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_2), 0);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
uint8_t min = pgm_read_byte(param_config+(8*param)+2);
uint8_t max = pgm_read_byte(param_config+(8*param)+3);
uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4));
uint8_t defaultvalue = pgm_read_byte(param_config+(8*param)+4 + setting ); // 5 - 7
uint8_t newvalue = value;
write_ndigit_number_u (5, 4, min, 3, 0,0);
write_ndigit_number_u (9, 4, max, 3, 0,0);
write_ndigit_number_u (17, 4, defaultvalue, 3, 0,0);
do
{
write_ndigit_number_u (0, 4, newvalue, 3, 0,0);
lcd_frect ((8*0), (8*5), (newvalue * (16*8) / max), 6, 1);
if(max >= 50)
{
if(get_key_press (1 << KEY_PLUS) | get_key_long_rpt_sp ((1 << KEY_PLUS), 3))
{
if((newvalue+1) <= max)
newvalue++;
}
if(get_key_press (1 << KEY_MINUS) | get_key_long_rpt_sp ((1 << KEY_MINUS), 3))
{
if((newvalue-1) >= min)
{
lcd_frect (((newvalue - 1) * (16*8) / max), (8*5), (16*8), 6, 0);
// lcd_frect ((newvalue * (16*8) / max), (8*5), ((16*8) / max), 6, 0);
newvalue--;
}
}
}
else
{
if(get_key_press (1 << KEY_PLUS) | get_key_long_rpt_sp ((1 << KEY_PLUS), 2))
{
if((newvalue+1) <= max)
newvalue++;
}
if(get_key_press (1 << KEY_MINUS) | get_key_long_rpt_sp ((1 << KEY_MINUS), 2))
{
if((newvalue-1) >= min)
{
lcd_frect (((newvalue - 1) * (16*8) / max), (8*5), (16*8), 6, 0);
// lcd_frect ((newvalue * (16*8) / max), (8*5), ((16*8) / max), 6, 0);
newvalue--;
}
}
}
if(get_key_long (1 << KEY_ESC))
{
lcd_frect ((8*0), (8*5), (16*8), 6, 0);
newvalue = defaultvalue;
}
if(get_key_short (1 << KEY_ENTER))
{
if(newvalue != value)
{
*(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4)) = newvalue;
changes=1;
}
break;
}
}
while (!get_key_short (1 << KEY_ESC));
get_key_press(KEY_ALL);
}
//-------------------------------------------------------
if(type == 1) // mit poti
{
lcd_printp_at (4, 4, PSTR("(0-247-P8)(d:Po )"), 0);
lcd_printp_at (12, 6, PSTR("Std."), 0);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_2), 0);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
uint8_t min = pgm_read_byte(param_config+(8*param)+2);
uint8_t max = pgm_read_byte(param_config+(8*param)+3);
uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4));
uint8_t defaultvalue = pgm_read_byte(param_config+(8*param)+4 + setting ); // 5 - 7
uint8_t newvalue = value;
uint8_t mode = 0;
if(defaultvalue > 247)
{
lcd_printp_at (17, 4, PSTR("Po )"), 0);
write_ndigit_number_u (19, 4, 256-defaultvalue, 1, 0,0);
}
else
write_ndigit_number_u (17, 4, defaultvalue, 3, 0,0);
if(value > 247)
mode = 1;
do
{
if(newvalue > 247)
mode = 1;
else
mode = 0;
if(mode == 0)
{
write_ndigit_number_u (0, 4, newvalue, 3, 0,0);
lcd_frect ((8*0), (8*5), (newvalue * (16*8) / max), 6, 1);
if(get_key_press (1 << KEY_PLUS) | get_key_long_rpt_sp ((1 << KEY_PLUS), 3))
{
if((newvalue+1) <= max)
newvalue++;
if(newvalue > 247)
{
lcd_frect ((8*0), (8*5), (16*8), 6, 0);
newvalue = 255;
}
}
if(get_key_press (1 << KEY_MINUS) | get_key_long_rpt_sp ((1 << KEY_MINUS), 3))
{
if((newvalue-1)>=min)
{
lcd_frect (((newvalue - 1) * (16*8) / max), (8*5), (16*8), 6, 0);
// lcd_frect ((newvalue * (16*8) / max), (8*5), ((16*8) / max), 6, 0);
newvalue--;
}
}
}
else
{
lcd_printp_at (0, 4, PSTR("Po"), 0);
write_ndigit_number_u (2, 4, 256 - newvalue, 1, 0,0);
lcd_frect ((8*0), (8*5), ((256 - newvalue) * (16*8) / 8), 6, 1);
if(get_key_press (1 << KEY_PLUS) | get_key_long_rpt_sp ((1 << KEY_PLUS), 1))
{
if(newvalue - 1 > 247)
{
newvalue--;
}
}
if(get_key_press (1 << KEY_MINUS) | get_key_long_rpt_sp ((1 << KEY_MINUS), 1))
{
lcd_frect (((255 - newvalue) * (16*8) / 8), (8*5), (16*8), 6, 0);
// lcd_frect (((255 - newvalue) * (16*8) / 8), (8*5), ((16*8) / 8), 6, 0);
newvalue++;
if(newvalue == 0)
{
lcd_frect ((8*0), (8*5), (16*8), 6, 0); // balken löschen
newvalue = 247;
}
}
}
if(get_key_long (1 << KEY_ESC))
{
lcd_frect ((8*0), (8*5), (16*8), 6, 0);
newvalue = defaultvalue;
}
if(get_key_short (1 << KEY_ENTER))
{
if(newvalue != value)
{
*(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4)) = newvalue;
changes=1;
}
break;
}
}
while (!get_key_short (1 << KEY_ESC));
get_key_press(KEY_ALL);
}
//-------------------------------------------------------
if(type == 2) // ja/nein
{
// lcd_printp_at (3, 4, PSTR("Ja"), 0);
// lcd_printp_at (3, 5, PSTR("Nein"), 0);
lcd_puts_at(3, 4, strGet(YES), 0);
lcd_puts_at(3, 5, strGet(NOO), 0);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
uint8_t bitmap = pgm_read_byte(param_config+(8*param)+3);
uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4));
uint8_t defaultvalue = pgm_read_byte(param_config+(8*param)+4 + setting ); // 5 - 7
uint8_t newvalue = value;
if(defaultvalue == 1)
lcd_printp_at (8, 4, PSTR("*"), 0);
if(defaultvalue == 0)
lcd_printp_at (8, 5, PSTR("*"), 0);
do
{
if(newvalue & bitmap)
{
lcd_printp_at (1, 4, PSTR("\x1d"), 0);
lcd_printp_at (1, 5, PSTR(" "), 0);
}
else
{
lcd_printp_at (1, 4, PSTR(" "), 0);
lcd_printp_at (1, 5, PSTR("\x1d"), 0);
}
if((get_key_press (1 << KEY_MINUS)) && (!(newvalue & bitmap)))
newvalue ^= bitmap;
if((get_key_press (1 << KEY_PLUS)) && (newvalue & bitmap))
newvalue ^= bitmap;
if(get_key_press (1 << KEY_ENTER))
{
if(newvalue != value)
{
*(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4)) = newvalue;
changes=1;
}
break;
}
}
while (!get_key_short (1 << KEY_ESC));
get_key_press(KEY_ALL);
}
//-------------------------------------------------------
if(type == 3) // serCH
{
lcd_printp_at (4, 4, PSTR("(1-S12/W) (d: )"), 0);
lcd_printp_at (12, 6, PSTR("Std."), 0);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_2), 0);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
uint8_t min = pgm_read_byte(param_config+(8*param)+2);
uint8_t max = pgm_read_byte(param_config+(8*param)+3);
uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4));
uint8_t defaultvalue = pgm_read_byte(param_config+(8*param)+4 + setting ); // 5 - 7
uint8_t newvalue = value;
write_ndigit_number_u (17, 4, defaultvalue, 3, 0,0);
do
{
if (newvalue<=(max-13))
write_ndigit_number_u (0, 4, newvalue, 3, 0,0);
else
{
if (newvalue<=(max-1))
{
lcd_printp_at (0, 4, PSTR("S"), 0);
write_ndigit_number_u (1, 4, (newvalue-12), 2, 0,0);
}
}
if (newvalue==max)
lcd_printp_at (0, 4, PSTR("WPE"), 0);
lcd_frect ((8*0), (8*5), (newvalue * (16*8)) / max, 6, 1);
if(get_key_press (1 << KEY_PLUS) | get_key_long_rpt_sp ((1 << KEY_PLUS), 2))
{
if((newvalue+1) <= max)
newvalue++;
}
if(get_key_press (1 << KEY_MINUS) | get_key_long_rpt_sp ((1 << KEY_MINUS), 2))
{
if((newvalue-1)>=min)
{
lcd_frect (((newvalue - 1) * (16*8) / max), (8*5), (16*8), 6, 0);
newvalue--;
}
}
if(get_key_long (1 << KEY_ESC))
{
lcd_frect ((8*0), (8*5), (16*8), 6, 0);
newvalue = defaultvalue;
}
if(get_key_short (1 << KEY_ENTER))
{
if(newvalue != value)
{
*(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4)) = newvalue;
changes=1;
}
break;
}
}
while (!get_key_short (1 << KEY_ESC));
get_key_press(KEY_ALL);
}
//-------------------------------------------------------
if(type == 4) // led bitfeld
{
// TODO: Übersetzung
lcd_printp_at (0, 7, PSTR(" \x19 0\x11I Ende OK"), 0);
if (param == 93 || param == 94)
// lcd_printp_at (5, 6, PSTR("aktiv"), 0);
lcd_puts_at(5, 6, strGet(AKTIV), 0);
uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4));
uint8_t newvalue = value;
uint8_t pos = 0;
do
{
for(ii = 0; ii < 8; ii++)
{
if(newvalue & (1 << ii))
lcd_printp_at (8-ii, 4,PSTR("1"),0);
else
lcd_printp_at (8-ii, 4,PSTR("0"),0);
}
lcd_printp_at (pos+1, 5,PSTR("\x12"),0);
if(get_key_press (1 << KEY_MINUS))
{
lcd_printp_at (pos+1, 5,PSTR(" "),0);
pos++;
if(pos == 8)
pos = 0;
}
if (param == 93 || param == 94)
{
if(get_key_long (1 << KEY_PLUS))
{
if (newvalue != 0)
newvalue = 0;
else
newvalue = 170;
}
}
if(get_key_short (1 << KEY_PLUS))
newvalue ^= (1<<(7-pos));
if(get_key_short (1 << KEY_ENTER))
{
if(newvalue != value)
{
*(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4)) = newvalue;
changes = 1;
}
break;
}
}
while (!get_key_short (1 << KEY_ESC));
get_key_press(KEY_ALL);
}
//-------------------------------------------------------
if(type == 5) // Angle
{
// lcd_printp_at (0, 7, PSTR(KEY_LINE_2), 0);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4));
lcd_ecircle(102, 35, 16, 1);
uint8_t newvalue = value;
uint8_t oldvalue = newvalue;
do
{
if(oldvalue != newvalue) lcd_ecirc_line (102, 35, 15, oldvalue*15, 0);
oldvalue = newvalue;
lcd_ecirc_line (102, 35, 15, newvalue*15, 1);
if(get_key_press (1 << KEY_PLUS) | get_key_long_rpt_sp ((1 << KEY_PLUS), 1))
{
newvalue++;
if(newvalue == 24)
newvalue = 0;
}
if(get_key_press (1 << KEY_MINUS) | get_key_long_rpt_sp ((1 << KEY_MINUS), 1))
{
if(newvalue == 0)
newvalue = 24;
newvalue--;
}
if(get_key_short (1 << KEY_ENTER))
{
if(newvalue != value)
{
*(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4)) = newvalue;
changes=1;
}
break;
}
}
while (!get_key_short (1 << KEY_ESC));
get_key_press(KEY_ALL);
}
//-------------------------------------------------------
if(type == 6) // receiver
{
uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4));
uint8_t newvalue = value + 1;
uint8_t val =0;
uint8_t ii = 0;
uint8_t offset = 0;
uint8_t dmode = 0;
uint8_t target_pos = 1;
uint8_t size = ITEMS_RX;
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
while(1)
{
ii = 0;
if(offset > 0)
lcd_printp_at(1,1, PSTR("\x12"), 0);
for(ii = 0;ii < 6 ; ii++)
{
if((ii+offset) < size)
lcd_printp_at(3,ii+1,param_items_rx[ii+offset], 0);
if((ii == 5)&&(ii+offset < (size-1)))
lcd_printp_at(1,6, PSTR("\x13"), 0);
}
if(dmode == 0)
{
if(offset == 0)
{
if(size > 6)
val = menu_choose3 (1, 5, target_pos,0,1); //menu_choose3 (min, max, start, return_at_start, return_at_end)
else
val = menu_choose3 (1, size, target_pos,0,0);
}
else
val = menu_choose3 (2, 5, target_pos,1,1);
}
if(dmode == 1)
{
if(offset+7 > size)
val = menu_choose3 (2, 6, target_pos,1,0);
else
val = menu_choose3 (2, 5, target_pos,1,1);
}
if(val == 254) // überlauf unten
{
offset++;
dmode = 1;
target_pos = 5;
}
else if(val == 253) // überlauf oben
{
offset--;
dmode = 0;
target_pos = 2;
}
else if(val == 252) // ESC
return;
else if(val <= size)
{
newvalue = val + offset - 1;
*(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*param)+4)) = newvalue;
changes=1;
return;
}
}
}
}
//--------------------------------------------------------------
uint8_t display_param_menu(uint8_t group)
{
uint8_t items[20];
uint8_t size=0;
for(ii = 0;ii < PARAM_COUNT; ii++)
{
if(pgm_read_byte(param_config+(8*ii)) == (group-1))
{
items[size] = ii;
size++;
}
}
uint8_t val =0 ;
while(1)
{
lcd_cls ();
// lcd_printp_at (0, 0, PSTR(" Wähle Parameter: "), 2);
lcd_puts_at(0, 0, strGet(PARA_SELECT), 2);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
ii = 0;
if(offset2 > 0)
lcd_printp_at(1,1, PSTR("\x12"), 0);
for(ii = 0;ii < 6 ; ii++)
{
if((ii+offset2) < size)
{
lcd_printp_at(3,ii+1,param_names[items[ii+offset2]][Config.DisplayLanguage], 0);
// this reads the the offset in the struct from the pgm configuration table and then reads the value from the struct
uint8_t type = pgm_read_byte(param_config+(8*items[ii+offset2])+1);
if(type == 0)
{
write_ndigit_number_u (18, ii+1, *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*items[ii+offset2])+4)), 3, 0,0);
if (group == 9) // % Anzeige für Notgas wenn Variohöhe für Notgas verwendet wird
{
if (ii+offset2 == 8)
{
uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*items[(ii+offset2)+4])+4)); // Abfrage Variohöhe Notgas
uint8_t bitmap = pgm_read_byte(param_config+(8*items[(ii+offset2)+4])+3); // Abfrage Variohöhe Notgas
if(value & bitmap)
lcd_printp_at(17,ii+1,PSTR("%"), 0);
else
lcd_printp_at(17,ii+1,PSTR(" "), 0);
}
}
}
if(type == 1)
{
uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*items[ii+offset2])+4));
if(value < 248)
write_ndigit_number_u (18, ii+1, value, 3, 0,0);
if(value >= 248)
{
lcd_printp_at (18, ii+1, PSTR(" P"), 0);
write_ndigit_number_u (20, ii+1, 256-value, 1, 0,0);
}
}
if(type == 2)
{
uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*items[ii+offset2])+4));
uint8_t bitmap = pgm_read_byte(param_config+(8*items[ii+offset2])+3);
if(value & bitmap)
lcd_printp_at (18, ii+1, PSTR(" J"), 0);
else
lcd_printp_at (18, ii+1, PSTR(" N"), 0);
}
if(type == 3)
{
uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*items[ii+offset2])+4));
if (value<=12)
write_ndigit_number_u (18, ii+1, value, 3, 0,0);
else
if (value<=(24))
{
lcd_printp_at (18, ii+1, PSTR("S"), 0);
write_ndigit_number_u (19, ii+1, (value-12), 2, 0,0);
}
if (value==25)
lcd_printp_at (18, ii+1, PSTR("WPE"), 0);
}
if(type == 4)
write_ndigit_number_u (18, ii+1, *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*items[ii+offset2])+4)), 3, 0,0);
if(type == 5)
write_ndigit_number_u (18, ii+1, (*(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*items[ii+offset2])+4)))*15, 3, 0,0);
if(type == 6) // Empfänger Typ
{
uint8_t value = *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*items[ii+offset2])+4));
if(value == 0)
lcd_printp_at (18, ii+1, PSTR("PPM"), 0);
else if(value == 1)
lcd_printp_at (18, ii+1, PSTR("Spe"), 0);
else if(value == 2)
lcd_printp_at (18, ii+1, PSTR("SpH"), 0);
else if(value == 3)
lcd_printp_at (18, ii+1, PSTR("SpL"), 0);
else if(value == 4)
lcd_printp_at (18, ii+1, PSTR("Jet"), 0);
else if(value == 5)
lcd_printp_at (18, ii+1, PSTR("ACT"), 0);
else if(value == 6)
lcd_printp_at (18, ii+1, PSTR("HoT"), 0);
else if(value == 7)
lcd_printp_at (18, ii+1, PSTR("SBU"), 0);
else if(value == 8)
lcd_printp_at (18, ii+1, PSTR("USR"), 0);
else
write_ndigit_number_u (18, ii+1, *(((uint8_t*)mk_param_struct) + pgm_read_byte(param_config+(8*items[ii+offset2])+4)), 3, 0,0);
}
}
if((ii == 5)&&(ii+offset2 < (size-1)))
lcd_printp_at(1,6, PSTR("\x13"), 0);
}
if(pmode == 0)
{
if(offset2 == 0)
{
if(size > 6)
val = menu_choose2 (1, 5, target_pos2,0,1);
else
val = menu_choose2 (1, size, target_pos2,0,0);
}
else
val = menu_choose2 (2, 5, target_pos2,1,1);
}
if(pmode == 1)
{
if(offset2+7 > size)
val = menu_choose2 (2, 6, target_pos2,1,0);
else
val = menu_choose2 (2, 5, target_pos2,1,1);
}
if(val == 254)
{
offset2++;
pmode = 1;
target_pos2 = 5;
}
else if(val == 253)
{
offset2--;
pmode = 0;
target_pos2 = 2;
}
else
break;
}
if(val != 255)
{
target_pos2=val;
return items[val+offset2-1];
}
else
return val;
}
//--------------------------------------------------------------
uint8_t display_section_menu(void)
{
uint8_t size = PAGES;
uint8_t val =0;
while(1)
{
lcd_cls ();
// lcd_printp_at (0, 0, PSTR(" Wähle Seite: "), 2);
lcd_puts_at(0, 0, strGet(PARA_SEITE),2);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
ii = 0;
if(offset > 0)
lcd_printp_at(1,1, PSTR("\x12"), 0);
for(ii = 0;ii < 6 ; ii++)
{
if((ii+offset) < size)
lcd_printp_at(3,ii+1,param_pages[ii+offset][Config.DisplayLanguage], 0);
if((ii == 5)&&(ii+offset < (size-1)))
lcd_printp_at(1,6, PSTR("\x13"), 0);
}
if(dmode == 0)
{
if(offset == 0)
{
if(size > 6)
val = menu_choose2 (1, 5, target_pos,0,1);
else
val = menu_choose2 (1, size, target_pos,0,0);
}
else
val = menu_choose2 (2, 5, target_pos,1,1);
}
if(dmode == 1)
{
if(offset+7 > size)
val = menu_choose2 (2, 6, target_pos,1,0);
else
val = menu_choose2 (2, 5, target_pos,1,1);
}
if(val == 254)
{
offset++;
dmode = 1;
target_pos = 5;
}
else if(val == 253)
{
offset--;
dmode = 0;
target_pos = 2;
}
else
break;
}
if(val != 255)
{
target_pos=val;
return val+offset;
}
else
return val;
}
//--------------------------------------------------------------
uint8_t display_settings_menu (void)
{
uint8_t status;
lcd_cls ();
// lcd_printp_at (0, 0, PSTR(" Wähle Setting: "), 2);
lcd_puts_at(0, 0, strGet(PARA_SELSETT), 2);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
for(setting=1;setting<6;setting++)
{
status = load_setting(setting);
if(status == 255)
return 255;
write_ndigit_number_u (3, setting, status, 1, 0,0);
lcd_print_at (5,setting,(uint8_t*)mk_param_struct->Name, 0);
}
// lcd_printp_at (3, 6, PSTR("Kopiere Setting"), 0);
lcd_puts_at(3, 6, strGet(PARA_COPY), 0);
status = load_setting(0xff);
if(status == 255)
return 255;
setting = menu_choose (1, 6, 1,status);
return setting;
}
//--------------------------------------------------------------
uint8_t load_setting(uint8_t setting)
{
mode = 'Q'; // Settings
uint8_t timeout = 50;
rxd_buffer_locked = FALSE;
while (!rxd_buffer_locked && timeout)
{
SendOutData ('q', ADDRESS_FC, 1, &setting, 1);
// _delay_ms(50);
timer = 20;
while (timer > 0);
timeout--;
}
if (timeout != 0)
{
Decode64 ();
setting = *pRxData;
mk_param_struct = (mk_param_struct_t *) (pRxData + 1) ;
}
else
{ // timeout occured
// lcd_printp_at (0, 2, PSTR("Fehler: keine Daten"), 0);
lcd_puts_at(0, 2, strGet(OSD_ERROR), 0);
timer = 100;
while (timer > 0);
setting = 255;
}
return setting;
}
//--------------------------------------------------------------
uint8_t write_setting(uint8_t setting)
{
mode = 'S'; // Settings
uint8_t timeout = 50;
rxd_buffer_locked = FALSE;
while (!rxd_buffer_locked && timeout)
{
SendOutData ('s', ADDRESS_FC, 2, &setting, 1, mk_param_struct, sizeof(mk_param_struct_t));
// _delay_ms(50);
timer = 20;
while (timer > 0);
timeout--;
}
if (timeout != 0)
{
Decode64 ();
setting = *pRxData;
}
else // timeout occured
{
// lcd_printp_at (0, 2, PSTR("Fehler: keine Daten"), 0);
lcd_puts_at(0, 2, strGet(OSD_ERROR), 0);
timer = 100;
while (timer > 0);
setting = 255;
}
return setting;
}
Property changes:
Added: svn:mime-type
+text/plain
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/parameter.h
0,0 → 1,46
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef _PARAMETER_H
#define _PARAMETER_H
#include "main.h"
void edit_parameter (void);
uint8_t load_setting(uint8_t setting);
#endif
Property changes:
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/parameter_names.h
0,0 → 1,293
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#define PAGES 14
#ifdef MKVERSION088n
#define PARAM_COUNT 152 //152 FC088L
#endif
#ifdef MKVERSION090b
#define PARAM_COUNT 156 //156 FC090b
#endif
#define PARAM_LENGTH 15
#define PARAM_NUM_LANG 3
// German Englisch Holländisch
prog_char param_pages[PAGES][PARAM_NUM_LANG][PARAM_LENGTH]= // zeilen,zeichen+1
{
{"Kanäle ","Channel ","Kanaal "},
{"Konfiguration ","main ","Configuratie "},
{"Stick ","stick ","Stick "},
{"Looping ","Looping ","Looping "},
{"Höhe ","Altitude ","Hoogte "},
{"Kamera ","Camera ","Camera "},
{"NaviCtrl ","NaviCtrl ","NaviCtrl "},
{"Ausgänge ","Outputs ","Uitgangen "},
{"Verschiedenes ","Divers ","Diversen "},
{"Gyro ","Gyro ","Gyro "},
{"Benutzer ","User ","Gebruiker "},
{"Achskopplung ","Coupl Axes ","Koppeling Ass "},
{"Mixer-Setup ","Config Mix ","Config. Mixer "},
{"Easy Setup ","Config Easy ","Config. easy "},
};
//Namen
prog_char param_names[PARAM_COUNT][PARAM_NUM_LANG][PARAM_LENGTH]=
{
// group 0 (kanaele) 1-15
{"Gas ","Throttle ","Gas "},
{"Gier ","Gier ","Gier "},
{"Nick ","Nick ","Nick "},
{"Roll ","Roll ","Roll "},
{"Poti 1 ","Poti 1 ","Poti 1 "},
{"Poti 2 ","Poti 2 ","Poti 2 "},
{"Poti 3 ","Poti 3 ","Poti 3 "},
{"Poti 4 ","Poti 4 ","Poti 4 "},
{"Poti 5 ","Poti 5 ","Poti 5 "},
{"Poti 6 ","Poti 6 ","Poti 6 "},
{"Poti 7 ","Poti 7 ","Poti 7 "},
{"Poti 8 ","Poti 8 ","Poti 8 "},
{"Motor Sich.Sch","Mot.Safety Sw.","Mot.saf.schak."},
{"Motor Swi.Mode","Motor Swi.Mode","Motor Swi.Mode"},
{"Erw. Sig. Pr. ","Enh. Sig.Check","Uitg.Sig.Check"},
{"Empfänger Typ ","Receiver Type ","Ontvang. Type "},
#ifdef MKVERSION090b
{"Spk all Events","Spk all Events","Spk all Events"},
#endif
// group 1 (main) 16-23
{"Höhenregeler ","Ctrl Altitude ","Ctrl Hoogte "},
{"GPS ","GPS ","GPS "},
{"Kompass ","Compass ","Kompas "},
{"KompFest Ausr.","CompOrient.Fix","Kompas vast "},
{"Erw. Sig. Pr. ","Sens.RcvSigVal","ExtRec Signaal"},
{"Achs(e.)koppl.","Axis Couping ","As koppeling "},
{"Drehratenbegr.","RotRate limit.","RotRate limit."},
{"Heading Hold ","Nick/Roll ","Koers vast "},
// group 2 (stick) 24-27
{"Nick/Roll P ","Nick/Roll P ","Nick/Roll P "},
{"Nick/Roll D ","Nick/Roll D ","Nick/Roll D "},
{"Gier P ","Gier P ","Gier P "},
{"Externe Kontr.","Extern Ctrl ","Extern Control"},
// group3 : (looping) 28-36
{"Looping oben ","Looping up ","Looping omhoog"},
{"Looping unten ","Looping down ","Looping bened."},
{"Looping links ","Looping left ","Looping links "},
{"Looping rechts","Looping right ","Looping rechts"},
{"Gas Limit ","Throttle Limit","Gas Limiet "},
{"Ansprechschw. ","Resp. Thresh. ","Drempelwaarde "},
{"Hysterese ","Hysteresis ","Hysterese "},
{"Umkehrp. Nick ","Turnover Nick ","Nick geinvert."},
{"Umkehrp. Roll ","Turnover Roll ","Roll geinvert."},
// group 4 (hoehe) 37-50
{"Höhenregelung ","Altitude Ctrl ","Hoogte Control"},
{"J:HBeg,N:Vario","Y:LimH,N:Vario","Y:LimH,N:Vario"},
{"Schalter f. H.","use Sw. f.Setp","Schak. Hoogte "},
{"akust. Vario ","acoustic Vario","Akoest. Vario "},
{"Sollhöhe ","Setpoint ","Gewenste hoogt"},
{"Min. Gas ","min. throttle ","Minimaal gas "},
{"Höhe P ","Altitude P ","Hoogte P "},
{"Luftdruck D ","Barometric D ","Barometr. D "},
{"Z-ACC ","ACC Z ","ACC Z "},
{"Max. Höhe ","Max. Altitude ","Max. hoogte "},
{"Verstärkung/R ","gain/rate ","Verst./rate "},
{"Schwebegas +/-","hoover varia. ","hoover varia. "},
{"GPS Z ","GPS Z ","GPS Z "},
{"Stick Neutr. P","stick neutr. P","stick neutr. P"},
// group 5 : (kamera) 51-68
{"Nick S. Anst. ","nick serv ctrl","nick serv ctrl"},
{"Nick Kompens. ","nick compens. ","nick compens. "},
{"Nick Umkehren ","nick inv. dir.","nick inv.rich."},
#ifdef MKVERSION090b
{"Nick Servo rel","nick servo rel","nick servo rel"},
#endif
{"Nick Servo min","nick servo min","nick servo min"},
{"Nick Servo max","nick servo max","nick servo max"},
{"Nick Serv Filt","Nick Serv Filt","Nick Serv Filt"}, //FC0.87
{"Roll S. Anst. ","roll serv ctrl","roll serv ctrl"},
{"Roll Kompens. ","roll compens. ","roll compens. "},
{"Roll Umkehren ","roll inv. dir.","roll omkeren "},
{"Roll Servo min","roll servo min","roll servo min"},
{"Roll Servo max","roll servo max","roll servo max"},
{"Roll Serv Filt","Roll Serv Filt","Roll Serv Filt"}, //FC0.87
{"Anst. Geschw. ","servo refresh ","Servo refresh "},
{"Manuelle Gesch","manuell Speed ","Snelh.handbed."},
{"Cam Richtung ","Cam Orient ","Camera richt. "},
{"Servo 3 ","Servo 3 ","Servo 3 "},
{"Servo 4 ","Servo 4 ","Servo 4 "},
{"Servo 5 ","Servo 5 ","Servo 5 "},
// group 6 : (navictrl) 69-88 "CH Hoogte "
{"GPS ","enable GPS ","enable GPS "},
{"GPS Modus St. ","GPS mode contr","GPS mode contr"},
{"GPS Verstärk. ","GPS Gain ","GPS versterk. "},
{"GPS St. Schw. ","GPS stick thre","GPS st. dremp."},
{"Min. Sat. ","Min. Sat. ","Min. Sat. "},
{"GPS-P ","GPS-P ","GPS-P "},
{"GPS-I ","GPS-I ","GPS-I "},
{"GPS-D ","GPS-D ","GPS-D "},
{"P Limit ","Limit P ","Limiet P "},
{"I Limit ","Limit I ","Limiet I "},
{"D Limit ","Limit D ","Limiet D "},
{"GPS Acc ","GPS Acc ","GPS Acc "},
{"GPS Windkorr. ","GPS Wind Corr.","GPS Wind Corr."},
{"Bremswirkung ","Speed compens.","Remwerking "},
{"GPS max. Rad. ","GPS max.radius","GPS max.radius"},
{"GPS Winkel Li.","GPS angl.limit","GPS hoek lim. "},
{"PH Login time ","PH login time ","PH login tijd "},
{"Dynamic PH ","Dynamic PH ","Dynamische PH "},
{"GPS m. Rad dPH","GPS m. Rad dPH","GPS m. Rad dPH"}, //FC0.87
{"CH Höhe ","CH Altitude ","CH Hoogte "},
// group 7 : (ausgaenge) 89-98
{"LED1 Bitmaske ","Out1 Bitmask ","Uitg1 Bitpatr."},
{" Timing ","Out1 Timing ","Uitg1 Timing "},
{" sofort an","Activ ","Direct aan "},
{" n.m.Motor","Act. wi. Motor","Akt. motor uit"},
#ifdef MKVERSION090b
{"mit WP-Event ","comb. WP-Event","comb. WP-Event"},
{"AutoTr. m/Poti","AutoTr. m/poti","AutoTr. m/poti"},
#endif
{"LED2 Bitmaske ","Out2 Bitmask ","Uitg2 Bitpatr."},
{" Timing ","Out2 Timing ","Uitg2 Timing "},
{" sofort an","Activ ","Direct aan "},
{" n.m.Motor","Act. wi. Motor","Akt. motor uit"},
{"Out1 Vmin.Warn","Out1 undervolt","Uitg1 ondersp."},
{"Out2 Vmin.Warn","Out2 undervolt","Uitg2 ondersp."},
// group 8 : (verschiedenes) 99-11
{"Min. Gas ","min. throttle ","minimaal gas "},
{"Max. Gas ","max. throttle ","maximaal gas "},
{"Kompasswirkung","compass effect","Kompas effect "},
{"Carefree St. ","Carefree Ctrl ","Carefree Ctrl "},
{"Teachable Care","Teachable Care","Teachable Care"},
{"Unterspannung ","undervoltage ","Onderspanning "},
{"Volt Referenz ","Volt Referenz ","Ref. spanning "},
{"Not Gas Zeit ","Emerg.Thr.Time","Nood gas tijd "},
{"Not Gas ","Emerg.Throttle","Nood gas "},
{"Fails. CH Time","Fails. CH Time","Fails. CH Tijd"},
{"Fails. Channel","Fails. Channel","Fails. Channel"}, //FC 0.87
{"k.Summer o Sen","n beep act TX ","n beep act TX "}, // Pos Change FC0.87
{"Vario fail Alt","Vario fail Alt","Vario fail Alt"}, //FC 0.87
{"Compass Error ","Compass Error ","Kompas Error "},
{"k.Start o.SD-K","n st. wtho SD ","n st. wtho SD "}, //FC 0.87
{"k.Start o.GPS ","n st. wtho GPS","n st. wtho GPS"}, //FC 0.88L
// group 9 : (gyro) 114-126
{"Gyro P ","Gyro P ","Gyro P "},
{"Gyro I ","Gyro I ","Gyro I "},
{"Gyro D ","Gyro D ","Gyro D "},
{"Gier P ","Lacet P ","Gier P "},
{"Gier I ","Lacet I ","Gier I "},
{"Dynamische St.","dynamic stabi.","Dynamis. stab."},
{"Drehratenbeg. ","RotRate limit.","Toerental lim."},
{"ACC/Gyro Fak. ","ACC/Gyro Fact ","ACC/Gyro Fact "},
{"ACC/Gyro Komp.","Comp ACC/Gyro ","Comp ACC/Gyro "},
{"Hauptregler I ","Main I ","Hoofdregel. I "},
{"Drifkompensat.","drift Compens.","Drift compens."},
{"Gyro stab. ","Gyro stability","Gyro stabilit."},
{"Motor smooth ","Motor smooth ","Motor smooth "},
// group 10: (benutzer) 127-134
{"Parameter 1 ","Parameter 1 ","Parameter 1 "},
{"Parameter 2 ","Parameter 2 ","Parameter 2 "},
{"Parameter 3 ","Parameter 3 ","Parameter 3 "},
{"Parameter 4 ","Parameter 4 ","Parameter 4 "},
{"Parameter 5 ","Parameter 5 ","Parameter 5 "},
{"Parameter 6 ","Parameter 6 ","Parameter 6 "},
{"Parameter 7 ","Parameter 7 ","Parameter 7 "},
{"Parameter 8 ","Parameter 8 ","Parameter 8 "},
// group 11: (achskopplung) 135-13
{"Achs(e.)koppl.","(De)Coupl Axes","As koppeling "},
{"Gier pos. Kopp","Retroac lacet ","Gier pos. kop."},
{"Nick/Roll Kopp","Retro roul/tan","Nick/Roll kop."},
{"Gier Korrektur","Correct lacet ","Gier correctie"},
// group 12: (mixer) 139
{"Orientierung ","Orientierung ","Orientation "},
// group 13 (easy) 140-150
{"Höhenregelung ","Altitude Ctrl ","Hoogte Contr. "},
{"Sollhöhe ","Setpoint ","Gewenst.hoogte"},
{"Stick Neutr. P","stick neutr. P","Stick neutr. P"},
{"GPS ","enable GPS ","Enable GPS "},
{"GPS Modus St. ","GPS mode contr","GPS mode contr"},
{"Dynamic PH ","Dynamic PH ","Dynamic PH "},
{"CH Höhe ","CH High ","CH hoogte "},
{"Carefree St. ","Carefree Ctrl ","Carefree Ctrl "},
{"Teachable Care","Teachable Care","Teachable Care"},
{"Motor Sich.Sch","Mot.Safety Sw.","Mot.saf.schak."},
{"Orientierung ","Orientation ","Orientatie "},
};
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/setup/.directory
0,0 → 1,3
[Dolphin]
Timestamp=2013,3,4,21,10,43
ViewMode=1

/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/setup/setup.c
0,0 → 1,2518
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
//############################################################################
//# HISTORY setup.c
//#
//# 04.03.2013 Cebra
//# - del: OSD-Sreenmode ,is no longer necessary, last OSD-Screen is saved at shutdown
//############################################################################
//bt_connect
#include "../cpu.h"
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <string.h>
#include <util/delay.h>
#include "../main.h"
#include "../setup/setup.h"
#include "../lcd/lcd.h"
#include "../eeprom/eeprom.h"
#include "../timer/timer.h"
#include "../menu.h"
#include "../wi232/Wi232.h"
#include "../bluetooth/bluetooth.h"
#include "../connect.h"
#include "../lipo/lipo.h"
#include "../messages.h"
#include "../eeprom/eeprom.h"
#include "../tracking/tracking.h"
#include "../uart/uart1.h"
#include "../osd/osd.h"
#include "../sound/pwmsine8bit.h"
#include "../tracking/servo_setup.h"
#include "../bluetooth/error.h"
#include "../stick/stick_setup.h"
uint8_t spalte;
uint8_t mmode;
uint8_t edit;
uint8_t LCD_Orientation;
uint8_t edit = 0;
uint8_t LCD_Change = 0;
uint8_t PKT_Change = 0;
uint16_t Pre;
uint16_t Pre16;
char EditString[21];
uint8_t bt_name_len;
uint8_t length_tmp;
uint8_t CheckGPS=false;
uint8_t Old_Baudrate = 0; //Merkzelle für alte Baudrate
//--------------------------------------------------------------
#define ITEMS_PKT 13
const prog_char param_menuitems_pkt[ITEMS_PKT][NUM_LANG][18]= // zeilen,zeichen+1
// German, English, French, Dutch
{
{"Verbindung zum MK","connection to MK ","Aansluiting op MK"},
{"PKT allgemein \x1d","PKT global \x1d","PKT global \x1d"},
{"Wi.232 \x1d","Wi.232 \x1d","Wi.232 \x1d"},
{"BTM-222 \x1d","BTM-222 \x1d","BTM-222 \x1d"},
{"Servo Menü \x1d","servo menu \x1d","servo menu \x1d"},
{"OSD Anzeige \x1d","OSD screen \x1d","OSD screen \x1d"},
{"GPS \x1d","GPS \x1d","GPS \x1d"},
{"Follow Me \x1d","Follow Me \x1d","Follow Me \x1d"},
{"Joystick \x1d","joystick \x1d","joystick \x1d"},
{"PKT-Akku \x1d","PKT-Accu \x1d","PKT-Accu \x1d"},
{"PKT Update ","PKT Update ","PKT Update "},
{"Debug PKT ","Debug PKT ","Debug PKT "},
{"EEProm Reset ","EEProm Reset ","EEProm Reset "},
};
#define ITEMS_LCD 11
const prog_char param_menuitems_lcd[ITEMS_LCD][NUM_LANG][18]= // zeilen,zeichen+1
// German, English, French, Dutch
{
{"Infos beim Start ","info at startup ","info bij opstart "},
{"OSD Empfangsausf.","OSD receive Error","OSD receive Error"},
{"Sprache ","language ","taal "},
{"Licht aus nach...","light off after ","licht uit na "},
{"Helligkeit ","brightness ","helderheid "},
{"Kontrast ","contrast ","contrast "},
{"Normal/Invers ","normal/inverted ","Normal/inverted "},
{"Orientierung ","orientation ","orientatie "},
{"Vario Ton Erw. ","Vario Sound Ext. ","Vario Sound Ext. "},
{"Hardware Beeper ","Hardware Beeper ","Hardware Beeper "},
{"Lautstärke Ton ","Volume ","Volume "},
};
#define ITEMS_WI 9
const prog_char param_menuitems_wi[ITEMS_WI][NUM_LANG][18]= // zeilen,zeichen+1
// German, English, French, Dutch
{
{"Modul eingebaut? ","module built in? ","Module geinstal.?"},
{"TX/RX Kanal ","TX/RX Channel ","TX/RX Channel "},
{"NetW. Gruppe ","NetW. Group ","NetW. Group "},
{"NetW. Mode ","NetW. Mode ","NetW. Mode "},
{"TX Timeout ","TX Timeout ","TX Timeout "},
{"TX MTU ","TX MTU ","TX MTU "},
{"Baudrate Wi232/BT","Baudrate Wi232/BT","Baudrate Wi232/BT"},
{"Initialisieren ","initialize ","Initialize "},
{"Konfig. mit PC ","config. with PC ","Config. met PC "},
};
#define ITEMS_BT 7
const prog_char param_menuitems_bt[ITEMS_BT][NUM_LANG][18]= // zeilen,zeichen+1
// German, English, Dutch
{
{"Modul eingebaut? ","module built in? ","module geinstall?"},
{"Name ","name ","Naam "},
{"Pin ","pin ","Pin "},
{"Initialisieren ","initialize ","Initialize "},
{"Bluetooth MAC-Adr","Bluetooth MAC-Adr","Bluetooth MAC-Adr"},
{"RE-ID ","RE-ID ","RE-ID "},
{"Konfig. mit PC ","config. with PC ","Config. met PC "},
};
#define ITEMS_Accu 2
const prog_char param_menuitems_Accu[ITEMS_Accu][NUM_LANG][18]= // zeilen,zeichen+1
// German, English, French, Dutch
{
{"PKT-Akkutyp ","PKT-Accutyp ","PKT-batterij type"},
{"PKT Akku Messung ","PKT AccuMeasure ","PKT batt. meting "},
};
#define ITEMS_GPS 6
const prog_char param_menuitems_GPS[ITEMS_GPS][NUM_LANG][18]= // zeilen,zeichen+1
// German, English, French, Dutch
{
{"wähle GPS Maus ","select GPS mouse ","select GPS mouse "},
{"Suche GPS Maus ","search GPS mouse ","search GPS mouse "},
{"GPS Maus Typ ","GPS mouse typ ","GPS mouse typ "},
{"GPS Maus aktiv? ","GPS mouse activ? ","GPS mouse activ? "},
{"Zeige GPS Device ","show GPS device ","show GPS device "},
{"GPS Daten ","GPS data ","GPS data "},
};
#define ITEMS_FOLLOWME 3
const prog_char param_menuitems_FOLLOWME[ITEMS_GPS][NUM_LANG][18]= // zeilen,zeichen+1
// German, English, French, Dutch
{
{"FollowMe Refresh","FollowMe Refresh","FollowMe Refresh"},
{"FollowMe Speed ","FollowMe Speed ","FollowMe Speed "},
{"Toleranz Radius ","Tolerance Radius","Tolerance Radius"},
};
#define ITEMS_OSD 9
const prog_char param_menuitems_OSD[ITEMS_OSD][NUM_LANG][18]= // zeilen,zeichen+1
// German, English, French, Dutch
{
{"OUT1/2 Format ","OUT1/2 format ","OUT1/2 format "},
{"OUT1/2 Polarität ","OUT1/2 polarity ","OUT1/2 polarity "},
{"Navi Daten an SV2","Navi data to SV2 ","Navi data to SV2 "},
{"Max. Sinkrate m/s","max fallspeed m/s","max fallspeed m/s"},
{"Variometer Beep ","Variometer beep ","Variometer beep "},
{"Home aus MK Sicht","home from MK view","home from MK view"},
{"MK LowBat Warnung","MK LowBat warning","MK LoBat alarm "},
{"MK mAh Warnung","MK mAh warning ","MK mAh alarm "},
{"MK Volt Balken","MK volt bargraph ","MK volt bargraph "},
};
//--------------------------------------------------------------
void Show_Error_HW12(void)
{
lcd_cls();
lcd_printp_at (0,3,PSTR(" Mit Hardware 1.x "), 2);
lcd_printp_at (0,4,PSTR(" nicht möglich "), 2);
_delay_ms(1000);
}
void Edit_printout(uint16_t Value,uint16_t min,uint16_t max, uint8_t what)
{
switch (what)
{
case Show_uint3: write_ndigit_number_u (16, 2,Value, 3, 0,0);break;
case Show_uint5: write_ndigit_number_u (16, 2,Value, 5, 0,0);break;
case Show_uint10th: write_ndigit_number_u_10th (16, 2,Value, 3, 0,0); break;
case GPSMOUSE:
switch(Value)
{
case GPS_Bluetoothmouse1: lcd_printp_at (12, 2, PSTR("BT-Mouse1"), 0);break;
case GPS_Mikrokopter: lcd_printp_at (12, 2, PSTR("Mikrokopt"), 0);break;
lcd_printp_at (12, 2, PSTR("unknown"), 0);
break;
}
break;
case Wi_Netmode:
switch (Value)
{
case false :lcd_puts_at(15, 2, strGet(SLAVE), 0);
break;
case true :lcd_puts_at(15, 2, strGet(NORMAL), 0);
break;
break;
}
break;
case OnOff:
switch (Value)
{
case false :lcd_puts_at(17, 2, strGet(OFF), 0);
break;
case true :lcd_puts_at(17, 2, strGet(ON), 0);
break;
break;
}
break;
case YesNo:
switch (Value)
{
case false :lcd_puts_at(17, 2, strGet(NOO), 0);
break;
case true :lcd_puts_at(17, 2, strGet(YES), 0);
break;
break;
}
break;
case NormRev:
switch (Value)
{
case false :lcd_puts_at(14, 2, strGet(NORMAL), 0);
break;
case true :lcd_puts_at(14, 2, strGet(REVERSE), 0);
break;
break;
}
break;
case Kontrast: {
write_ndigit_number_u (16, 2,Value, 3, 0,0);
if (Value >= max)
{
Value = max;
set_beep ( 200, 0x0080, BeepNormal);
write_ndigit_number_u (16, 2,Value, 3, 0,0);
}
else
{
write_ndigit_number_u (16, 2,Value, 3, 0,0);
cli();
clr_A0 ();
send_byte (0x81);
send_byte (Value); // Daten zum LCD senden
set_A0 ();
sei();
}
// break;
if (Value == min)
{
write_ndigit_number_u (16, 2,Value, 3, 0,0);
Value = min;
set_beep ( 200, 0x0080, BeepNormal);
}
else
{
write_ndigit_number_u (16, 2,Value, 3, 0,0);
cli();
clr_A0 ();
send_byte (0x81);
send_byte (Value); // Daten zum LCD senden
set_A0 ();
sei();
}
}
break;
case Baudrate:
switch (Value)
{
case 0x0 : lcd_printp_at(15, 2, PSTR("2400 "), 0);
break;
case 0x1 : lcd_printp_at(15, 2, PSTR("9600 "), 0);
break;
case 0x2 : lcd_printp_at(15, 2, PSTR("19200 "), 0);
break;
case 0x3 : lcd_printp_at(15, 2, PSTR("38400 "), 0);
break;
case 0x4 : lcd_printp_at(15, 2, PSTR("57600 "), 0);
break;
case 0x5 : lcd_printp_at(15, 2, PSTR("115200"), 0);
break;
case 0x6 : lcd_printp_at(15, 2, PSTR("4800 "), 0);
break;
break;
}
break;
case Language:
switch (Value)
{
case
0x0 : lcd_puts_at(10, 2, strGet(DEUTSCH), 0);//lcd_printp_at (14, 2, PSTR("Deutsch"), 0);
break;
case 0x1 : lcd_puts_at(10, 2, strGet(ENGLISCH), 0);//lcd_printp_at (14, 2, PSTR("English"), 0);
break;
case 0x2 : lcd_puts_at(10, 2, strGet(NETHERL), 0);//lcd_printp_at (14, 2, PSTR("Netherl"), 0);
break;
break;
}
break;
case Sticktype:
switch (Value)
{
case false :lcd_puts_at(14, 2, strGet(POTI), 0);
break;
case true :lcd_puts_at(14, 2, strGet(TASTER), 0);
break;
break;
}
break;
break;
}
}
uint16_t Edit_generic(uint16_t Value, uint16_t min, uint16_t max,uint8_t Text, uint8_t what)
{
Pre = Value;
lcd_cls();
lcd_puts_at(0, 2, strGet(Text), 0);
Edit_printout(Value,min,max, what);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
do
{
if ((get_key_press (1 << KEY_PLUS) || get_key_long_rpt_sp ((1 << KEY_PLUS), 2)) && (Value < max))
{
edit = 1;
Value++;
Edit_printout(Value,min,max, what);
playTone(500,20,Config.Volume);
}
if ((get_key_press (1 << KEY_MINUS) || get_key_long_rpt_sp ((1 << KEY_MINUS), 2)) && (Value > min))
{
edit = 1;
Value--;
Edit_printout(Value,min,max, what);
playTone(500,20,Config.Volume);
}
if (get_key_press (1 << KEY_ENTER))
{
return Value;
}
}
while (!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
edit = 0;
return Pre;
}
//--------------------------------------------------------------
uint8_t ChangeWi_SV2(uint8_t Value)
{
Pre = Value;
lcd_cls();
lcd_puts_at(0, 1, strGet(CONNECT1), 0);
lcd_puts_at(0, 2, strGet(CONNECT2), 0);
if(Config.UseWi == false)
{
lcd_puts_at(0, 1, strGet(CONNECT1), 0);
lcd_puts_at(0, 2, strGet(CONNECT4), 0);
lcd_puts_at(0, 1, strGet(CONNECT5), 0);
lcd_puts_at(0, 2, strGet(CONNECT6), 0);
lcd_puts_at(0, 1, strGet(CONNECT7), 0);
lcd_puts_at(0, 2, strGet(CONNECT8), 0);
lcd_puts_at(0, 1, strGet(CONNECT9), 0);
// lcd_printp_at (12, 7, PSTR("Ende"), 0);
lcd_puts_at(12, 7, strGet(ENDE), 0);
while (!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
edit = 0;
return Pre;
}
else
{
switch (Value)
{
case 0x0 :lcd_printp_at (14, 2, PSTR("Wi232"), 0);
break;
case 0x1 : lcd_puts_at(14, 2, strGet(KABEL), 0);
//lcd_printp_at (14, 2, PSTR("Kabel"), 0);
break;
break;
}
// lcd_printp_at (0, 7, PSTR(KEY_LINE_2), 0);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
do
{
if(Config.UseWi == true)
{
if ((get_key_press (1 << KEY_PLUS)) && (Value == 0))
{
edit = 1;
Value = 1;
// lcd_printp_at (14, 2, PSTR("Kabel"), 0);
lcd_puts_at(14, 2, strGet(KABEL), 0);
Change_Output(Uart02FC);
}
if ((get_key_press (1 << KEY_MINUS)) && (Value == 1))
{
edit = 1;
Value = 0;
lcd_printp_at (14, 2, PSTR("Wi232"), 0);
Change_Output(Uart02Wi);
}
if (get_key_press (1 << KEY_ENTER))
{
// lcd_printp_at (0, 4, PSTR("Sie müssen das PKT"), 0);
// lcd_printp_at (0, 5, PSTR("jetzt neu starten!"), 0);
lcd_puts_at(0, 4, strGet(CONNECT10), 0);
lcd_puts_at(0, 5, strGet(CONNECT11), 0);
lcd_cls_line (0, 7, 18);
while (!get_key_press (1 << KEY_ENTER));
return Value;
}
}
}
while (!get_key_press (1 << KEY_ESC));
}
get_key_press(KEY_ALL);
edit = 0;
return Pre;
}
//--------------------------------------------------------------
uint8_t Edit_DisplayHelligkeit(uint8_t Value, uint8_t min, uint8_t max, uint8_t Text)
{
float ValCorr = 2.55; // (Value * ValCorr) maximal 255
Pre = Value;
OCR2A = Value * ValCorr;
lcd_cls();
// lcd_printp_at (0, 2, Text, 0);
lcd_puts_at(0, 2, strGet(Text), 0);
write_ndigit_number_u (16, 2, Value, 3, 0,0);
lcd_printp_at (17, 2, PSTR("%"), 0);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_2), 0);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
do
{
write_ndigit_number_u (16, 2,Value, 3, 0,0);
lcd_frect ((8*0), (8*4), (Value * (16*8) / 100), 6, 1);
if ((get_key_press (1 << KEY_PLUS) || get_key_long_rpt_sp ((1 << KEY_PLUS), 3)) && (Value < max))
{
Value++;
if (Value >= max)
{
Value = max;
set_beep ( 200, 0x0080, BeepNormal);
}
else
OCR2A = Value * ValCorr;
}
if ((get_key_press (1 << KEY_MINUS) || get_key_long_rpt_sp ((1 << KEY_MINUS), 3)) && (Value > min))
{
lcd_frect (((Value - 1) * (16*8) / 100), (8*4), (16*8), 6, 0);
Value--;
if (Value == min)
{
Value = min;
set_beep ( 200, 0x0080, BeepNormal);
}
else
OCR2A = Value * ValCorr;
}
if (get_key_press (1 << KEY_ENTER))
{
edit = 1;
OCR2A = Value * ValCorr;
Config.LCD_Helligkeit = Value;
// WriteParameter();
edit = 0;
return Value;
}
}
while (!get_key_press (1 << KEY_ESC));
{
get_key_press(KEY_ALL);
edit = 0;
OCR2A = Pre * ValCorr;
Config.LCD_Helligkeit = Pre;
// WriteParameter();
return Pre;
}
}
//--------------------------------------------------------------
void Reset_EEprom(void)
{
lcd_cls();
get_key_press(KEY_ALL);
// lcd_printp_at (0, 2, PSTR(" EEProm wirklich"), 0);
// lcd_printp_at (0, 3, PSTR(" löschen?"), 0);
// lcd_printp_at (12, 7, PSTR("Ende OK"), 0);
lcd_puts_at(0, 2, strGet(EEPROM1), 0);
lcd_puts_at(0, 3, strGet(EEPROM2), 0);
lcd_puts_at(12, 7, strGet(ENDOK), 0);
do
{
if (get_key_press (1 << KEY_ENTER))
{
Delete_EEPROM();
clr_V_On();
return;
}
}
while (!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
}
//--------------------------------------------------------------
void PKT_Setup (void)
{
// uint8_t ii = 0;
// uint8_t Offset = 0;
// uint8_t size = 0;
// uint8_t dmode = 0;
uint8_t target_pos=1;
// uint8_t val;
lcd_cls ();
mmode = 0;
edit= 0;
val = 0;
while(1)
{
size = ITEMS_PKT;
lcd_cls ();
lcd_printp_at (0, 0, PSTR(" PKT-Setup "), 2);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(1)
// {
// ii = 0;
//
// if(Offset > 0)
// lcd_printp_at(1,1, PSTR("\x12"), 0);
//
// for(ii = 0;ii < 6 ; ii++)
// {
// if((ii+Offset) < size)
// lcd_printp_at(3,ii+1,param_menuitems_pkt[ii+Offset][Config.DisplayLanguage], 0);
//
// if((ii == 5)&&(ii+Offset < (size-1)))
// lcd_printp_at(1,6, PSTR("\x13"), 0);
//
// }
//
// if(dmode == 0)
// {
// if(Offset == 0)
// {
// if(size > 6)
// val = menu_choose2 (1, 5, target_pos,0,1);
// else
// val = menu_choose2 (1, size, target_pos,0,0);
//
// }
// else
// val = menu_choose2 (2, 5, target_pos,1,1);
//
// }
//
// if(dmode == 1)
// {
// if(Offset+7 > size)
// val = menu_choose2 (2, 6, target_pos,1,0);
// else
// val = menu_choose2 (2, 5, target_pos,1,1);
//
// }
//
// if(val == 254)
// {
// Offset++;
// dmode = 1;
// target_pos = 5;
// }
// else if(val == 253)
// {
// Offset--;
// dmode = 0;
// target_pos = 2;
// }
// else if(val == 255)
// { // Ende mit ESC, speichern
// if (edit == 1)
// {
// WriteParameter();
// edit = 0;
// return;
// }
// return;
// }
// else
// break;
// }
val = menu_select(param_menuitems_pkt,size,target_pos);
if (val==255) break;
target_pos = val;
//
// {"Verbindung zum MK","connection to MK "," connexion a MK " ,"Aansluiting op MK"},
// {"MK LowBat Warnung","MK LowBat warning","MK LowBat Attent", "MK LoBat alarm "},
// {"Anzeige \x1d","Display \x1d","d'affichage \x1d","Display \x1d"},
// {"Wi.232 \x1d","Wi.232 \x1d","Wi.232 \x1d","Wi.232 \x1d"},
// {"BTM-222 \x1d","BTM-222 \x1d","BTM-222 \x1d","BTM-222 \x1d"},
// {"Antennen Track. \x1d","antenna tracking\x1d","antenna tracking\x1d","antenna tracking\x1d"},
// {"OSD \x1d","OSD \x1d","OSD \x1d","OSD \x1d"},
// {"GPS \x1d","GPS \x1d","GPS \x1d","GPS \x1d"},
// "Follow Me \x1d"
// {"PKT-Akku \x1d","PKT-Accu \x1d","PKT-Accu \x1d","PKT-Accu \x1d"},
// {"PKT Update ","PKT Update ","PKT Mise a jour ","PKT Update "},
// {"Debug PKT ","Debug PKT ","Debug PKT ","Debug PKT "},
// {"EEProm Reset ","EEProm Reset ","EEProm Reinitiali","EEProm Reset "},
if((val + offset) == 1)
{
#ifdef HWVERSION3_9
Config.U02SV2 = ChangeWi_SV2(Config.U02SV2);
if (edit == 1)
PKT_Change = 1;
#else
Show_Error_HW12();
#endif
}
if((val + offset) == 2) Display_Setup();
if((val + offset) == 3)
{
#if defined HWVERSION3_9 || defined HWVERSION1_2W || defined HWVERSION1_3W
if(Config.UseWi == false)
// Wi_Use();
{
Config.UseWi = Edit_generic(Config.UseWi,0,1,WI2321,YesNo);
if (edit==1)
if (Config.UseWi== true) InitWi232(Config.PKT_Baudrate);
}
else
Wi_Setup();
#else
Show_Error_HW12();
#endif
}
if((val + offset) == 4)
{
#ifdef HWVERSION3_9
if(Config.UseBT == 0)
{
Config.UseBT = Edit_generic(Config.UseBT,0,1,BT1,YesNo);
if (edit==1)
if (Config.UseBT == 1)
{
if (bt_init()) Config.BTIsSet = true; else Config.BTIsSet = false;
// WriteParameter();
edit = 0;
}
}
else
BT_Setup();
#else
Show_Error_HW12();
#endif
}
if((val + offset) == 5) servo_menu();
if((val + offset) == 6) OSD_Setup();
#ifdef HWVERSION3_9
if((val + offset) == 7) GPS_Setup();
if((val + offset) == 8) FollowMe_Setup();
if((val + offset) == 9) Joysticks_Setup();
if((val + offset) == 10) Accu_Setup();
#else
Show_Error_HW12();
#endif
if((val + offset) == 11) Update_PKT();
if((val + offset) == 12) Config.Debug = Edit_generic(Config.Debug,0,1,DEBUGPKT,Show_uint3);
if((val + offset) == 13) Reset_EEprom();
}
}
//--------------------------------------------------------------
void Display_Setup (void)
{
// uint8_t ii = 0;
// uint8_t Offset = 0;
// uint8_t size = 0;
// uint8_t dmode = 0;
uint8_t target_pos = 1;
// uint8_t val;
lcd_cls ();
mmode = 0;
edit= 0;
LCD_Change = 0;
// val = 0;
while(1)
{
size = ITEMS_LCD;
lcd_cls ();
lcd_puts_at(0, 0, strGet(DISPLAY1), 2);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(1)
// {
// ii = 0;
//
// if(Offset > 0)
// lcd_printp_at(1, 1, PSTR("\x12"), 0);
//
// for(ii = 0; ii < 6 ; ii++)
// {
// if((ii + Offset) < size)
// lcd_printp_at(3, ii + 1, param_menuitems_lcd[ii + Offset][Config.DisplayLanguage], 0);
//
// if((ii == 5)&&(ii+Offset < (size - 1)))
// lcd_printp_at(1,6, PSTR("\x13"), 0);
//
// }
//
// if(dmode == 0)
// {
// if(Offset == 0)
// {
// if(size > 6)
// val = menu_choose2 (1, 5, target_pos,0,1);
// else
// val = menu_choose2 (1, size, target_pos,0,0);
//
// }
// else
// val = menu_choose2 (2, 5, target_pos,1,1);
//
// }
//
// if(dmode == 1)
// {
// if(Offset + 7 > size)
// val = menu_choose2 (2, 6, target_pos,1,0);
// else
// val = menu_choose2 (2, 5, target_pos,1,1);
//
// }
//
// if(val == 254)
// {
// Offset++;
// dmode = 1;
// target_pos = 5;
// }
// else if(val == 253)
// {
// Offset--;
// dmode = 0;
// target_pos = 2;
// }
// else if(val == 255)
// { // Ende mit ESC, speichern
// if (edit == 1)
// {
// WriteParameter();
// edit = 0;
// return;
// }
// return;
// }
// else
// break;
// }
val = menu_select(param_menuitems_lcd,size,target_pos);
if (val==255) break;
target_pos = val;
if((val + offset) == 1)
Config.PKT_StartInfo = Edit_generic(Config.PKT_StartInfo,0,2,DISPLAY2,OnOff);
if((val + offset) == 2)
Config.OSD_RCErrorbeep = Edit_generic(Config.OSD_RCErrorbeep,0,2,DISPLAY9,OnOff);
if((val + offset) == 3)
Config.DisplayLanguage = Edit_generic(Config.DisplayLanguage,0,2,DISPLAY3,Language);
if((val + offset) == 4)
Config.DisplayTimeout = Edit_generic(Config.DisplayTimeout,0,254,DISPLAY4,Show_uint3);
if((val + offset) == 5)
{
if (Config.HWSound==0)
{
Config.LCD_Helligkeit = Edit_DisplayHelligkeit(Config.LCD_Helligkeit,0,100,DISPLAY5);
if (edit == 1)
if(!LCD_Change)
LCD_Change =1;
}
}
if((val + offset) == 6)
Config.LCD_Kontrast = Edit_generic(Config.LCD_Kontrast,0,63,DISPLAY6,Kontrast);
if (edit == 1)
if(!LCD_Change)
LCD_Change =1;
if((val + offset) == 7)
{
Config.LCD_DisplayMode = Edit_generic(Config.LCD_DisplayMode,0,4,DISPLAY7,NormRev);
if (edit == 1)
if(!LCD_Change)
LCD_Change =1;
}
if((val + offset) == 8)
{
Config.LCD_ORIENTATION = Edit_generic(Config.LCD_ORIENTATION,0,4,DISPLAY8,NormRev);
if (edit == 1)
if(!LCD_Change)
LCD_Change =1;
}
if((val + offset) == 9)
{
Config.HWSound = Edit_generic(Config.HWSound,0,1,HWSOUND,YesNo);
}
if((val + offset) == 10)
{
Config.HWBeeper = Edit_generic(Config.HWBeeper,0,1,HWBEEPER,YesNo);
}
if((val + offset) == 11)
Config.Volume = Edit_generic(Config.Volume,0,50,VOLUME,Show_uint3);
}
}
//--------------------------------------------------------------
void Wi_Setup (void)
{
// uint8_t ii = 0;
// uint8_t Offset = 0;
// uint8_t size = 0;
// uint8_t dmode = 0;
uint8_t target_pos = 1;
// uint8_t val = 0;
mmode = 0;
edit = 0;
// WiIsSet = true;
lcd_cls ();
while(1)
{
size = ITEMS_WI;
lcd_cls ();
lcd_printp_at (0, 0, PSTR(" Wi.232 Setup "), 2);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(1)
// {
// ii = 0;
//
// if(Offset > 0)
// lcd_printp_at(1, 1, PSTR("\x12"), 0);
//
// for(ii = 0; ii < 6; ii++)
// {
// if((ii + Offset) < size)
// lcd_printp_at(3, ii+1, param_menuitems_wi[ii+Offset][Config.DisplayLanguage], 0);
//
// if((ii == 5)&&(ii + Offset < (size - 1)))
// lcd_printp_at(1, 6, PSTR("\x13"), 0);
//
// }
//
// if(dmode == 0)
// {
// if(Offset == 0)
// {
// if(size > 6)
// val = menu_choose2 (1, 5, target_pos,0,1);
// else
// val = menu_choose2 (1, size, target_pos,0,0);
//
// }
// else
// val = menu_choose2 (2, 5, target_pos,1,1);
//
// }
//
// if(dmode == 1)
// {
// if(Offset + 7 > size)
// val = menu_choose2 (2, 6, target_pos, 1, 0);
// else
// val = menu_choose2 (2, 5, target_pos, 1, 1);
//
// }
//
// if(val == 254)
// {
// Offset++;
// dmode = 1;
// target_pos = 5;
// }
// else if(val == 253)
// {
// Offset--;
// dmode = 0;
// target_pos = 2;
// }
// else if(val == 255)
// { // Ende mit ESC, speichern
// if (edit == 1)
// {
// if (Config.UseWi==true) InitWi232(Config.PKT_Baudrate);
// //Old_Baudrate = PKT_Baudrate;
// WriteParameter();
// edit = 0;
// }
//
// return;
// }
// else
//
// break;
// }
val = menu_select(param_menuitems_wi,size,target_pos);
if (val==255)
{
if (edit == 1)
{
if (Config.UseWi==true) InitWi232(Config.PKT_Baudrate);
//Old_Baudrate = PKT_Baudrate;
// WriteParameter();
edit = 0;
}
break;
}
target_pos = val;
if((val + offset) == 1)
{
Config.UseWi = Edit_generic(Config.UseWi,0,1,WI2321,YesNo);
}
if((val + offset) == 2)
{
Config.WiTXRXChannel = Edit_generic(Config.WiTXRXChannel, 0, 5,WITXRX,Show_uint3);
}
if((val + offset) == 3)
{
Config.WiNetworkGroup = Edit_generic(Config.WiNetworkGroup, 0, 127, WINETWG,Show_uint3);
}
if((val + offset) == 4)
{
Config.WiNetworkMode = Edit_generic(Config.WiNetworkMode,0,1,WINETWM,Wi_Netmode);
}
if((val + offset) == 5)
{
Config.WiTXTO = Edit_generic(Config.WiTXTO,0,127,WITIMEOUT,Show_uint3);
}
if((val + offset) == 6)
{
Config.WiUartMTU = Edit_generic(Config.WiUartMTU,0,127,WIUART,Show_uint3);
}
if((val + offset) == 7)
{
Old_Baudrate = Config.PKT_Baudrate;
Config.PKT_Baudrate = Edit_generic(Config.PKT_Baudrate,1,6,PKT_BAUDRATE,Baudrate);
Wi232_New_Baudrate = Config.PKT_Baudrate;
BT_New_Baudrate = Config.PKT_Baudrate;
if (edit==1)
{ if (Config.UseBT==true) { set_BTOn(); bt_setbaud(BT_New_Baudrate); set_BTOff();}
if (Config.UseWi==true) InitWi232(Wi232_New_Baudrate);
// WriteParameter();
Old_Baudrate = Config.PKT_Baudrate;
edit = 0;
}
}
if((val + offset) == 8)
InitWi232(Config.PKT_Baudrate);
if((val + offset) == 9)
Port_USB2CFG_Wi();
}
}
uint8_t Edit_String(const char *data, const uint8_t length, uint8_t type, const char *Text)
{
uint8_t y = 1;
uint8_t x = 1;
uint8_t I = 0;
lcd_cls();
lcd_printp_at (0, 0, Text, 2);
for (uint8_t i = 0; i < length; i++)
{
lcd_putc (y++, 3, data[i], 0);
lcd_printp_at (y++, 3, PSTR(" "), 0);
EditString[i] = data[i];
}
lcd_rect ((x*6)-3, (8*3)-2, 10, 10, 1);
lcd_printp_at (0, 6, PSTR(" C"), 0);
lcd_printp_at (0, 7, PSTR(" \x17 \x16 \x19 OK"), 0);
do
{
if (type == 1) // Name
{
for (uint8_t i = bt_name_length; i > 0; i--)
{
if (EditString[i - 1] != ' ')
{
bt_name_len = i;
break;
}
}
if ((get_key_press (1 << KEY_PLUS) || get_key_long_rpt_sp ((1 << KEY_PLUS), 2)) && EditString[I] < 'z')
{
EditString[I]++;
if (EditString[I] >= 0x00 && EditString[I] < ' ')
EditString[I] = ' ';
if (EditString[I] > ' ' && EditString[I] < '0')
EditString[I] = '0';
if (EditString[I] > '9' && EditString[I] < 'A')
EditString[I] = 'A';
if (EditString[I] > 'Z' && EditString[I] < 'a')
EditString[I] = 'a';
lcd_putc (x, 3, EditString[I], 0);
edit = 1;
}
if ((get_key_press (1 << KEY_MINUS) || get_key_long_rpt_sp ((1 << KEY_MINUS), 2)) && EditString[I] > ' ')
{
EditString[I]--;
if (EditString[I] < 'a' && EditString[I] > 'Z')
EditString[I] = 'Z';
if (EditString[I] < 'A' && EditString[I] > '9')
EditString[I] = '9';
if (EditString[I] < '0' && EditString[I] > ' ')
EditString[I] = ' ';
lcd_putc (x, 3, EditString[I], 0);
edit = 1;
}
}
else if (type == 2) // PIN
{
if ((get_key_press (1 << KEY_PLUS) || get_key_long_rpt_sp ((1 << KEY_PLUS), 1)) && (EditString[I] < '9'))
{
EditString[I]++;
if (EditString[I] >= 0x00 && EditString[I] < ' ')
EditString[I] = ' ';
if (EditString[I] > ' ' && EditString[I] < '0')
EditString[I] = '0';
lcd_putc (x, 3, EditString[I], 0);
edit = 1;
}
if ((get_key_press (1 << KEY_MINUS) || get_key_long_rpt_sp ((1 << KEY_MINUS), 1)) && (EditString[I] > '0'))
{
EditString[I]--;
if (EditString[I] < 'A' && EditString[I] > '9')
EditString[I] = '9';
lcd_putc (x, 3, EditString[I], 0);
edit = 1;
}
}
if (get_key_long (1 << KEY_ESC))
{
if (type == 1) // Name
EditString[I] = ' '; // Zeichen l�schen
else if (type == 2) // Pin
EditString[I] = '0'; // Zeichen setzen
lcd_putc (x, 3, EditString[I], 0);
edit = 1;
}
if (get_key_short (1 << KEY_ESC))
{
if (type == 1)
length_tmp = bt_name_length;
else if (type == 2)
length_tmp = bt_pin_length;
if ((x / 2) + 2 > length_tmp)
{
lcd_rect ((x*6)-3, (8*3)-2, 10, 10, 0);
x = 1;
lcd_rect ((x*6)-3, (8*3)-2, 10, 10, 1);
I = 0;
}
else
{
lcd_rect ((x*6)-3, (8*3)-2, 10, 10, 0);
x++;
x++;
lcd_rect ((x*6)-3, (8*3)-2, 10, 10, 1);
I++; //Zeiger auf Zeichen
}
}
}
while (!get_key_press (1 << KEY_ENTER));
{
return 1;
}
}
void BT_SelectDevice (void)
{
uint8_t ii = 0;
uint8_t Offset = 0;
uint8_t size = 0;
uint8_t dmode = 0;
uint8_t target_pos = 1;
uint8_t val = 0;
mmode = 0;
edit = 0;
lcd_cls ();
while(1)
{
size = bt_devicecount;
lcd_cls ();
lcd_printp_at (0, 0, PSTR(" BT select Device "), 2);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
while(1)
{
ii = 0;
if(Offset > 0)
lcd_printp_at(1, 1, PSTR("\x12"), 0);
for(ii = 0; ii < 6; ii++)
{
if((ii + Offset) < size)
{
if (strncmp (device_list[ii + Offset].mac, Config.gps_UsedMac, 14) == 0)
{
lcd_puts_at(3, ii+1, device_list[ii + Offset].DevName, 2);
// lcd_puts_at(3, 4, strGet(KEYLINE1), 0);
}
else
{
lcd_puts_at(3, ii+1, device_list[ii + Offset].DevName, 0);
// lcd_puts_at(3, 5, strGet(KEYLINE1), 0);
}
}
if((ii == 5)&&(ii + Offset < (size - 1)))
lcd_printp_at(1, 6, PSTR("\x13"), 0);
}
if(dmode == 0)
{
if(Offset == 0)
{
if(size > 6)
val = menu_choose2 (1, 5, target_pos,0,1);
else
val = menu_choose2 (1, size, target_pos,0,0);
}
else
val = menu_choose2 (2, 5, target_pos,1,1);
}
if(dmode == 1)
{
if(Offset + 7 > size)
val = menu_choose2 (2, 6, target_pos, 1, 0);
else
val = menu_choose2 (2, 5, target_pos, 1, 1);
}
if(val == 254)
{
Offset++;
dmode = 1;
target_pos = 5;
}
else if(val == 253)
{
Offset--;
dmode = 0;
target_pos = 2;
}
else if(val == 255)
{ // Ende mit ESC, speichern
if (edit == 1)
{
// WriteParameter();
edit = 0;
}
return;
}
else
break;
}
target_pos = val;
if(val > 0 )
{
for(uint8_t i = 0; i < 14; i++)
{
Config.gps_UsedMac[i] = device_list[val-1].mac[i];
}
for(uint8_t i = 0; i < 20; i++)
{
Config.gps_UsedDevName[i] = device_list[val-1].DevName[i];
}
edit = 1;
}
}
}
//--------------------------------------------------------------
//
void BT_Setup (void)
{
// uint8_t ii = 0;
uint8_t z = 0;
// uint8_t Offset = 0;
// uint8_t size = 0;
// uint8_t dmode = 0;
uint8_t target_pos = 1;
// uint8_t val;
char string[20];
mmode = 0;
edit = 0;
// val = 0;
// BTIsSet = true;
lcd_cls ();
while(1)
{
size = ITEMS_BT;
lcd_cls ();
lcd_puts_at(0, 0, strGet(BT1), 2);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(1)
// {
// ii = 0;
//
// if(Offset > 0)
// lcd_printp_at(1,1, PSTR("\x12"), 0);
//
// for(ii = 0; ii < 6; ii++)
// {
// if((ii + Offset) < size)
// {
// lcd_printp_at(3, ii + 1, param_menuitems_bt[ii+Offset][Config.DisplayLanguage], 0);
// if ((ii+Offset)==5)
// {
// for (uint8_t i = 0; i < RE_ID_length; i++)
// {
// lcd_putc (10+i, ii+1, Config.RE_ID[i], 0);
//
// }
// }
// }
//
//
// if((ii == 5) && (ii + Offset < (size - 1)))
// lcd_printp_at(1,6, PSTR("\x13"), 0);
//
// }
//
// if(dmode == 0)
// {
// if(Offset == 0)
// {
// if(size > 6)
// val = menu_choose2 (1, 5, target_pos, 0, 1);
// else
// val = menu_choose2 (1, size, target_pos, 0, 0);
//
// }
// else
// val = menu_choose2 (2, 5, target_pos, 1, 1);
//
// }
//
// if(dmode == 1)
// {
// if(Offset + 7 > size)
// val = menu_choose2 (2, 6, target_pos, 1, 0);
// else
// val = menu_choose2 (2, 5, target_pos, 1, 1);
// }
//
// if(val == 254)
// {
// Offset++;
// dmode = 1;
// target_pos = 5;
// }
// else if(val == 253)
// {
// Offset--;
// dmode = 0;
// target_pos = 2;
// }
// else if(val == 255)
// { // Ende mit ESC, speichern
// if (edit == 1)
// {
// if (Config.UseBT == 1);
// if (bt_init()) Config.BTIsSet = true; else Config.BTIsSet = false;
// WriteParameter();
// return;
// }
// return;
// }
// else
// break;
// }
val = menu_select(param_menuitems_bt,size,target_pos);
if (val==255)
{
if (edit == 1)
{
if (Config.UseBT == 1);
if (bt_init()) Config.BTIsSet = true; else Config.BTIsSet = false;
}
break;
}
target_pos = val;
if((val + offset) == 1)
Config.UseBT = Edit_generic(Config.UseBT,0,1,BT4,YesNo);
if((val + offset) == 2)
{
for (uint8_t i = 0; i < bt_name_length; i++)
{
string[i] = Config.bt_name[i];
}
string[bt_name_length] = 0;
Edit_String(string, bt_name_length, 1, PSTR(" Bluetooth Name "));
if (edit == 1)
{
for (uint8_t i = 0; i < bt_name_len; i++)
{
Config.bt_name[i] = EditString[i];
// WriteParameter();
}
if (bt_name_len < 10)
{
for (uint8_t i = bt_name_len; i < 10; i++)
{
Config.bt_name[i] = ' ';
// WriteParameter();
}
}
}
}
if((val + offset) == 3)
{
for (uint8_t i = 0; i < bt_pin_length; i++)
{
string[i] = Config.bt_pin[i];
}
string[bt_pin_length] = 0;
Edit_String(string, bt_pin_length, 2, PSTR(" Bluetooth Pin "));
if (edit == 1)
{
for (uint8_t i = 0; i < bt_pin_length; i++)
{
Config.bt_pin[i] = EditString[i];
// WriteParameter();
}
}
}
if((val + offset) == 4)
{
// if (edit == 1)
// if(BTIsSet)
// BTIsSet = false;
if (bt_init() == true)
{
lcd_printp_at (0, 3, PSTR("BT Init ok"), 0);
WriteBTInitFlag();
}
else
{
lcd_printp_at (0, 3, PSTR("BT Init Error"), 0);
Config.BTIsSet = false;
set_beep ( 1000, 0x0040, BeepNormal);
}
}
if((val + offset) == 5)
{
lcd_cls ();
lcd_printp_at (0, 0, PSTR(" BTM-222 MAC-Adresse "), 2);
lcd_puts_at(18, 7, strGet(OK), 0);
lcd_printp_at (0, 4, PSTR("MAC:"), 0);
z = 0;
for(uint8_t i = 0; i < 13; i++)
{
lcd_putc (z, 5, Config.bt_Mac[i],0);
if ((i%2==1)&&(i<11))
{
z++;
lcd_printp_at(z, 5, PSTR(":"),0);
}
z++;
}
while (!get_key_press (1 << KEY_ENTER));
}
if((val + offset) == 6)
{
for (uint8_t i = 0; i < RE_ID_length; i++)
{
string[i] = Config.RE_ID[i];
}
string[RE_ID_length] = 0;
Edit_String(string, RE_ID_length, 2, PSTR(" RE-ID Notiz "));
if (edit == 1)
{
for (uint8_t i = 0; i < RE_ID_length; i++)
{
Config.RE_ID[i] = EditString[i];
// WriteParameter();
}
}
}
if((val + offset) == 7)
Port_FC2CFG_BT();
}
}
void GPS_Setup (void)
{
// uint8_t ii = 0;
// uint8_t Offset = 0;
// uint8_t size = 0;
// uint8_t dmode = 0;
uint8_t target_pos = 1;
// uint8_t val;
uint8_t BT_WhasOn = 0;
uint8_t status;
// uint16_t uart_bytes;
mmode = 0;
edit = 0;
val = 0;
lcd_cls ();
while(1)
{
size = ITEMS_GPS;
lcd_cls ();
lcd_puts_at(0, 0, strGet(GPS1), 2);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(1)
// {
// ii = 0;
//
// if(Offset > 0)
// lcd_printp_at(1,1, PSTR("\x12"), 0);
//
// for(ii = 0; ii < 6; ii++)
// {
// if((ii + Offset) < size)
// lcd_printp_at(3, ii + 1, param_menuitems_GPS[ii+Offset][Config.DisplayLanguage], 0);
//
// if((ii == 5) && (ii + Offset < (size - 1)))
// lcd_printp_at(1,6, PSTR("\x13"), 0);
//
// }
//
// if(dmode == 0)
// {
// if(Offset == 0)
// {
// if(size > 6)
// val = menu_choose2 (1, 5, target_pos, 0, 1);
// else
// val = menu_choose2 (1, size, target_pos, 0, 0);
//
// }
// else
// val = menu_choose2 (2, 5, target_pos, 1, 1);
//
// }
//
// if(dmode == 1)
// {
// if(Offset + 7 > size)
// val = menu_choose2 (2, 6, target_pos, 1, 0);
// else
// val = menu_choose2 (2, 5, target_pos, 1, 1);
// }
//
// if(val == 254)
// {
// Offset++;
// dmode = 1;
// target_pos = 5;
// }
// else if(val == 253)
// {
// Offset--;
// dmode = 0;
// target_pos = 2;
// }
// else if(val == 255)
// { // Ende mit ESC, speichern
// if (edit == 1)
// {
// WriteParameter();
// if (BT_WhasOn)
// {
// set_BTOn();
//// bt_set_mode(SLAVE);
// bt_init();
// set_BTOff();
// }
//
// return;
// }
// return;
// }
// else
// break;
// }
val = menu_select(param_menuitems_GPS,size,target_pos);
if (val==255)
{
if (edit == 1)
{
// WriteParameter();
if (BT_WhasOn)
{
set_BTOn();
// bt_set_mode(SLAVE);
bt_init();
set_BTOff();
}
}
break;
}
target_pos = val;
//
// {"Suche GPS Maus ","search GPS mouse ","search GPS mouse ","search GPS mouse "},
// {"GPS Maus Typ ","GPS mouse typ ","GPS mouse typ ","GPS mouse typ "},
// {"GPS Maus aktiv? ","GPS mouse activ? ","GPS mouse activ? ","GPS mouse activ? "},
// {"Zeige GPS Device ","show GPS device ","show GPS device ","show GPS device "},
//
if((val + offset) == 1)
{
if (bt_devicecount ==0)
{
lcd_cls ();
lcd_printp_at (0, 0, PSTR("wähle BT Device"), 0);
set_BTOn();
BT_WhasOn = true;
// _delay_ms(2000);
bt_downlink_init();
bt_searchDevice();
set_BTOff();
BT_SelectDevice();
}
else
BT_SelectDevice();
// if (edit == 1) WriteParameter();
}
if((val + offset) == 2)
{
lcd_cls ();
lcd_printp_at (0, 0, PSTR("suche BT Device"), 0);
set_BTOn();
BT_WhasOn = true;
bt_downlink_init();
bt_searchDevice();
set_BTOff();
BT_SelectDevice();
}
if((val + offset) == 3)
{
Config.gps_UsedGPSMouse = Edit_generic(Config.gps_UsedGPSMouse,0,1,GPS_MOUSETYP,GPSMOUSE);
if (edit == 1) {
// WriteParameter();
edit = 0;
}
}
if((val + offset) == 4)
{
Config.gps_UseGPS = Edit_generic(Config.gps_UseGPS,0,1,GPS3,YesNo);
if (edit == 1) {
// WriteParameter();
edit = 0;
}
}
if((val + offset) == 5)
{
lcd_cls ();
lcd_puts_at(0, 0, strGet(GPS2), 2);
lcd_puts_at(18, 7, strGet(OK), 0);
lcd_printp_at (0, 1, PSTR("Device:"), 0);
lcd_printp_at (0, 4, PSTR("MAC:"), 0);
lcd_puts_at (0, 2,Config.gps_UsedDevName, 0);
for(uint8_t i = 0; i < 12; i++)
{
lcd_putc (i, 5, Config.gps_UsedMac[i],0);
}
while (!get_key_press (1 << KEY_ENTER));
}
if((val + offset) == 6)
{
get_key_press(KEY_ALL);
lcd_cls ();
lcd_puts_at(18, 7, strGet(OK), 0);
lcd_puts_at (0, 0,Config.gps_UsedDevName, 2);
set_BTOn();
BT_WhasOn = true;
if (Config.BTIsSlave==true)
{
bt_downlink_init();
}
lcd_printp_at (0, 1, PSTR("try to connect"), 0);
status = bt_connect(Config.gps_UsedMac);
lcd_printp_at (0, 2, PSTR("connect status"), 0);
write_ndigit_number_u (14, 2, status, 2, 0,0);
if (status==true)
{
lcd_printp_at (0, 1, PSTR("connected "), 0);
receiveNMEA = true;
}
else
{
lcd_printp_at (0, 2, PSTR("connect Error"), 0);
write_ndigit_number_u (14, 2, status, 2, 0,0);
}
//---OG:BEGIN---
if (receiveNMEA==true)
{
lcd_cls();
// BT-Device Name
lcd_puts_at(0, 0,Config.gps_UsedDevName, 2);
// Labels
lcd_printp_at( 0, 1, PSTR("Sat: "), 0);
lcd_printp_at(11, 1, PSTR("XErr: "), 0);
lcd_printp_at( 0, 2, PSTR("Fix: "), 0);
lcd_printp_at(11, 2, PSTR("HDOP: "), 0);
lcd_printp_at( 0, 3, PSTR(" Latitude Longitude"), 2);
lcd_printp_at( 0, 6, PSTR("Alt: "), 0);
// Bottom-Line: OK
lcd_puts_at(18, 7, strGet(OK), 0);
bt_rx_ready = 0;
do
{
CheckGPS = true;
if (!bt_receiveNMEA()){ receiveNMEA = false; break;}
Tracking_NMEA();
//---------------------------------------------------------------------
// Line 1 L: Sat-Anzahl
write_ndigit_number_u (5, 1, NMEAsatsInUse, 2, 0,0);
// Line 1 R: BT RX Error's
write_ndigit_number_u (17, 1, bt_rxerror, 4, 0,0);
//---------------------------------------------------------------------
// Line 2 L: Fix
write_ndigit_number_u (5, 2, posfix, 2, 0,0);
// Line 2 R: HDOP
if( HDOP == 0 )
lcd_printp_at(16, 2, PSTR(" ---"), 0);
else
write_ndigit_number_u_10th (16, 2, HDOP, 4, 0,0);
//---------------------------------------------------------------------
// Line 4 L: Latitude
write_ndigit_number_u (1, 4, (uint16_t)(NMEAlatitude/10000000), 2, 0,0);
lcd_printp_at (3, 4, PSTR("."), 0);
write_ndigit_number_u (4, 4, (uint16_t)((NMEAlatitude/1000) % 10000), 4, 1,0);
write_ndigit_number_u (8, 4, (uint16_t)((NMEAlatitude/10) % 100), 2, 1,0);
// Line 4 R: Longitude
write_ndigit_number_u (12, 4, (uint16_t)(NMEAlongitude/10000000), 2, 0,0);
lcd_printp_at (14, 4, PSTR("."), 0);
write_ndigit_number_u (15, 4, (uint16_t)((NMEAlongitude/1000) % 10000), 4, 1,0);
write_ndigit_number_u (19, 4, (uint16_t)((NMEAlongitude/10) % 100), 2, 1,0);
//---------------------------------------------------------------------
// Line 6 L: Altitude
write_ndigit_number_u_10th (5, 6, NMEAaltitude, 5, 0,0);
lcd_printp_at (11, 6, PSTR("m"), 0);
// Line 6 R: GPS Time
lcd_puts_at (13, 6, NMEAtime, 0);
//---------------------------------------------------------------------
} while (!get_key_press (1 << KEY_ENTER) || !receiveNMEA==true);
CheckGPS = false;
lcd_cls();
if (!receiveNMEA) {
lcd_printp_at (0, 1, PSTR("lost BT data"), 0);
set_beep ( 400, 0x0080, BeepNormal);
}
lcd_printp_at (0, 3, PSTR("GPS trennen"), 0);
lcd_printp_at (0, 4, PSTR("bitte warten..."), 0);
}
else
{
lcd_printp_at (0, 3, PSTR("Error connecting!"), 0);
while (!get_key_press (1 << KEY_ENTER));
}
receiveNMEA = false;
CheckGPS = false;
if (!bt_disconnect()) lcd_printp_at (0, 3, PSTR("Error disconnecting!"), 0);
//---OG:END---
// if (receiveNMEA==true)
// {
// lcd_printp_at (0, 3, PSTR(" Latitude Longitude"), 2);
// bt_rx_ready = 0;
// do
// {
// CheckGPS = true;
// if (!bt_receiveNMEA()){ receiveNMEA = false; break;}
//
//
// Tracking_NMEA();
//
//
// write_ndigit_number_u (1, 4, (uint16_t)(NMEAlatitude/10000000), 2, 0,0);
// lcd_printp_at (3, 4, PSTR("."), 0);
// write_ndigit_number_u (4, 4, (uint16_t)((NMEAlatitude/1000) % 10000), 4, 1,0);
// write_ndigit_number_u (8, 4, (uint16_t)((NMEAlatitude/10) % 100), 2, 1,0);
//
//
// write_ndigit_number_u (12, 4, (uint16_t)(NMEAlongitude/10000000), 2, 0,0);
// lcd_printp_at (14, 4, PSTR("."), 0);
// write_ndigit_number_u (15, 4, (uint16_t)((NMEAlongitude/1000) % 10000), 4, 1,0);
// write_ndigit_number_u (19, 4, (uint16_t)((NMEAlongitude/10) % 100), 2, 1,0);
// lcd_printp_at (0, 2, PSTR("GPS Time: "), 0);
// lcd_puts_at (10, 2, NMEAtime, 0);
// lcd_printp_at (0, 6, PSTR("Satellite: "), 0);
// write_ndigit_number_u (11, 6, NMEAsatsInUse, 2, 1,0);
// lcd_printp_at (0, 5, PSTR("Fix: "), 0);
// write_ndigit_number_u (5, 5, posfix, 1, 1,0);
// lcd_printp_at (8, 5, PSTR("HDOP: "), 0);
// write_ndigit_number_u_10th (14, 5, HDOP, 4, 0,0);
// lcd_printp_at (0, 7, PSTR("Alitude: "), 0);
// write_ndigit_number_u_10th (9, 7, NMEAaltitude, 5, 0,0);
// lcd_printp_at (15, 7, PSTR("m"), 0);
// lcd_printp_at (0, 1, PSTR(" BT RX Error: "), 0);
// write_ndigit_number_u (13, 1, bt_rxerror, 3, 1,0);
//// write_ndigit_number_u (13, 1, UART1_RxError, 5, 1,0);
//
//// uart_bytes = uart1_available();
//// lcd_printp_at (0, 1, PSTR(" UartAvail: "), 0);
//// write_ndigit_number_u (13, 1,uart_bytes , 4, 1,0);
// }
//
//
// while (!get_key_press (1 << KEY_ENTER) || !receiveNMEA==true);
//
// CheckGPS = false;
// lcd_cls_line(0,1,21);
// lcd_cls_line(0,2,21);
// lcd_cls_line(0,3,21);
// lcd_cls_line(0,4,21);
// lcd_cls_line(0,5,21);
// lcd_cls_line(0,6,21);
// lcd_cls_line(0,7,21);
// if (!receiveNMEA) lcd_printp_at (0, 2, PSTR("lost BT data"), 0);
// lcd_printp_at (0, 3, PSTR("GPS trennen"), 0);
// lcd_printp_at (0, 4, PSTR("bitte warten"), 0);
// }
// else
// {
// lcd_printp_at (0, 4, PSTR("Error at connecting"), 0);
// while (!get_key_press (1 << KEY_ENTER));
// }
// receiveNMEA = false;
// CheckGPS = false;
// if (!bt_disconnect()) lcd_printp_at (0, 3, PSTR("Fehler beim Trennen"), 0);
set_BTOff();
}
}
}
//--------------------------------------------------------------
uint8_t Edit_PKT_Accu(uint8_t Value, uint8_t min, uint8_t max)
{
Pre = Value;
lcd_cls();
// lcd_printp_at (0, 2, Text, 0);
lcd_puts_at(0, 2, strGet(LIPO2), 0);
switch (Value)
{
case false :lcd_printp_at (15, 2, PSTR("LiIo"), 0);
break;
case true :lcd_printp_at (15, 2, PSTR("LiPo"), 0);
break;
break;
}
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
do
{
if ((get_key_press (1 << KEY_PLUS)) && (Value == 0))
{
Value = 1;
lcd_printp_at (15, 2, PSTR("LiPo"), 0);
}
if ((get_key_press (1 << KEY_MINUS)) && (Value == 1))
{
Value = 0;
lcd_printp_at (15, 2, PSTR("LiIo"), 0);
}
if (get_key_press (1 << KEY_ENTER))
{
edit = 1;
Config.PKT_Accutyp = Value;
return Value;
}
}
while (!get_key_press (1 << KEY_ESC));
{
get_key_press(KEY_ALL);
edit = 0;
Config.PKT_Accutyp = Pre;
return Pre;
}
}
//--------------------------------------------------------------
uint16_t Edit_LipoOffset(uint16_t Value, uint16_t min, uint16_t max)
{
lcd_cls();
lcd_puts_at(0, 2, strGet(LIPO3), 0);
lcd_puts_at(0, 5, strGet(LIPO5), 0);
lcd_puts_at(0, 6, strGet(LIPO6), 0);
Pre16 = Value;
write_ndigit_number_u (16, 2, Value, 4, 0,0);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
do
{
if ((get_key_press (1 << KEY_PLUS) || get_key_long_rpt_sp ((1 << KEY_PLUS), 2)) && (Value < max-10))
{
edit = 1;
Value = Value +10;
Config.Lipo_UOffset = Value;
write_ndigit_number_u (16, 2,Value, 4, 0,0);
}
if ((get_key_press (1 << KEY_MINUS) || get_key_long_rpt_sp ((1 << KEY_MINUS), 2)) && (Value > min))
{
edit = 1;
Value=Value -10;
Config.Lipo_UOffset = Value;
write_ndigit_number_u (16, 2,Value, 4, 0,0);
}
if (get_key_press (1 << KEY_ENTER))
return Value;
show_Lipo();
write_ndigit_number_u_100th(8, 3, volt_avg, 0, 0);
lcd_printp_at(3, 3, PSTR("Volt"), 0);
}
while (!get_key_press (1 << KEY_ESC));
{
get_key_press(KEY_ALL);
edit = 0;
Config.Lipo_UOffset = Pre16;
return Pre16;
}
}
//--------------------------------------------------------------
void Accu_Setup (void)
{
// uint8_t ii = 0;
// uint8_t Offset = 0;
// uint8_t size = 0;
// uint8_t dmode = 0;
uint8_t target_pos = 1;
// uint8_t val;
mmode = 0;
edit = 0;
val = 0;
lcd_cls ();
while(1)
{
size = ITEMS_Accu;
lcd_cls ();
lcd_puts_at(0, 0, strGet(LIPO1), 2);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(1)
// {
// ii = 0;
//
// if(Offset > 0)
// lcd_printp_at(1,1, PSTR("\x12"), 0);
//
// for(ii = 0; ii < 6; ii++)
// {
// if((ii + Offset) < size)
// lcd_printp_at(3, ii + 1, param_menuitems_Accu[ii+Offset][Config.DisplayLanguage], 0);
//
// if((ii == 5) && (ii + Offset < (size - 1)))
// lcd_printp_at(1,6, PSTR("\x13"), 0);
//
// }
//
// if(dmode == 0)
// {
// if(Offset == 0)
// {
// if(size > 6)
// val = menu_choose2 (1, 5, target_pos, 0, 1);
// else
// val = menu_choose2 (1, size, target_pos, 0, 0);
//
// }
// else
// val = menu_choose2 (2, 5, target_pos, 1, 1);
//
// }
//
// if(dmode == 1)
// {
// if(Offset + 7 > size)
// val = menu_choose2 (2, 6, target_pos, 1, 0);
// else
// val = menu_choose2 (2, 5, target_pos, 1, 1);
// }
//
// if(val == 254)
// {
// Offset++;
// dmode = 1;
// target_pos = 5;
// }
// else if(val == 253)
// {
// Offset--;
// dmode = 0;
// target_pos = 2;
// }
// else if(val == 255)
// { // Ende mit ESC, speichern
// if (edit == 1)
// {
// WriteParameter();
// edit = 0;
// return;
// }
// return;
// }
// else
// break;
// }
val = menu_select(param_menuitems_Accu,size,target_pos);
if (val==255) break;
target_pos = val;
if((val + offset) == 1)
{
Config.PKT_Accutyp= Edit_PKT_Accu(Config.PKT_Accutyp,0,1);
if (edit == 1) {
// WriteParameter();
edit = 0;
}
}
if((val + offset) == 2)
{
Config.Lipo_UOffset = Edit_LipoOffset(Config.Lipo_UOffset,0,9999);
if (edit == 1) {
// WriteParameter();
edit = 0;
}
}
}
}
//--------------------------------------------------------------
uint8_t Edit_LED_Form (uint8_t Value, uint8_t min, uint8_t max, uint8_t Text)
{
Pre = Value;
lcd_cls();
lcd_puts_at(0, 2, strGet(Text), 0);
switch (Value)
{
case 0x1:
lcd_circle (14 * 6 + 5, 2 * 8 + 3, 3, 1); // kreis
lcd_fcircle (16 * 6 + 5, 2 * 8 + 3, 3, 0); // löschen
lcd_circle (16 * 6 + 5, 2 * 8 + 3, 3, 1); // kreis
lcd_fcircle (16 * 6 + 5, 2 * 8 + 3, 1, 1); // plus
break;
case 0x3 :
lcd_circle (14 * 6 + 5, 2 * 8 + 3, 3, 1); // kreis
lcd_fcircle (16 * 6 + 5, 2 * 8 + 3, 3, 1); // schwarz
break;
break;
}
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
do
{
if ((get_key_press (1 << KEY_PLUS)) && (Value == 1))
{
Value = 3;
lcd_circle (14 * 6 + 5, 2 * 8 + 3, 3, 1); // kreis
lcd_fcircle (16 * 6 + 5, 2 * 8 + 3, 3, 1); // schwarz
}
if ((get_key_press (1 << KEY_MINUS)) && (Value == 3))
{
Value = 1;
lcd_circle (14 * 6 + 5, 2 * 8 + 3, 3, 1); // kreis
lcd_fcircle (16 * 6 + 5, 2 * 8 + 3, 3, 0); // löschen
lcd_circle (16 * 6 + 5, 2 * 8 + 3, 3, 1); // kreis
lcd_fcircle (16 * 6 + 5, 2 * 8 + 3, 1, 1); // plus
}
if (get_key_press (1 << KEY_ENTER))
{
edit = 1;
Config.OSD_LEDform = Value;
// WriteParameter();
edit = 0;
return Value;
}
}
while (!get_key_press (1 << KEY_ESC));
{
get_key_press(KEY_ALL);
edit = 0;
Config.OSD_LEDform = Pre;
return Pre;
}
}
//--------------------------------------------------------------
void OSD_Setup (void)
{
// uint8_t ii = 0;
// uint8_t Offset = 0;
// uint8_t size = 0;
// uint8_t dmode = 0;
uint8_t target_pos = 1;
// uint8_t val;
mmode = 0;
edit = 0;
val = 0;
lcd_cls ();
while(1)
{
size = ITEMS_OSD;
lcd_cls ();
lcd_puts_at(0, 0, strGet(OSD_Screen), 2);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(1)
// {
// ii = 0;
//
// if(Offset > 0)
// lcd_printp_at(1,1, PSTR("\x12"), 0);
//
// for(ii = 0; ii < 6; ii++)
// {
// if((ii + Offset) < size)
// lcd_printp_at(3, ii + 1, param_menuitems_OSD[ii+Offset][Config.DisplayLanguage], 0);
//
// if((ii == 5) && (ii + Offset < (size - 1)))
// lcd_printp_at(1,6, PSTR("\x13"), 0);
//
// }
//
// if(dmode == 0)
// {
// if(Offset == 0)
// {
// if(size > 6)
// val = menu_choose2 (1, 5, target_pos, 0, 1);
// else
// val = menu_choose2 (1, size, target_pos, 0, 0);
//
// }
// else
// val = menu_choose2 (2, 5, target_pos, 1, 1);
//
// }
//
// if(dmode == 1)
// {
// if(Offset + 7 > size)
// val = menu_choose2 (2, 6, target_pos, 1, 0);
// else
// val = menu_choose2 (2, 5, target_pos, 1, 1);
// }
//
// if(val == 254)
// {
// Offset++;
// dmode = 1;
// target_pos = 5;
// }
// else if(val == 253)
// {
// Offset--;
// dmode = 0;
// target_pos = 2;
// }
// else if(val == 255)
// { // Ende mit ESC, speichern
// if (edit == 1)
// {
// WriteParameter();
// edit = 0;
// return;
// }
// return;
// }
// else
// break;
// }
val = menu_select(param_menuitems_OSD,size,target_pos);
if (val==255) break;
target_pos = val;
//4.3.13 CB if((val + Offset) == 1) Config.OSD_ScreenMode = Edit_generic(Config.OSD_ScreenMode, 0, OSD_MaxScreen, OSD_SCREENMODE,Show_uint);
if((val + offset) == 1) Config.OSD_LEDform = Edit_LED_Form(Config.OSD_LEDform, 1, 3, OSD_LED_Form);
if((val + offset) == 2) Config.OSD_InvertOut = Edit_generic(Config.OSD_InvertOut, 0, 1, OSD_Invert_Out,YesNo);
if((val + offset) == 3) Config.OSD_SendOSD = Edit_generic(Config.OSD_SendOSD, 0, 1,OSD_Send_OSD ,YesNo);
if((val + offset) == 4) Config.OSD_Fallspeed = Edit_generic(Config.OSD_Fallspeed,0,247,FALLSPEED,Show_uint10th);
if((val + offset) == 5) Config.OSD_VarioBeep = Edit_generic(Config.OSD_VarioBeep,0,1,OSD_VARIOBEEP,YesNo);
if((val + offset) == 6) Config.OSD_HomeMKView = Edit_generic(Config.OSD_HomeMKView,0,1,OSD_HOMEMKVIEW,YesNo);
if((val + offset) == 7) Config.MK_LowBat = Edit_generic(Config.MK_LowBat,32,247,LOWBAT,Show_uint10th);
if((val + offset) == 8) Config.OSD_mAh_Warning = Edit_generic(Config.OSD_mAh_Warning,0,30000,OSD_MAHWARNING, Show_uint5);
if((val + offset) == 9)Config.OSD_LipoBar = Edit_generic(Config.OSD_LipoBar, 0, 1, OSD_LIPOBAR,YesNo);
}
}
//--------------------------------------------------------------
void FollowMe_Setup (void)
{
// uint8_t ii = 0;
// uint8_t Offset = 0;
// uint8_t size = 0;
// uint8_t dmode = 0;
uint8_t target_pos = 1;
// uint8_t val;
mmode = 0;
edit = 0;
val = 0;
lcd_cls ();
while(1)
{
size = ITEMS_FOLLOWME;
lcd_cls ();
lcd_puts_at(0, 0, strGet(FOLLOWME_0), 2);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(1)
// {
// ii = 0;
//
// if(Offset > 0)
// lcd_printp_at(1,1, PSTR("\x12"), 0);
//
// for(ii = 0; ii < 6; ii++)
// {
// if((ii + Offset) < size)
// lcd_printp_at(3, ii + 1, param_menuitems_FOLLOWME[ii+Offset][Config.DisplayLanguage], 0);
//
// if((ii == 5) && (ii + Offset < (size - 1)))
// lcd_printp_at(1,6, PSTR("\x13"), 0);
//
// }
//
// if(dmode == 0)
// {
// if(Offset == 0)
// {
// if(size > 6)
// val = menu_choose2 (1, 5, target_pos, 0, 1);
// else
// val = menu_choose2 (1, size, target_pos, 0, 0);
//
// }
// else
// val = menu_choose2 (2, 5, target_pos, 1, 1);
//
// }
//
// if(dmode == 1)
// {
// if(Offset + 7 > size)
// val = menu_choose2 (2, 6, target_pos, 1, 0);
// else
// val = menu_choose2 (2, 5, target_pos, 1, 1);
// }
//
// if(val == 254)
// {
// Offset++;
// dmode = 1;
// target_pos = 5;
// }
// else if(val == 253)
// {
// Offset--;
// dmode = 0;
// target_pos = 2;
// }
// else if(val == 255)
// { // Ende mit ESC, speichern
// if (edit == 1)
// {
// WriteParameter();
// edit = 0;
// return;
// }
// return;
// }
// else
// break;
// }
val = menu_select(param_menuitems_FOLLOWME,size,target_pos);
if (val==255) break;
target_pos = val;
if((val + offset) == 1) Config.FM_Refresh = Edit_generic(Config.FM_Refresh, 250, 60000, FOLLOWME_1, Show_uint3);
if((val + offset) == 2) Config.FM_Speed = Edit_generic(Config.FM_Speed, 0, 100, FOLLOWME_2, Show_uint3);
if((val + offset) == 3) Config.FM_Radius = Edit_generic(Config.FM_Radius, 1,20, FOLLOWME_3, Show_uint3);
}
}
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/setup/setup.h
0,0 → 1,70
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef _setup_H
#define _setup_H
typedef enum //Varianten für die Anzeige der Werte im Setupmenü
{
Show_uint3,Show_uint5,Show_uint10th,GPSMOUSE,Wi_Netmode,OnOff,YesNo,Orientation,NormRev,Kontrast,Baudrate,Language,Sticktype,
} EditMode;
void PKT_Setup (void);
void Display_Setup (void);
void Wi_Use (void);
void Wi_Setup (void);
void BT_Use (void);
void BT_Setup (void);
void Show_Error_HW12(void);
void Accu_Setup (void);
void BT_SelectDevice (void);
void GPS_Setup (void);
void OSD_Setup (void);
void FollowMe_Setup (void);
uint8_t Edit_Language(uint8_t Value, uint8_t min, uint8_t max,uint8_t Text);
uint16_t Edit_generic(uint16_t Value, uint16_t min, uint16_t max,uint8_t Text, uint8_t what);
extern uint8_t bt_name_len;
extern uint8_t length_tmp;
extern uint8_t Old_Baudrate; //Merkzelle für alte Baudrate
extern uint8_t edit;
extern uint8_t CheckGPS;
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/sound/.directory
0,0 → 1,3
[Dolphin]
Timestamp=2013,1,22,0,36,37
ViewMode=1

/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/sound/pwmsine8bit.c
0,0 → 1,278
//file pwmsine8bit.c
//generate 8 bit sinewave using wavetable lookup
//12khz sample rate, 62500 hz pwm on pd5 oc1a
//for ere co embmega32 16Mhz 38400
//May 3 07 Bob G initial edit 8 bit
//May 5 07 Bob G add traffic tones
//Jan 18 08 Bob G compile with 7.15
//#include <stdio.h>
//#include <stdlib.h>
#include <ctype.h>
#include <math.h> //sin
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
#include <string.h>
#include <stdint.h>
#include "../timer/timer.h"
//#include "../bluetooth/fifo.h"
#define INTR_OFF() asm("CLI")
#define INTR_ON() asm("SEI")
//------vars in bss-------
volatile unsigned char sindat[256]; //8 bit sine table
//unsigned int addat[8]; //internal 10 bit
unsigned int idesfreq;
unsigned char iattenfac; //0-255
unsigned char dispon;
unsigned char freqincipart,freqincfpart;
unsigned char waveptipart,waveptfpart;
unsigned char tics;
unsigned char generate;
float basefreq;
float freqratio;
float sampfreq; //12khz
float samppd; //83.33usec
float fdesfreq;
float attendb; //0-50
float attenfac; //.999-0
const float pi=3.141592654;
#define MSB(w) ((char*) &w)[1]
#define LSB(w) ((char*) &w)[0]
#define TONE_BUFFER_SIZE 64
#define TONE_BUFFER_MASK ( TONE_BUFFER_SIZE - 1)
static volatile unsigned char ToneBuf[TONE_BUFFER_SIZE];
static volatile unsigned char ToneBufHead;
static volatile unsigned char ToneBufTail;
//-------------------------------
void cvtfreq2frac(void){
//calc freq ratio, separate into integer and fractional parts
fdesfreq=idesfreq;
freqratio=fdesfreq/basefreq; //calc freq ratio from basefreq
freqincipart=(int)freqratio; //calc integer part
freqincfpart=(freqratio-freqincipart)*256; //calc fractional part
// cprintf("ipart %02x fpart %02x\n",freqincipart,freqincfpart);
}
//-------------------------------
void cvtdb2fac(void){
//cvt db to attenuation factor
attenfac=pow(10.0,-attendb/20.0); //10^0=1
iattenfac=(unsigned char)(attenfac*255.0);
// cprintf("attenfac %#7.5f\n",attenfac);
// cprintf("iattenfac %02x\n",iattenfac);
}
//-------------------------
void initsindat(void){
//init 8 bit signed sin table 0-ff in ram 36dB s/n 46Hz basefreq
unsigned int n;
for(n=0; n < 256; n++){
sindat[n]=(signed char)127.0*sin(2.0*pi*n/256.0); //256 sin points
}
}
//-------------------------
void initvars(void){
//init vars
// sampfreq=12000.0; //hz
sampfreq=19530.0; //hz
// printf("samp freq %#7.1f hz\n\r",sampfreq);
// printf("samp freq %#7.1f hz\n\r",1234567.1);
samppd=1.0/sampfreq; //83.33usec
// printf("samppd %#7.1f usec \n\r",samppd*1e6);
basefreq=sampfreq/256.0; //46.875hz
// printf("basefreq %#7.5f hz\n\r",basefreq);
idesfreq=400;
cvtfreq2frac();
cvtdb2fac(); //0db =.9999= 0xff
}
//---------------------
void tone1(int hz)
//tone at hz for ms
{
uint8_t volume = 0;
// TCNT2=0;
// sound_timer = ms/5;
// soundpause_timer = soundpause/5;
idesfreq=hz;
cvtfreq2frac();
attendb=volume;
cvtdb2fac();
if (hz ==0) generate=0;
else { generate = 1;
// TIMSK2 |= _BV(TOIE2); // Interrupt freigeben
}
}
//-------------------------------
void tone_handler(void) // wird aus Timerinterrupt aufgerufen
{
uint16_t f_Hz=0;
uint16_t dur_ms=0;
char volume=0;
char tmp_high = 0;
char tmp_low = 0;
unsigned char tmptail;
if ( ToneBufHead != ToneBufTail) {
/* calculate and store new buffer index */
tmptail = (ToneBufTail + 1) & TONE_BUFFER_MASK;
ToneBufTail = tmptail;
/* get one byte from buffer */
tmp_low = ToneBuf[tmptail]; /* f_Hz low */
}else{
return;
}
if ( ToneBufHead != ToneBufTail) {
/* calculate and store new buffer index */
tmptail = (ToneBufTail + 1) & TONE_BUFFER_MASK;
ToneBufTail = tmptail;
/* get one byte from buffer */
tmp_high = ToneBuf[tmptail]; /* f_Hz high */
}else{
return;
}
f_Hz = (((uint16_t) tmp_high) << 8) | tmp_low;
if ( ToneBufHead != ToneBufTail) {
/* calculate and store new buffer index */
tmptail = (ToneBufTail + 1) & TONE_BUFFER_MASK;
ToneBufTail = tmptail;
/* get one byte from buffer*/
volume = ToneBuf[tmptail]; /* volume */
}else{
return;
}
if ( ToneBufHead != ToneBufTail) {
/* calculate and store new buffer index */
tmptail = (ToneBufTail + 1) & TONE_BUFFER_MASK;
ToneBufTail = tmptail;
/* get one byte from buffer */
tmp_low = ToneBuf[tmptail]; /* low Duratuion */
}else{
return;
}
if ( ToneBufHead != ToneBufTail) {
/* calculate and store new buffer index */
tmptail = (ToneBufTail + 1) & TONE_BUFFER_MASK;
ToneBufTail = tmptail;
/* get one byte from buffer*/
tmp_high = ToneBuf[tmptail]; /* high Duration */
}else{
return;
}
dur_ms = (((uint16_t) tmp_high) << 8) | tmp_low;
sound_timer = dur_ms/10;
// TCNT2=0;
idesfreq= f_Hz;
cvtfreq2frac();
attendb= volume;
cvtdb2fac();
if (f_Hz ==0) generate=0;
else { generate = 1;
// TIMSK2 |= _BV(TOIE2); // Interrupt freigeben
}
// printf("tone_handler f_Hz: %i dur_ms: %i volume: %i\n\r", f_Hz,dur_ms,volume);
}
void tone_putc(unsigned char data)
{
unsigned char tmphead;
tmphead = (ToneBufHead + 1) & TONE_BUFFER_MASK;
while ( tmphead == ToneBufTail ){
;/* wait for free space in buffer */
}
ToneBuf[tmphead] = data;
ToneBufHead = tmphead;
}/* tone_putc */
void playTone(uint16_t f_Hz, uint16_t dur_ms, uint8_t volume)
{
// printf("Playtone f_Hz: %i dur_ms: %i volume: %i\n\r", f_Hz,dur_ms,volume);
tone_putc(LSB(f_Hz));
tone_putc( MSB(f_Hz));
tone_putc( volume);
tone_putc(LSB(dur_ms));
tone_putc(MSB(dur_ms));
}
//-----------------
void InitSound(void){//main program
ToneBufHead = 0;
ToneBufTail = 0;
initvars();
initsindat();
Timer2_Init();
Timer3_Init();
}
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/sound/pwmsine8bit.h
0,0 → 1,22
/*
* pwmsine8bit.h
*
* Created on: 01.09.2012
* Author: cebra
*/
#ifndef PWMSINE8BIT_H_
#define PWMSINE8BIT_H_
extern unsigned char freqincipart,freqincfpart;
extern unsigned char waveptipart,waveptfpart;
extern unsigned char iattenfac; //0-255
extern unsigned char generate;
extern volatile unsigned char sindat[256]; //8 bit sine table
void InitSound(void);
void tone(int hz,uint8_t volume, uint16_t ms, uint16_t soundpause);
void tone1(int hz);
void playTone(uint16_t f_Hz, uint16_t dur_ms, uint8_t volume);
void tone_handler(void);
#endif /* PWMSINE8BIT_H_ */
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/stick/stick.c
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_puts_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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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/stick/stick.c_f
0,0 → 1,392
/*****************************************************************************
* 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"
#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"
#include "../eeprom/eeprom.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 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
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);
//CB LIMIT_MIN_MAX (Poti_Neutral[Stick_Nr],108,148);
LIMIT_MIN_MAX (Poti_Neutral[Stick_Nr],stick_min[Stick_Nr],stick_max[Stick_Nr]);
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);
//CB LIMIT_MIN_MAX (Poti_Neutral[Stick_Nr],108,148);
LIMIT_MIN_MAX (Poti_Neutral[Stick_Nr],stick_min[Stick_Nr],stick_max[Stick_Nr]);
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_puts_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);
//CB if (serialChannelRichtung & (1<<Stick_Nr))
if (stick_dir[Stick_Nr] & (1<<Stick_Nr))
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);
LIMIT_MIN_MAX (Pos_Stick[Stick_Nr],stick_min[Stick_Nr],stick_max[Stick_Nr]);
if ((Stick_Nr==0) || (Stick_Nr==2)) // nur die Potis 1,2 sind 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],stick_min[Stick_Nr],stick_max[Stick_Nr]); // war 75 , 225
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
//CB if (Stick_Nr==3) // Taster
if (stick_typ[Stick_Nr]==1) // Taster
{
// if (get_key_press (1 << KEY_EXT)) Pos_Stick[Stick_Nr] = 225;
//CB if (serialChannelRichtung & (1<<Stick_Nr))
if (stick_dir[Stick_Nr] & (1<<Stick_Nr))
{
if (PINA & (1 << KEY_EXT)) Pos_Stick[Stick_Nr] = 30;
else Pos_Stick[Stick_Nr] = 270;
}
else
{
if (PINA & (1 << KEY_EXT)) Pos_Stick[Stick_Nr] = 270;
else Pos_Stick[Stick_Nr] = 30;
}
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)) && (Pos_Stick[4] < 271))
{
Pos_Stick[4] ++ ;
//LIMIT_MIN_MAX (Pos_Stick[Stick_Nr],30,270); // war 75 , 225
chg |= (1<<4) ;
}
else if ((get_key_press (1 << KEY_MINUS) || get_key_long_rpt_sp ((1 << KEY_MINUS), 3)) && (Pos_Stick[4] > 29))
{
Pos_Stick[4] -- ;
//LIMIT_MIN_MAX (Pos_Stick[Stick_Nr],30,270); // war 75 , 225
chg |= (1<<4) ;
}
else 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
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
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%
}

/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/stick/stick.h
0,0 → 1,42
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef _STICK_H
#define _STICK_H
void joystick (void);
void serialPotis (void);
void Balken_Zeichnen (void);
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/stick/stick.h_f
0,0 → 1,42
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef _STICK_H
#define _STICK_H
void joystick (void);
void serialPotis (void);
void Balken_Zeichnen (void);
#endif

/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/stick/stick_setup.c
0,0 → 1,311
/****************************************************************/
/* Setup für die Sticks */
/* 2013 Cebra */
/****************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "../cpu.h"
#include <util/delay.h>
#include <avr/pgmspace.h>
#include <avr/interrupt.h>
#include "../main.h"
#include "../timer/timer.h"
#include "stick_setup.h"
#include "../lcd/lcd.h"
#include "../timer/timer.h"
#include "../menu.h"
#include "../messages.h"
#include "../mk-data-structs.h"
#include "../eeprom/eeprom.h"
#include "../setup/setup.h"
//--------------------------------------------------------------
#define ITEMS_STICKS 7
const prog_char stick_menuitems[ITEMS_STICKS][NUM_LANG][18]= // Zeilen,Zeichen+1
{
{"Übersicht ","summary ","summary "},
{"Stick 1 \x1d","stick 1 \x1d","stick 1 \x1d"},
{"Stick 2 \x1d","stick 2 \x1d","stick 2 \x1d"},
{"Stick 3 \x1d","stick 3 \x1d","stick 3 \x1d"},
{"Stick 4 \x1d","stick 4 \x1d","stick 4 \x1d"},
{"Stick 5 \x1d","stick 5 \x1d","stick 5 \x1d"},
{"PKT Lipomessung ","PKT Lipo measure.","PKT Lipo measure."},
};
//--------------------------------------------------------------
#define ITEMS_STICK 5
const prog_char sticks_menuitems[ITEMS_STICK][NUM_LANG][18]= // Zeilen,Zeichen+1
{
{"Minimal Wert ","minimal value ","minimal value "},
{"Maximal Wert ","maximal value ","maximal value "},
{"Type ","type ","type "},
{"Richtung ","direction ","direction "},
{"Neutralisiered","neutralizing ","neutralizing "},
};
//--------------------------------------------------------------
void Joysticks_Uebersicht(void)
{
lcd_cls ();
lcd_printpns_at(0, 0, PSTR(" Joystick Setup "), 2);
lcd_printpns_at(0, 1, PSTR("S Min Max Typ Dir N"), 0);
for (uint8_t i = 0; i < 5; i++) {
write_ndigit_number_u (0, 2+i,i+1, 1, 0,0);
write_ndigit_number_u (2, 2+i,Config.stick_min[i], 3, 0,0);
write_ndigit_number_u (6, 2+i,Config.stick_max[i], 3, 0,0);
if (Config.stick_typ[i] == 0) lcd_printpns_at(10, 2+i, PSTR("Poti"), 0); else lcd_printpns_at(10, 2+i, PSTR("Tast"), 0);
//if (Config.stick_typ[i] == 0) // MartinR: geändert
//{
if (Config.stick_dir[i] == 0) lcd_printpns_at(15, 2+i, PSTR("Norm"), 0); else lcd_printpns_at(15, 2+i, PSTR("Rev"), 0);
if (Config.stick_neutral[i] == 0) lcd_printpns_at(20, 2+i, PSTR("N"), 0); else lcd_printpns_at(20, 2+i, PSTR("Y"), 0);
//}
if (i == 1) if (Config.Lipomessung == true) lcd_printpns_at(3, 2+i, PSTR("PKT Lipomessung "), 0);
}
lcd_printp_at (18, 7, PSTR("OK"), 0);
do{}
while (!(get_key_press (1 << KEY_ENTER)));
}
//--------------------------------------------------------------
void Joysticks_Setup(void)
{
size = ITEMS_STICKS;
// uint8_t ii = 0;
// uint8_t Offset = 0;
// uint8_t dmode = 0;
uint8_t target_pos = 1;
// uint8_t val = 0;
edit =0;
while(1)
{
size = ITEMS_STICKS;
lcd_cls ();
lcd_printpns_at(0, 0, PSTR(" Joystick Setup "), 2);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(2)
// {
// ii = 0;
// if(Offset > 0)
// {
// lcd_printp_at(1,1, PSTR("\x12"), 0);
// }
// for(ii = 0;ii < 6 ; ii++)
// {
// if((ii+Offset) < size)
// {
// lcd_printp_at(3,ii+1,stick_menuitems[ii+Offset][Config.DisplayLanguage], 0);
// }
// if((ii == 5)&&(ii+Offset < (size-1)))
// {
// lcd_printp_at(1,6, PSTR("\x13"), 0);
// }
// }
// if(dmode == 0)
// {
// if(Offset == 0)
// {
// if(size > 6)
// {
// val = menu_choose2 (1, 5, target_pos,0,1);
// }
// else
// {
// val = menu_choose2 (1, size, target_pos,0,0);
// }
// }
// else
// {
// val = menu_choose2 (2, 5, target_pos,1,1);
// }
// }
// if(dmode == 1)
// {
// if(Offset+7 > size)
// {
// val = menu_choose2 (2, 6, target_pos,1,0);
// }
// else
// {
// val = menu_choose2 (2, 5, target_pos,1,1);
// }
// }
// if(val == 254)
// {
// Offset++;
// dmode = 1;
// target_pos = 5;
// }
// else if(val == 253)
// {
// Offset--;
// dmode = 0;
// target_pos = 2;
// }
// else if(val == 255)
// {
// if (edit == 1)
// {
// WriteParameter();
// edit = 0;
// return;
// }
// return;
// }
// else
// {
// break;
// }
// }
val = menu_select(stick_menuitems,size,target_pos);
if (val==255) break;
target_pos = val;
if((val + offset)== 1 ) Joysticks_Uebersicht();
if((val + offset)== 2 ) stick_menu(0); //Stick 1
if((val + offset)== 3 ) {
if (Config.Lipomessung == true) {
lcd_cls ();
lcd_puts_at(0, 3, strGet(LIPO_MESSUNG), 2);
_delay_ms(1000);
}
else stick_menu(1); //Stick 2
}
if((val + offset)== 4 ) stick_menu(2); //Stick 3
if((val + offset)== 5 ) stick_menu(3); //Stick 4
if((val + offset)== 6 ) stick_menu(4); //Stick 5
if((val + offset)== 7 ) Config.Lipomessung = Edit_generic(Config.Lipomessung,0,1,LIPO_MESSUNG,YesNo);
}
}
//--------------------------------------------------------------
void stick_menu(uint8_t stick)
{
// uint8_t ii = 0;
// uint8_t Offset = 0;
// uint8_t dmode = 0;
uint8_t target_pos = 1;
// uint8_t val = 0;
edit =0;
while(1)
{
size = ITEMS_STICK;
lcd_cls ();
lcd_printpns_at(0, 0, PSTR("Joystick "), 2);
write_ndigit_number_u (9, 0,stick+1, 1, 0,2);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(2)
// {
// ii = 0;
// if(Offset > 0)
// {
// lcd_printp_at(1,1, PSTR("\x12"), 0);
// }
// for(ii = 0;ii < 6 ; ii++)
// {
// if((ii+Offset) < size)
// {
// lcd_printp_at(3,ii+1,sticks_menuitems[ii+Offset][Config.DisplayLanguage], 0);
// }
// if((ii == 5)&&(ii+Offset < (size-1)))
// {
// lcd_printp_at(1,6, PSTR("\x13"), 0);
// }
// }
// if(dmode == 0)
// {
// if(Offset == 0)
// {
// if(size > 6)
// {
// val = menu_choose2 (1, 5, target_pos,0,1);
// }
// else
// {
// val = menu_choose2 (1, size, target_pos,0,0);
// }
// }
// else
// {
// val = menu_choose2 (2, 5, target_pos,1,1);
// }
// }
// if(dmode == 1)
// {
// if(Offset+7 > size)
// {
// val = menu_choose2 (2, 6, target_pos,1,0);
// }
// else
// {
// val = menu_choose2 (2, 5, target_pos,1,1);
// }
// }
// if(val == 254)
// {
// Offset++;
// dmode = 1;
// target_pos = 5;
// }
// else if(val == 253)
// {
// Offset--;
// dmode = 0;
// target_pos = 2;
// }
// else if(val == 255)
// {
// if (edit == 1)
// {
// WriteParameter();
// edit = 0;
// return;
// }
// return;
// }
// else
// {
// break;
// }
// }
val = menu_select(sticks_menuitems,size,target_pos);
if (val==255) break;
target_pos = val;
if((val + offset) == 1 ) Config.stick_min[stick]= Edit_generic(Config.stick_min[stick],0,300,STICK_MIN,Show_uint3);
if((val + offset) == 2 ) Config.stick_max[stick]= Edit_generic(Config.stick_max[stick],0,300,STICK_MAX,Show_uint3);
if((val + offset) == 3 ) Config.stick_typ[stick]= Edit_generic(Config.stick_typ[stick],0,1,STICK_TYPE,Sticktype);
if((val + offset) == 4 ) Config.stick_dir[stick]= Edit_generic(Config.stick_dir[stick],0,1,STICK_DIR,NormRev);
if((val + offset) == 5 ) Config.stick_neutral[stick]= Edit_generic(Config.stick_neutral[stick],0,1,STICK_NEUTRAL,YesNo);
}
}
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/stick/stick_setup.h
0,0 → 1,7
#ifndef _STICK_SETUP_H_
#define _STICK_SETUP_
void Joysticks_Setup(void);
void stick_menu(uint8_t stick);
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/timer/timer.c
0,0 → 1,676
/*****************************************************************************
* Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de *
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* based on the key handling by Peter Dannegger *
* see www.mikrocontroller.net *
* Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net *
* Copyright (C) 2011 Harald Bongartz *
* *
* 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*
*****************************************************************************/
//############################################################################
//# HISTORY timer.c
//#
//# 09.03.2013 OG
//# - add: timer2 (auch in timer.h)
//############################################################################
#include "../cpu.h"
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <string.h>
#include <util/delay.h>
#include <inttypes.h>
#include "../main.h"
#include "../timer/timer.h"
#include "../eeprom/eeprom.h"
#include "../lcd/lcd.h"
#include "../uart/uart1.h"
#include "../bluetooth/bluetooth.h"
#include "../setup/setup.h"
#include"../tracking/tracking.h"
#include "../sound/pwmsine8bit.h"
#if defined HWVERSION1_2W || defined HWVERSION1_2
#include "HAL_HW1_2.h"
#endif
#if defined HWVERSION1_3W || defined HWVERSION1_3
#include "HAL_HW1_3.h"
#endif
#ifdef HWVERSION3_9
#include "../HAL_HW3_9.h"
#endif
volatile uint16_t timer;
volatile uint16_t timer2;
volatile uint16_t abo_timer;
volatile uint16_t sound_timer;
volatile uint16_t soundpause_timer;
volatile static unsigned int tim_main;
uint8_t key_state = 0; // debounced and inverted key state:
// bit = 1: key pressed
uint8_t key_press = 0; // key press detect
uint8_t key_long = 0; // key long press
uint8_t key_rpt = 0; // key repeat
uint8_t key_lrpt = 0; // key long press and repeat
uint8_t key_rpts = 0; // key long press and speed repeat
uint8_t repeat_speed = 0;
uint16_t DisplayTime = 0; // Leuchtdauer
volatile uint16_t IdleTimer = 0; // InaktivitÀtsTimer
//uint8_t servo = 0;
volatile uint16_t WarnCount = 0; // Zähler der LIPO Warnzeit
volatile uint16_t WarnToggle = 0; // Togglezähler zum blinken
volatile uint16_t WarnTime = 10; // Länge der LIPO Warnzeit 10 Sek.
volatile uint16_t PoffTime = 30; // Länge der Wartezeit vor Abschalten 30 Sek.
volatile uint8_t Display_on;// Flag Display on/off
unsigned int BeepTime = 0;
unsigned int BeepMuster = 0xffff;
unsigned int BeepPrio = 0;
volatile unsigned int CountMilliseconds = 0;
// Size of Buffer for Converting unsigned int Value to ASCII
#define STRING_BUFFER_SIZE 5
// Buffer for Converting unsigned int Value to ASCII
char String_Buffer[STRING_BUFFER_SIZE];
//--------------------------------------------------------------
//
void Timer0_Init (void) // System (100Hz)
{
timer = 0;
TCCR0A = (1 << WGM01);
TCCR0B = (1 << CS02) | (1 << CS00);
OCR0A = (F_CPU / (100L * 1024L)) ;
TIMSK0 |= (1 << OCIE0A); // enable interrupt for OCR
}
//--------------------------------------------------------------
//
//void Timer1_Init (void) // Timer 1-A
//{
// // löschen
// TCCR1A = 0;
// TCCR1B = 0;
// TIMSK1 = 0;
//
// // setzen
// TCCR1A |= (1 << COM1A1) | (1 << WGM11);
// TCCR1B |= (1 << CS11) | (1 << CS10) | (1 << WGM13) | (1 << WGM12);
//
// ICR1 = (F_CPU / 64) * 20 / 1000;
//
// OCR1A = 470; // ca. Servomitte
//}
//--------------------------------------------------------------
ISR(TIMER2_COMPA_vect)
{
PORTD |= (1 << PD7);
}
ISR(TIMER2_COMPB_vect)
{
PORTD &= ~(1 << PD7);
}
//--------------------------------------------------------------
////*****************************************************************************
void Timer2_Init (void)
{
if (Config.HWSound == 1)
{ /*Sound PWM*/
TCCR2A = 0x00; //stop
ASSR = 0x00; //set async mode
TCNT2 = 0x00; //setup
OCR2A = 0xff;
//Fast PWM 0xFF BOTTOM MAX
//Set OC2A on Compare Match
//clkT2S/8 (From prescaler)
TCCR2A |= (1 << WGM20) | (1 << WGM21) |(1 << COM2A1) | (1 << COM2A0);
TCCR2B |= (1 << CS20);
}
else
{ /* Displayhelligkeit*/
DDRD |= (1 << DDD7); // PD7 output
TCCR2A |= (1 << WGM21) | (1 << WGM20) | (1 << COM2A1); // non invers
TCCR2B |= (1 << CS20); // Prescaler 1/1
TIMSK2 |= (1 << OCIE2A) | (1 << OCIE2B);
OCR2A = 255;
}
}
//*****************************************************************************
//--------------------------------------------------------------
void Timer3_Init (void) // Sound, Timer CTC
{
TCCR3A = 0x00; //stop
TCNT3H = 0xF8; //set count
TCNT3L = 0x00; //set count
OCR3AH = 0x07; //set compare
OCR3AL = 0xFF; //set compare
TCCR3A |= (1 << WGM31);
TCCR3B |= (1 << CS30);
TIMSK3 |= (1 << OCIE3A); //timer interrupt sources 2=t0 compare
}
ISR(TIMER3_COMPA_vect) // Sound
{
//void timer0_comp_isr(void){
//was 8 KHz 125usec sampling rate
//now 12 KHz 83usec sampling rate
unsigned char oldfpart;
signed char fullsamp;
signed int tmp;
TCNT3=0;
// tics++; //8 bit... atomic
if(generate){
DDRD |= (1<<DDD7); // Port aus Ausgang
oldfpart=waveptfpart; //remember fractional part
waveptfpart+=freqincfpart; //add frac part of freq inc to wave pointer
if(waveptfpart < oldfpart){ //did it walk off the end?
waveptipart++; //yes, bump integer part
}
waveptipart+=freqincipart; //add int part of freq increment to wave pointer
fullsamp=sindat[waveptipart]; //get 8 bit sin sample from table (signed)
tmp=fullsamp*iattenfac; //cvt 7 bit x 8 = 15 bit
OCR2A=(tmp >> 8)+128; //cvt 15 bit signed to 8 bit unsigned
}
else
DDRD &= ~(1 << DDD7); //Port auf Eingang, sperrt das Rauschen
}
//--------------------------------------------------------------
ISR(TIMER0_COMPA_vect) // Timer-Interrupt (100 Hz)
{
static uint8_t ct0 = 0;
static uint8_t ct1 = 0;
static uint8_t k_time_l = 0;
static uint8_t k_time_r = 0;
static uint8_t k_time_lr = 0;
static uint8_t k_time_rs = 0;
uint8_t i;
static unsigned char cnt_1ms = 1,cnt = 0;
unsigned char beeper_ein = 0;
// unsigned char pieper_ein = 0;
// Key handling by Peter Dannegger
// see www.mikrocontroller.net
i = key_state ^ ~KEY_PIN; // key changed ?
ct0 = ~(ct0 & i); // reset or count ct0
ct1 = ct0 ^ (ct1 & i); // reset or count ct1
i &= (ct0 & ct1); // count until roll over ?
key_state ^= i; // then toggle debounced state
key_press |= (key_state & i); // 0->1: key press detect
// if (PKT_IdleBeep == 1)
// {
// IdleTimer ++; // nix zu tun? Timer hochzÀhlen
// if (IdleTimer == 12000) // Warnhinweis
// {
// set_beep ( 200, 0x0080, BeepNormal);
// IdleTimer = 0;
// }
// }
if (!cnt--)
{
cnt = 9;
CountMilliseconds++;
cnt_1ms++;
}
if (i!=0)
{ // Displaylicht einschalten, und bzw. TimeoutzÀhlerreset wenn Taste gedrÌckt wurde
if (((Config.HWBeeper==1)&&(PCB_Version == PKT39m))||((Config.HWBeeper==0)&&(PCB_Version == PKT39x))) // entweder Beeper oder Display ein/aus
{
if (Display_on == 0)
set_D_LIGHT();
Display_on = 1; // Flag Display on
DisplayTime = 0; // Timer Reset
IdleTimer = 0; // Idletimeout Reset
}
}
if (Config.DisplayTimeout > 0)
{
if (((Config.HWBeeper==1)&&(PCB_Version == PKT39m))||((Config.HWBeeper==0)&&(PCB_Version == PKT39x))) // entweder Beeper oder Display ein/aus
{
if (Display_on == 1)
{
DisplayTime++;
if ((DisplayTime / 100) == Config.DisplayTimeout) // ISR läuft mit 100Hz
{ // Displaylicht ausschalten
clr_D_LIGHT();
Display_on = 0; // Flag Display off
}
}
}
}
//--------------------------------------------------------------
#ifdef HWVERSION3_9
// LipoCheck(); // Lipo prüfen
#endif
//--------------------------------------------------------------
if (Config.HWBeeper==1)
{
if (BeepTime)
{
if (BeepTime > 10)
BeepTime -= 10;
else
{
BeepTime = 0;
}
if (BeepTime & BeepMuster)
beeper_ein = 1;
else beeper_ein = 0;
}
else
{
beeper_ein = 0;
BeepMuster = 0xffff;
BeepPrio = BeepNormal;
}
if (beeper_ein==1)
set_BEEP();
else
clr_BEEP();
}
//Tonausgabe ***********************************************************************************************
if (sound_timer > 0) // Ton spielen
{
sound_timer --;
}
else
{
// TIMSK2 &= ~_BV(TOIE2); // Interrupt sperren, verhindert Störgeräusche
// TCCR2A = 0x00; //stop
generate=0; // Sound aus
tone_handler();
if (soundpause_timer > 0)
{
soundpause_timer --; // Ton pause
}
}
//***********************************************************************************************
//--------------------------------------------------------------
if ((key_state & LONG_MASK) == 0) // check long key function
k_time_l = REPEAT_START; // start delay
if (--k_time_l == 0) // long countdown
key_long |= (key_state & LONG_MASK);
//--------------------------------------------------------------
if ((key_state & REPEAT_MASK) == 0) // check repeat function
k_time_r = 1; // kein delay
if (--k_time_r == 0)
{
k_time_r = REPEAT_NEXT; // repeat delay
key_rpt |= (key_state & REPEAT_MASK);
}
//--------------------------------------------------------------
if ((key_state & LONG_REPEAT_MASK) == 0) // check repeat function
k_time_lr = REPEAT_START; // start delay
if (--k_time_lr == 0)
{
k_time_lr = REPEAT_NEXT; // repeat delay
key_lrpt |= (key_state & LONG_REPEAT_MASK);
}
//--------------------------------------------------------------
if ((key_state & LONG_REPEAT_SP_MASK) == 0) // check repeatX function
k_time_rs = REPEAT_START; // start delay
if (--k_time_rs == 0) // repeat countdown
{
if (repeat_speed == 1)
{
k_time_rs = REPEAT_SPEED_1;
key_rpts |= (key_state & LONG_REPEAT_SP_MASK);
}
else if (repeat_speed == 2)
{
k_time_rs = REPEAT_SPEED_2;
key_rpts |= (key_state & LONG_REPEAT_SP_MASK);
}
else if (repeat_speed == 3)
{
k_time_rs = REPEAT_SPEED_3;
key_rpts |= (key_state & LONG_REPEAT_SP_MASK);
}
}
if (timer > 0)
timer --;
if (timer2 > 0)
timer2 --;
if (abo_timer > 0)
abo_timer --;
//24.8.2012
// if (receiveNMEA==true)
// {
// if (bt_receiveNMEA()) Tracking_NMEA();
// else receiveNMEA = false;
//
// }
}
#ifdef HWVERSION3_9
void LipoCheck (void) // Lowbatpin des Spannungswandlers prüfen
// LBO des LT1308 wechselt zum Ende der Batterielaufzeit häufig seinen Zustand in der Übergangsphase zum LowBat
// Die Akkuspannung schwankt auch abhängig vom momentanen Stromverbrauch
{
if (WarnToggle == 1) // Beim ersten Auftreten Warnung ausgeben, Rythmus 5/10 Sekunden
{
set_beep ( 1000, 0x0020, BeepNormal);
lcd_printp_at (0, 0, PSTR(" LIPO !!Warnung!! "), 2);
}
if (WarnToggle == WarnTime * 100)
WarnToggle = 0; // erstmal bis hier warnen
if (WarnToggle > 0)
WarnToggle++; // weiter hochzählen
if (PINC & (1 << LowBat)) // Kurzzeitige Unterspannung bearbeiten und Warnung ausgeben
{
WarnCount = 0;
// if (WarnCount > 0)
// WarnCount--; // Bei LIPO OK erstmal runterzählen, LT1308 überlegt sich noch genauer ob nun ok oder nicht
}
if (!(PINC & (1 << LowBat)) ) // LT1308 hat Unterspannung erkannt
{
WarnCount++; // solange LBO low ist Zähler hochzählen
if (WarnCount == 10 && WarnToggle == 0) // mit "10" etwas unempfindlicher gegen kurze Impulse machen
WarnToggle = 1; // Warnhinweis starten
}
if ((WarnCount) == PoffTime * 100)
clr_V_On(); // Spannung abschalten
}
#endif
//--------------------------------------------------------------
unsigned int SetDelay (unsigned int t)
{
return(CountMilliseconds + t + 1);
}
//--------------------------------------------------------------
char CheckDelay(unsigned int t)
{
return(((t - CountMilliseconds) & 0x8000) >> 9);
}
//--------------------------------------------------------------
void Delay_ms(unsigned int w)
{
unsigned int akt;
akt = SetDelay(w);
while (!CheckDelay(akt));
}
//--------------------------------------------------------------
//
uint8_t get_key_press (uint8_t key_mask)
{
uint8_t sreg = SREG;
// disable all interrupts
cli();
key_mask &= key_press; // read key(s)
key_press ^= key_mask; // clear key(s)
SREG = sreg; // restore status register
return key_mask;
}
//--------------------------------------------------------------
//
uint8_t get_key_short (uint8_t key_mask)
{
uint8_t ret;
uint8_t sreg = SREG;
// disable all interrupts
cli();
ret = get_key_press (~key_state & key_mask);
SREG = sreg; // restore status register
return ret;
}
//--------------------------------------------------------------
//
uint8_t get_key_long (uint8_t key_mask)
{
uint8_t sreg = SREG;
// disable all interrupts
cli();
key_mask &= key_long; // read key(s)
key_long ^= key_mask; // clear key(s)
SREG = sreg; // restore status register
return get_key_press (get_key_rpt (key_mask));
}
//--------------------------------------------------------------
//
uint8_t get_key_rpt (uint8_t key_mask)
{
uint8_t sreg = SREG;
// disable all interrupts
cli();
key_mask &= key_rpt; // read key(s)
key_rpt ^= key_mask; // clear key(s)
SREG = sreg; // restore status register
return key_mask;
}
//--------------------------------------------------------------
//
uint8_t get_key_long_rpt (uint8_t key_mask)
{
uint8_t sreg = SREG;
// disable all interrupts
cli();
key_mask &= key_lrpt; // read key(s)
key_lrpt ^= key_mask; // clear key(s)
SREG = sreg; // restore status register
return get_key_rpt (~key_press^key_mask);
}
//--------------------------------------------------------------
//
uint8_t get_key_long_rpt_sp (uint8_t key_mask, uint8_t key_speed)
{
uint8_t sreg = SREG;
// disable all interrupts
cli();
key_mask &= key_rpts; // read key(s)
key_rpts ^= key_mask; // clear key(s)
repeat_speed = key_speed;
SREG = sreg; // restore status register
return key_mask;
}
void set_beep ( uint16_t Time, uint16_t Muster, uint8_t Prio)
{
if (Config.HWBeeper==1)
{
if (Prio == BeepNormal)
{
if (BeepPrio == BeepNormal) // nur setzen wenn keine hohe Prio schon aktiv ist
{
BeepTime = Time;
BeepMuster = Muster;
}
}
if (Prio == BeepSevere)
{
if (!BeepPrio == BeepSevere)
{
BeepPrio = BeepSevere; // hohe Prio setzen
BeepTime = Time;
BeepMuster = Muster;
}
}
if (Prio == BeepOff)
{
BeepPrio = BeepNormal; // Beep hohe Prio aus
BeepTime = 0;
BeepMuster = 0;
}
}
else
{
if (Prio == BeepNormal)
{
if (BeepPrio == BeepNormal) // nur setzen wenn keine hohe Prio schon aktiv ist
{
playTone(900,Time/10,0);
}
}
if (Prio == BeepSevere)
{
if (!BeepPrio == BeepSevere)
{
playTone(1200,Time/10,0);
playTone(1100,Time/10,0);
}
}
if (Prio == BeepOff)
{
playTone(0,0,0);
}
}
}
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/timer/timer.h
0,0 → 1,96
/*****************************************************************************
* Copyright (C) 2008 Thomas Kaiser, thomas@ft-fanpage.de *
* Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net *
* based on the key handling by Peter Dannegger *
* see www.mikrocontroller.net *
* Copyright (C) 2011 Christian "Cebra" Brandtner, brandtner@brandtner.net *
* Copyright (C) 2011 Harald Bongartz *
* *
* 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*
*****************************************************************************/
#ifndef _TIMER_H
#define _TIMER_H
#include "../cpu.h"
#include "../main.h"
#define KEY_ALL ((1 << KEY_PLUS) | (1 << KEY_MINUS) | (1 << KEY_ENTER) | (1 << KEY_ESC))
#define LONG_MASK ((1 << KEY_PLUS) | (1 << KEY_MINUS) | (1 << KEY_ENTER) | (1 << KEY_ESC))
#define REPEAT_MASK ((1 << KEY_PLUS) | (1 << KEY_MINUS) | (1 << KEY_ENTER) | (1 << KEY_ESC))
#define LONG_REPEAT_MASK ((1 << KEY_PLUS) | (1 << KEY_MINUS) | (1 << KEY_ENTER) | (1 << KEY_ESC))
#define LONG_REPEAT_SP_MASK ((1 << KEY_PLUS) | (1 << KEY_MINUS) | (1 << KEY_ENTER) | (1 << KEY_ESC))
#define REPEAT_START 70 // after 700ms
#define REPEAT_NEXT 15 // every 150ms
#define REPEAT_SPEED_1 20 // every 200ms
#define REPEAT_SPEED_2 8 // every 80ms
#define REPEAT_SPEED_3 1 // every 10ms
#define BeepNormal 0 // Normal Beep
#define BeepSevere 1 // schwerer Fehler, Beep nicht unterbrechbar
#define BeepOff 2 // Beep aus
#define ABO_TIMEOUT 300 // 3 sec
extern volatile uint8_t Display_on;
extern volatile uint16_t IdleTimer;
extern volatile uint16_t timer;
extern volatile uint16_t timer2;
extern volatile uint16_t abo_timer;
extern volatile uint16_t sound_timer;
extern volatile uint16_t soundpause_timer;
//extern volatile uint16_t WarnCount;
//extern volatile unsigned int BeepTime;
extern unsigned int BeepTime;
extern unsigned int BeepMuster;
void Timer0_Init (void); // Systeminterrupt
void Timer1_Init (void); // Servotester
void Timer2_Init (void); // Displayhelligkeit
void Timer3_Init (void); // Überwachung
uint8_t get_key_press (uint8_t key_mask); // sofort beim drücken
uint8_t get_key_short (uint8_t key_mask); // erst beim loslassen
uint8_t get_key_long (uint8_t key_mask); // verzögert
uint8_t get_key_rpt (uint8_t key_mask); // mit verzögerung
uint8_t get_key_long_rpt (uint8_t key_mask); //
uint8_t get_key_long_rpt_sp (uint8_t key_mask, uint8_t key_speed); // mit verzögerung und 3 versch. geschw.
void set_beep ( uint16_t Time, uint16_t Muster, uint8_t Prio);
extern volatile unsigned int CountMilliseconds;
void Delay_ms(unsigned int);
unsigned int SetDelay (unsigned int t);
char CheckDelay (unsigned int t);
void LipoCheck (void); // Lowbatpin des Spannungswandlers prüfen
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/tools.c
0,0 → 1,356
/*****************************************************************************
* 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 *
* *
* 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 <stdbool.h>
#include <util/delay.h>
#include "main.h"
#include "setup/setup.h"
#include "lcd/lcd.h"
#include "menu.h"
#include "tracking/servo.h"
#include "motortest/motortest.h"
#include "eeprom/eeprom.h"
#include "timer/timer.h"
#include "connect.h"
#ifdef HWVERSION3_9
#include "HAL_HW3_9.h"
#endif
#ifdef HWVERSION1_3
#include "HAL_HW1_3.h"
#endif
//#include "voltmeter.h"
#include "lipo/lipo.h"
#include "messages.h"
#include "menu.h"
//--------------------------------------------------------------
#define ITEMS_TOOLS 6
const prog_char tools_menuitems_pkt[ITEMS_TOOLS][NUM_LANG][18]= // zeilen,zeichen+1
// German, English, French, Netherlands
{
{"Motor Tester ","Motor Tester ","Motor Tester "},
{"Servo Tester ","Servo Tester ","Servo Tester "},
{"PC BT > Kopter ","PC BT > Kopter ","PC BT > Kopter "},
{"PC USB > Kopter ","PC USB > Kopter ","PC USB > Kopter "},
{"PKT Setup \x1d","PKT Setup \x1d","PKT Setup \x1d"},
{"PKT Version ","PKT Version ","PKT Version "},
};
//--------------------------------------------------------------
void PKT_Tools (void)
{
// ii = 0;
// offset = 0;
// size = 0;
// size = ITEMS_PKT ;
// dmode = 0;
target_pos = 1;
// val = 0;
// uint8_t ii = 0;
// uint8_t offset = 0;
// uint8_t size = 0;
//
// uint8_t dmode = 0;
// uint8_t target_pos = 1;
// uint8_t val;
while(1)
{
size = ITEMS_TOOLS ;
lcd_cls ();
lcd_printp_at (0, 0, PSTR(" PKT-Tools "), 2);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(2)
// {
// ii = 0;
// if(offset > 0)
// {
// lcd_printp_at(1,1, PSTR("\x12"), 0);
// }
// for(ii = 0;ii < 6 ; ii++)
// {
// if((ii+offset) < size)
// {
// lcd_printp_at(3,ii+1,tools_menuitems_pkt[ii+offset][Config.DisplayLanguage], 0);
// }
// if((ii == 5)&&(ii+offset < (size-1)))
// {
// lcd_printp_at(1,6, PSTR("\x13"), 0);
// }
// }
// if(dmode == 0)
// {
// if(offset == 0)
// {
// if(size > 6)
// {
// val = menu_choose2 (1, 5, target_pos,0,1);
// }
// else
// {
// val = menu_choose2 (1, size, target_pos,0,0);
// }
// }
// else
// {
// val = menu_choose2 (2, 5, target_pos,1,1);
// }
// }
// if(dmode == 1)
// {
// if(offset+7 > size)
// {
// val = menu_choose2 (2, 6, target_pos,1,0);
// }
// else
// {
// val = menu_choose2 (2, 5, target_pos,1,1);
// }
// }
// if(val == 254)
// {
// offset++;
// dmode = 1;
// target_pos = 5;
// }
// else if(val == 253)
// {
// offset--;
// dmode = 0;
// target_pos = 2;
// }
// else if(val == 255)
// {
// return;
// }
// else
// {
// break;
// }
//
// }
val = menu_select(tools_menuitems_pkt,size,target_pos);
if (val==255) break;
target_pos = val;
if((val+offset) == 1 )
motor_test(FC_Mode);
if((val+offset) == 2 )
servo_test();
#ifdef HWVERSION3_9
if(Config.U02SV2 == 0)
{
if((val+offset) == 3 )
Port_BT2Wi();
if((val+offset) == 4 )
Port_USB2Wi();
}
else if(Config.U02SV2 == 1)
{
if((val+offset) == 3 )
Port_BT2FC();
if((val+offset) == 4 )
Port_USB2FC();
}
#else
if((val+offset) == 3 )
Show_Error_HW();
if((val+offset) == 4 )
Show_Error_HW();
#endif
if((val+offset) == 5)
PKT_Setup();
if((val+offset) == 6)
Show_Version();
}
}
//--------------------------------------------------------------
//
void PC_Fast_Connect (void)
{
uint8_t value = 1;
while(1)
{
lcd_cls();
// lcd_printp_at (0, 0, PSTR(" PC-Quick-Verbindung "), 2);
lcd_puts_at(0, 8, strGet(TOOLS1), 2);
lcd_printp_at (3, 3, PSTR("PC BT > Kopter"), 0);
lcd_printp_at (3, 4, PSTR("PC USB > Kopter"), 0);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
while(2)
{
if(value == 1)
{
lcd_printp_at (1, 3, PSTR("\x1d"), 0);
lcd_printp_at (1, 4, PSTR(" "), 0);
}
else
{
lcd_printp_at (1, 3, PSTR(" "), 0);
lcd_printp_at (1, 4, PSTR("\x1d"), 0);
}
if(get_key_press (1 << KEY_MINUS))
value = 1;
if(get_key_press (1 << KEY_PLUS))
value = 2;
if(get_key_short (1 << KEY_ENTER))
{
#ifdef HWVERSION3_9
if(Config.U02SV2 == 0)
{
if(value == 1)
Port_BT2Wi();
if(value == 2)
Port_USB2Wi();
}
else if(Config.U02SV2 == 1)
{
if(value == 1)
Port_BT2FC();
if(value == 2)
Port_USB2FC();
}
#else
if(value == 1)
Show_Error_HW();
if(value == 2)
Show_Error_HW();
#endif
break;
}
if(get_key_press (1 << KEY_ESC))
{
get_key_press(KEY_ALL);
return;
}
}
}
}
//void Test_HB (void) // bleibt für Tests
//{
//#ifdef HWVERSION3_9
//// ADC_Init();
////
//// uint16_t volt_avg = 0;
////// uint64_t volt_tmp = 0;
//// uint16_t Balken = 0;
//
//
// lcd_cls();
// lcd_printp_at(12, 7, PSTR("Ende"), 0);
//
//// lcd_rect(104, 0, 23, 8, 1); // Rahmen
//
// do
// {
////
////
// if(samples>4095)
// {
//// write_ndigit_number_u(0, 4, accumulator, 5, 0);
// oversampled();
// volt_avg = Vin;
// }
//// // write_ndigit_number_u(0, 3, samples, 5, 0);
////
////// write_ndigit_number_u(0, 1, Vin, 5, 0);
//// _delay_ms(50);
//
// show_Lipo();
//
// write_ndigit_number_u_100th(5, 5, volt_avg, 0, 0);
// lcd_printp_at(10, 5, PSTR("Volt"), 0);
////
////
////
// write_ndigit_number_u(0, 6, Config.Lipo_UOffset, 5, 0,0);
//// write_ndigit_number_u(15, 6, WarnCount, 4, 0);
////// write_ndigit_number_u(10, 5, Vcorr, 4, 0);
//
//
// if (get_key_press (1 << KEY_PLUS) | get_key_long_rpt_sp ((1 << KEY_PLUS), 3))
// {
// Config.Lipo_UOffset = Config.Lipo_UOffset +10;
// }
//
// if (get_key_press (1 << KEY_MINUS) | get_key_long_rpt_sp ((1 << KEY_MINUS),3))
// {
// Config.Lipo_UOffset = Config.Lipo_UOffset -10;
// }
////
// }
//
//
// while(!get_key_press (1 << KEY_ESC));
// get_key_press(KEY_ALL);
// return;
//#endif
//}
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/tools.h
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/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef _tools_H
#define _tools_H
void PKT_Tools (void);
void Test_HB (void); // TestTool für Softwareentwicklung
#endif
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[Dolphin]
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/tracking/filedetails.pdf
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/****************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/****************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <avr/pgmspace.h>
#include "mymath.h"
// http://www.mikrocontroller.net/articles/AVR_Arithmetik#avr-gcc_Implementierung_.2832_Bit.29
unsigned int sqrt32(uint32_t q)
{ uint16_t r, mask;
uint16_t i = 8*sizeof (r) -1;
r = mask = 1 << i;
for (; i > 0; i--) {
mask >>= 1;
if (q < (uint32_t) r*r)
r -= mask;
else
r += mask;
}
if (q < (uint32_t) r*r)
r -= 1;
return r;
}
// aus Orginal MK source code
// sinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit.
const uint16_t sinlookup[91] = {0, 143, 286, 429, 571, 714, 856, 998, 1140, 1282, 1423, 1563, 1703, \
1843, 1982, 2120, 2258, 2395, 2531, 2667, 2802, 2936, 3069, 3201, 3332, \
3462, 3591, 3719, 3846, 3972, 4096, 4219, 4341, 4462, 4581, 4699, 4815, \
4930, 5043, 5155, 5266, 5374, 5482, 5587, 5691, 5793, 5893, 5991, 6088, \
6183, 6275, 6366, 6455, 6542, 6627, 6710, 6791, 6870, 6947, 7022, 7094, \
7165, 7233, 7299, 7363, 7424, 7484, 7541, 7595, 7648, 7698, 7746, 7791, \
7834, 7875, 7913, 7949, 7982, 8013, 8041, 8068, 8091, 8112, 8131, 8147, \
8161, 8172, 8181, 8187, 8191, 8192};
//double c_cos_8192(int16_t angle)
int16_t c_cos_8192(int16_t angle)
{
int8_t m,n;
int16_t sinus;
angle = 90 - angle;
// avoid negative angles
if (angle < 0)
{
m = -1;
angle = -angle;
}
else m = +1;
// fold angle to interval 0 to 359
angle %= 360;
// check quadrant
if (angle <= 90) n = 1; // first quadrant
else if ((angle > 90) && (angle <= 180)) {angle = 180 - angle; n = 1;} // second quadrant
else if ((angle > 180) && (angle <= 270)) {angle = angle - 180; n = -1;} // third quadrant
else {angle = 360 - angle; n = -1;} //fourth quadrant
// get lookup value
sinus = sinlookup[angle];
// calculate sinus value
return (sinus * m * n);
}
/* ----------------------------------------------------------------------------------------------
atan2.S
Author: Reiner Patommel
atan2.S uses CORDIC, an algorithm which was developed in 1956 by Jack Volder.
CORDIC can be used to calculate trigonometric, hyperbolic and linear
functions and is until today implemented in most pocket calculators.
The algorithm makes only use of simple integer arithmetic.
The CORDIC equations in vectoring mode for trigonometric functions are:
Xi+1 = Xi - Si * (Yi * 1 / 2^i)
Yi+1 = Yi + Si * (Xi * 1 / 2^i)
Zi+1 = Zi - Si * atan(1 / 2^i)
where Si = +1 if Yi < 0 else Si = -1
The rotation angles are limited to -PI/2 and PI/2 i.e.
-90 degrees ... +90 degrees
For the calculation of atan2(x,y) we need a small pre-calculated table of
angles or radians with the values Tn = atan(1/2^i).
We rotate the vector(Xo,Yo) in steps to the x-axis i.e. we drive Y to 0 and
accumulate the rotated angles or radians in Z. The direction of the rotation
will be positive or negative depending on the sign of Y after the previous
rotation and the rotation angle will decrease from step to step. (The first
step is 45 degrees, the last step is 0.002036 degrees for n = 15).
After n rotations the variables will have the following values:
Yn = ideally 0
Xn = c*sqrt(Xo^2+Yo^2) (magnitude of the vector)
Zn = Zo+atan(Yo/Xo) (accumulated rotation angles or radians)
c, the cordic gain, is the product Pn of sqrt(1+2^(-2i)) and amounts to
approx. 1.64676 for n = 15.
In order to represent X, Y and Z as integers we introduce a scaling factor Q
which is chosen as follows:
1. We normalize Xo and Yo (starting values) to be less than or equal to 1*Q and
set Zo = 0 i.e. Xomax = 1*Q, Yomax = 1*Q, Zo = 0.
2. With Xo = 1*Q and Yo = 1*Q, Xn will be Xnmax = Q*c*sqrt(2) = 2.329*Q
3. In order to boost accuracy we only cover the rotation angles between 0 and PI/2
i.e. X and Z are always > 0 and therefore can be unsigned.
(We do the quadrant correction afterwards based on the initial signs of x and y)
4. If X is an unsigned int, Xnmax = 65536, and Q = 65536/2.329 = 28140.
i.e.
Xnmax = 65536 --> unsigned int
Ynmax = +/- 28140 --> signed int
Znmax = PI/2 * 28140 = 44202 --> unsigned int
The systematic error is 90/44202 = 0.002036 degrees or 0.0000355 rad.
Below is atan2 and atan in C: */
#define getAtanVal(x) (uint16_t)pgm_read_word(&atantab[x])
uint16_t atantab[T] PROGMEM = {22101,13047,6894,3499,1756,879,440,220,110,55,27,14,7,3,2,1};
int16_t my_atan2(int32_t y, int32_t x)
{ unsigned char i;
uint32_t xQ;
int32_t yQ;
uint32_t angle = 0;
uint32_t tmp;
double x1, y1;
x1 = abs(x);
y1 = abs(y);
if (y1 == 0) {
if (x < 0)
return (180);
else
return 0;
}
if (x1 < y1) {
x1 /= y1;
y1 = 1;
}
else {
y1 /= x1;
x1 = 1;
}
xQ = SCALED(x1);
yQ = SCALED(y1);
for (i = 0; i < T-1; i++) {
tmp = xQ >> i;
if (yQ < 0) {
xQ -= yQ >> i;
yQ += tmp;
angle -= getAtanVal(i);
}
else {
xQ += yQ >> i;
yQ -= tmp;
angle += getAtanVal(i);
}
}
angle = RAD_TO_DEG * angle/Q;
if (x <= 0)
angle = 180 - angle;
if (y <= 0)
return(-angle);
return(angle);
}
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#ifndef _MYMATH_H_
#define _MYMATH_H_
#include <avr/io.h>
#define T 16
#define Q 28140
#define SCALED(X) ((int32_t)((X) * Q))
#define RAD_TO_DEG 57.2957795 // radians to degrees = 180 / PI
uint16_t sqrt32(uint32_t qzahl);
int16_t c_cos_8192(int16_t angle);
int16_t my_atan2(int32_t y, int32_t x);
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/tracking/ng_servo.c
0,0 → 1,223
/********************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/* using */
/*! \file servo.c \brief Interrupt-driven RC Servo function library.*/
/* */
/*File Name : 'servo.c' */
/*Title : Interrupt-driven RC Servo function library */
/*Author : Pascal Stang - Copyright (C) 2002 */
/*Created : 7/31/2002 */
/*Revised : 8/02/2002 */
/*Version : 1.0 */
/*Target MCU : Atmel AVR Series */
/*Editor Tabs : 2 */
/* */
/*This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/********************************************************************/
#include <avr/interrupt.h>
#include <avr/io.h>
#include "../tracking/ng_servo.h"
#include "../tracking/tracking.h"
#include "../HAL_HW3_9.h"
#include "../eeprom/eeprom.h"
//#include "config.h"
// Global variables
uint16_t ServoPosTics;
uint16_t ServoPeriodTics;
// servo channel registers
ServoChannelType ServoChannels[SERVO_NUM_CHANNELS];
const ServoConst_t ServoConst[2] = {{SERVO_MAX, SERVO_MIN, SERVO_STEPS, SERVO_PRESCALER},
{SERVO_MAX * 4, SERVO_MIN * 4, (SERVO_STEPS + 1) * 4 - 1, SERVO_PRESCALER / 4}};
// Servo limits (depend on hardware)
const servo_limit_t servo_limit[2][3] = {{{SERVO_I0_RIGHT_MIN, SERVO_I0_RIGHT_MAX},
{SERVO_I0_LEFT_MIN, SERVO_I0_LEFT_MAX},
{SERVO_I0_MIDDLE_MIN, SERVO_I0_MIDDLE_MAX}},
{{SERVO_I1_RIGHT_MIN, SERVO_I1_RIGHT_MAX},
{SERVO_I1_LEFT_MIN, SERVO_I1_LEFT_MAX},
{SERVO_I1_MIDDLE_MIN, SERVO_I1_MIDDLE_MAX}}};
// Servopositionen normiert für 950µs, 2,05ms und 1,5ms ==> Ergebnis Schritte. Da Zeit in µs ist F_CPU*e-1
const steps_pw_t steps_pw[2] = {{(uint64_t)950*F_CPU*1e-6/SERVO_PRESCALER + 0.5, (uint64_t)2050*F_CPU*1e-6/SERVO_PRESCALER + 0.5,(uint64_t)1500*F_CPU*1e-6/SERVO_PRESCALER + 0.5},
{(uint64_t)950*4*F_CPU*1e-6/SERVO_PRESCALER + 0.5, (uint64_t)2050*4*F_CPU*1e-6/SERVO_PRESCALER + 0.5, (uint64_t)1500*4*F_CPU*1e-6/SERVO_PRESCALER + 0.5}};
// anzufahrende Servopositionen 0=MIN, 1=MID, 2=MAX
const uint8_t PosIdx[POSIDX_MAX] = {1, 0, 1, 2 };
// functions
void servo_test(void)
{
//Dummy
}
//! initializes software PWM system 16-bit Timer
// normaler Weise wird ein Serv-PWM Signal aller 20ms wiederholt
// Werte: rev, min, max, mid vorher über servoSet...() initialisieren und einmal servoSetPosition(...) ausführen!!!
void servoInit(uint8_t servo_period)
{ uint16_t OCValue; // set initial interrupt time
// disble Timer/Counter1, Output Compare A Match Interrupt
TIMSK1 &= ~(1<<OCIE1A);
// set the prescaler for timer1
if (Config.sIdxSteps == STEPS_255) {
TCCR1B &= ~((1<<CS11) | (1<<CS10));
TCCR1B |= (1<<CS12); // prescaler 256, Servo-Schritte 185 bei 180 grd Winkel
}
else {
TCCR1B &= ~(1<<CS12);
TCCR1B |= (1<<CS11) | (1<<CS10); // prescaler 64, Servo-Schritte 740 bei 180 grd Winkel
}
// attach the software PWM service routine to timer1 output compare A
// timerAttach(TIMER1OUTCOMPAREA_INT, servoService);
// enable channels
for(uint8_t channel=0; channel < SERVO_NUM_CHANNELS; channel++) {
// set default pins assignments SERVO2 Pin 4; SERVO1 Pin 5
ServoChannels[channel].pin = (1 << (SERVO2 + channel));
}
ServoPosTics = 0; // set PosTics
// set PeriodTics
ServoPeriodTics = F_CPU / ServoConst[Config.sIdxSteps].prescaler * servo_period * 1e-3;
// read in current value of output compare register OCR1A
OCValue = OCR1AL; // read low byte of OCR1A
OCValue += (OCR1AH << 8); // read high byte of OCR1A
OCValue += ServoPeriodTics; // increment OCR1A value by nextTics
// set future output compare time to this new value
OCR1AH = OCValue >> 8; // write high byte
OCR1AL = OCValue & 0x00FF; // write low byte
TIMSK1 |= (1<<OCIE1A); // enable the timer1 output compare A interrupt
coldstart = 1;
}
void servoSetDefaultPos(void)
{
servoSetPosition(SERVO_PAN, ServoSteps()); // Ausgangsstellung SERVO_PAN
servoSetPosition(SERVO_TILT,ServoSteps()); // Ausgangsstellung SERVO_TILT
}
uint16_t pw_us(uint16_t Steps)
{
return(Steps * ServoConst[Config.sIdxSteps].prescaler/(F_CPU * 1e-6) + 0.5); // Zeit pro Schritt (Wert * e-1) in µs
}
uint16_t ServoSteps(void)
{
return(ServoConst[Config.sIdxSteps].steps);
}
void servoSet_rev(uint8_t channel, uint8_t val)
{
ServoChannels[channel].rev = val & 0x01;
}
void servoSet_min(uint8_t channel, uint16_t min)
{
ServoChannels[channel].min = ServoConst[Config.sIdxSteps].min + min;
}
void servoSet_max(uint8_t channel, uint16_t max)
{
ServoChannels[channel].max = ServoConst[Config.sIdxSteps].max - max;
}
void servoSet_mid(uint8_t channel, uint16_t mid)
{
ServoChannels[channel].mid = mid;
// Faktor 16, bzw. 16/2 um mit einer Nachkommastelle zu Rechnen
ServoChannels[channel].mid_scaled = (8 * (ServoChannels[channel].max - ServoChannels[channel].min) + \
(16 * mid - 8 * ServoConst[Config.sIdxSteps].steps))/16 + ServoChannels[channel].min;
}
//! turns off software PWM system
void servoOff(void)
{
// disable the timer1 output compare A interrupt
TIMSK1 &= ~(1<<OCIE1A);
}
//! set servo position on channel (raw unscaled format)
void servoSetPositionRaw(uint8_t channel, uint16_t position)
{
// bind to limits
if (position < ServoChannels[channel].min) position = ServoChannels[channel].min;
if (position > ServoChannels[channel].max) position = ServoChannels[channel].max;
// set position
ServoChannels[channel].duty = position;
}
//! set servo position on channel
// input should be between 0 and ServoSteps() (entspricht Maximalausschlag)
void servoSetPosition(uint8_t channel, uint16_t position)
{ uint16_t pos_scaled;
// calculate scaled position
if (ServoChannels[channel].rev != 0) position = ServoConst[Config.sIdxSteps].steps - position;
if (position < ServoConst[Config.sIdxSteps].steps/2)
//bei Position < Servomittelstellung Position*(Mitte - Min)/(Servoschritte/2)
pos_scaled = ServoChannels[channel].min + ((int32_t)position*2*(ServoChannels[channel].mid_scaled-ServoChannels[channel].min))/ \
ServoConst[Config.sIdxSteps].steps;
else
//bei Position >= Servomittelstellung
pos_scaled = ServoChannels[channel].mid_scaled + (uint32_t)(position - ServoConst[Config.sIdxSteps].steps / 2) \
* 2 * (ServoChannels[channel].max-ServoChannels[channel].mid_scaled)/ServoConst[Config.sIdxSteps].steps;
// set position
servoSetPositionRaw(channel, pos_scaled);
}
// Umrechnung Winkel in Servoschritte
void servoSetAngle(uint8_t servo_nr, int16_t angle)
{
servoSetPosition(servo_nr, (uint16_t)((uint32_t)angle * ServoConst[Config.sIdxSteps].steps / 180));
}
//Interruptroutine
ISR(TIMER1_COMPA_vect)
{ static uint8_t ServoChannel;
uint16_t nextTics;
uint16_t OCValue; // schedule next interrupt
if(ServoChannel < SERVO_NUM_CHANNELS) {
PORTD &= ~ServoChannels[ServoChannel].pin; // turn off current channel
}
ServoChannel++; // next channel
if(ServoChannel != SERVO_NUM_CHANNELS) {
// loop to channel 0 if needed
if(ServoChannel > SERVO_NUM_CHANNELS) ServoChannel = 0;
// turn on new channel
PORTD |= ServoChannels[ServoChannel].pin;
// schedule turn off time
nextTics = ServoChannels[ServoChannel].duty;
}
else {
// ***we could save time by precalculating this
// schedule end-of-period
nextTics = ServoPeriodTics-ServoPosTics;
}
// read in current value of output compare register OCR1A
OCValue = OCR1AL; // read low byte of OCR1A
OCValue += (OCR1AH <<8); // read high byte of OCR1A
OCValue += nextTics; // increment OCR1A value by nextTics
// set future output compare time to this new value
OCR1AH = OCValue >> 8; // write high byte
OCR1AL = OCValue & 0x00FF; // write low byte
ServoPosTics += nextTics; // set our new tic position
if(ServoPosTics >= ServoPeriodTics) ServoPosTics = 0;
}
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0,0 → 1,190
/*********************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/* using */
/*! \file servo.c \brief Interrupt-driven RC Servo function library. */
/* */
/*File Name : 'servo.c' */
/*Title : Interrupt-driven RC Servo function library */
/*Author : Pascal Stang - Copyright (C) 2002 */
/*Created : 7/31/2002 */
/*Revised : 8/02/2002 */
/*Version : 1.0 */
/*Target MCU : Atmel AVR Series */
/*Editor Tabs : 4 */
/* */
/*ingroup driver_sw */
/*defgroup servo Interrupt-driven RC Servo Function Library (servo.c)*/
/*code #include "servo.h" \endcode */
/*par Overview */
/* */
/*This code is distributed under the GNU Public License */
/*which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/*********************************************************************/
#ifndef SERVO_H
#define SERVO_H
/* Servo */
#define SERVO_PAN 0
#define SERVO_TILT 1
#define SERVO_NUM_CHANNELS 2 // Anzahl der angeschlossen Servos max. 2!!!
/* Servokalibrierungen derzeit zu SERVO_STEPS = 255 skaliert */
//prescaler 256
#define SERVO_I0_RIGHT 45 // default Wert, ca. 0,9ms
#define SERVO_I0_RIGHT_MIN 0 // Servokalibrierung Grenze der linken Position
#define SERVO_I0_RIGHT_MAX 100 // SERVO_MIN + SERVO_RIGHT
#define SERVO_I0_LEFT 45 // default Wert, ca. 2,1ms
#define SERVO_I0_LEFT_MIN 0 // Servokalibrierung Grenze der rechten Position
#define SERVO_I0_LEFT_MAX 100 // SERVO_MAX - SERVO_LEFT
#define SERVO_I0_MIDDLE SERVO_STEPS/2
#define SERVO_I0_MIDDLE_MIN SERVO_STEPS/2 - 25
#define SERVO_I0_MIDDLE_MAX SERVO_STEPS/2 + 25
//prescaler 64
#define SERVO_I1_RIGHT 180 // default Wert, ca. 0,9ms
#define SERVO_I1_RIGHT_MIN 0 // Servokalibrierung Grenze der linken Position
#define SERVO_I1_RIGHT_MAX 400 // SERVO_MIN + SERVO_RIGHT
#define SERVO_I1_LEFT 180 // default Wert, ca. 2,1ms
#define SERVO_I1_LEFT_MIN 0 // Servokalibrierung Grenze der rechten Position
#define SERVO_I1_LEFT_MAX 400 // SERVO_MAX - SERVO_LEFT
//#define SERVO_I1_MIDDLE ((SERVO_STEPS + 1) * 4 - 1)/2
#define SERVO_I1_MIDDLE_MIN ((SERVO_STEPS + 1) * 4 - 1)/2 - 100
#define SERVO_I1_MIDDLE_MAX ((SERVO_STEPS + 1) * 4 - 1)/2 + 100
#define SERVO_REV 0 // kein Reverse
/* Test Servo */
#define SERVO_PERIODE 20 // default Angabe in ms
#define SERVO_PERIODE_MIN 10 // 10ms
#define SERVO_PERIODE_MAX 30 // 30ms
#define SINGLE_STEP 0 // Einzelschritt aus
#define SINGLE_STEP_MIN 0
#define SINGLE_STEP_MAX 20 // bei prescaler 256, sonst * 4 (von links nach rechts in 9 Abschnitte)
// zwischen den Schritten muss Pause > der Servoperiode sein, sonst keine Aktualisierung
#define REPEAT 1
#define REPEAT_MIN 1
#define REPEAT_MAX 100
#define PAUSE 10
#define PAUSE_MIN 4 // mindestens 400ms, da mechanischer Servo-Lauf zur Position berücksichtigt werden muss
#define PAUSE_MAX 20 // Pause pro Links-, Mittel- und Rechtsposition 10*100ms
#define PAUSE_STEP 0
#define PAUSE_STEP_MIN 0 // Pause bei jeden Servoschritt in ms
#define PAUSE_STEP_MAX 200
// The numbers below good for parallax servos at an F_CPU of 20.000MHz.
// Da einige Servo's auch eien Winkel von 180 grd zulassen, Wertebereich
// entgegen den sonst üblichen. Einschränkung mit default Kalibrierung
// auf 0,9ms (45) bis 2,1ms(45) gesetzt. Je nach Servo, entspricht einen
// Winkel von etwa 180grd
// Periode default 20ms
#define SERVO_MAX 211 // 2,7 ms bei prescaler 256, bei prescaler 64 SERVO_MAX * 4
#define SERVO_MIN 26 // 0,33ms bei prescaler 256, bei prescaler 64 SERVO_MIN * 4
#define SERVO_STEPS 255 // Servo-Schritte von links nach rechts, Anschlagkalibrierung spielt keine Rolle
#define SERVO_PRESCALER 256 // bei prescaler 256, bei prescaler 64 SERVO_PRESCALER / 4
#define STEPS_255 0 // Servo-Schritte von links nach rechts, Anschlagkalibrierung spielt keine Rolle
#define STEPS_1023 1 // Servo-Schritte von links nach rechts, Anschlagkalibrierung spielt keine Rolle
typedef struct //Servo-Konstante je nach Prescaler
{
uint16_t max;
uint16_t min;
uint16_t steps;
uint16_t prescaler;
}ServoConst_t;
typedef struct //struct_ServoChannel
{
uint8_t pin; // hardware I/O port and pin for this channel
uint16_t duty; // PWM duty setting which corresponds to servo position
uint8_t rev; // Parameter, wie on/off; reverse; range
uint16_t min; // SERVO_MIN + Parameter min
uint16_t max; // SERVO_MAX - Parameter max
uint16_t mid_scaled; // skalierte Servomitte
int16_t mid; // Servomitte = SERVO_STEPS/2 +/- x Schritte; bei Pescaler 256 wird nur uint8_t benötigt aber bei 64
}ServoChannelType;
//uint8_t sIdxSteps; // 0 für 255 und 1 für 1023 Schritte; Prescaler 256 oder 64
// Define servo limits (depend on hardware)
typedef struct {
uint16_t min;
uint16_t max;
}servo_limit_t;
extern const servo_limit_t servo_limit[2][3];
// Define servo positions (depend on hardware)
typedef struct {
uint16_t min;
uint16_t max;
uint16_t mid;
}steps_pw_t;
//typedef struct {
// uint8_t rev;
// uint16_t min;
// uint16_t max;
// uint16_t mid;
//} servo_t;
// Servopositionen für 950µs, 2,05ms und 1,5ms ==> Ergebnis Schritte. Da Zeit in µs ist F_CPU*e-1
extern const steps_pw_t steps_pw[2];
#define RIGHT 0 // Servopostionen, welche vom Einbau abhängig sind
#define LEFT 1
#define MIDDLE 2
#define POSIDX_MAX 4
extern const uint8_t PosIdx[POSIDX_MAX]; // anzufahrende Servopositionen 0=MIN, 1=MID, 2=MAX
// functions
void servoSetDefaultPos(void);
// initializes servo system
// You must run this to begin servo control
void servoInit(uint8_t servo_period);
// turns off servo system
// This stops controlling the servos and
// returns control of the SERVOPORT to your code
void servoOff(void);
// set servo position on a given channel
// servoSetPosition() commands the servo on <channel> to the position you
// desire. The position input must lie between 0 and POSITION_MAX and
// will be automatically scaled to raw positions between SERVO_MIN and
// SERVO_MAX
void servoSetPosition(uint8_t channel, uint16_t position);
// set raw servo position on a given channel
// Works like non-raw commands but position is not scaled. Position must
// be between SERVO_MIN and SERVO_MAX
void servoSetPositionRaw(uint8_t channel, uint16_t position);
// set servo to a specific angle
void servoSetAngle(uint8_t servo_nr, int16_t angle);
// vor servoInit(), oder vor sei() ServoWerte mit servoSet...() initialisieren, einschließlich servoSetPosition(...)!
void servoSet_rev(uint8_t channel, uint8_t val);
void servoSet_min(uint8_t channel, uint16_t min);
void servoSet_max(uint8_t channel, uint16_t max);
void servoSet_mid(uint8_t channel, uint16_t mid);
uint16_t pw_us(uint16_t Steps); // gibt Zeit in µs bei x Servoschritte
uint16_t ServoSteps(void); // gibt "Konstante" derzeitiger Servoschritte zürück
#endif /* SERVO_H */
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/tracking/servo.c
0,0 → 1,153
/*****************************************************************************
* 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 *
* *
* 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 "../lcd/lcd.h"
#include "../timer/timer.h"
#include "../tracking/servo.h"
#include "../messages.h"
#define SERVO_CORRECT 3.125
//--------------------------------------------------------------
//
void servo_test (void)
{
#ifdef HWVERSION3_9
uint8_t chg = 0;
uint8_t Pos = 150; // 1,5mS
OCR1A = 150 * SERVO_CORRECT; // Servomitte
lcd_cls ();
lcd_printp (PSTR(" Servo Tester "), 2);
lcd_printp_at (7, 5, PSTR("%"), 0);
lcd_printp_at (16, 5, PSTR("mS"), 0);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_3), 0);
lcd_puts_at(0, 7, strGet(KEYLINE3), 0);
lcd_printp_at (18, 7, PSTR("\x19O\x18"), 0);
lcd_rect(3, 23, 120, 8, 1); // +-150% Rahmen
lcd_line(23,23,23,31,1); // -100%
lcd_line(43,23,43,31,1); // -50%
lcd_frect(61, 23, 3, 8, 1); // 0%
lcd_line(83,23,83,31,1); // +50%
lcd_line(103,23,103,31,1); // +100%
write_ndigit_number_u (4, 5, 0, 3, 0,0); // Pulse width in %
write_ndigit_number_u_100th(12, 5, 150, 3, 0); // Pulse width in ms
do
{
if ((get_key_press (1 << KEY_PLUS) || get_key_long_rpt_sp ((1 << KEY_PLUS), 3)) && (Pos < 225))
{
if (Pos < 150)
lcd_frect ((63 - ((150 - Pos) * 0.8)), 24, 1, 6, 0);
Pos++;
if (Pos == 75 || Pos == 100 || Pos == 125 || Pos == 150 || Pos == 175 || Pos == 200 || Pos == 225)
{
set_beep ( 200, 0x0080, BeepNormal);
}
if (Pos >= 225)
Pos = 225;
chg++;
}
else if ((get_key_press (1 << KEY_MINUS) || get_key_long_rpt_sp ((1 << KEY_MINUS), 3)) && (Pos > 75))
{
if (Pos > 150)
lcd_frect ((((Pos - 150) * 0.8) + 63), 24, ((Pos - 150) * 0.8), 6, 0);
Pos--;
if (Pos == 75 || Pos == 100 || Pos == 125 || Pos == 150 || Pos == 175 || Pos == 200 || Pos == 225)
{
set_beep ( 200, 0x0080, BeepNormal);
}
if (Pos <= 75)
Pos = 75;
chg++;
}
else if (get_key_press (1 << KEY_ENTER))
{
lcd_frect (4, 24, 118, 6, 0); // Balken löschen
lcd_frect(61, 23, 3, 8, 1); // 0%
Pos = 150;
set_beep ( 200, 0x0080, BeepNormal);
chg++;
}
if (chg)
{
chg = 0;
if (Pos >= 150)
{
lcd_frect (63, 24, ((Pos - 150) * 0.8), 6, 1);
write_ndigit_number_u (4, 5, ((Pos - 150) * 2), 3, 0,0); // Pulse width in %
lcd_frect(62, 23, 2, 8, 1); // 0%
}
else
{
lcd_frect (63 - ((150 - Pos) * 0.8), 24, ((150 - Pos) * 0.8), 6, 1);
write_ndigit_number_u (4, 5, ((150 - Pos) * 2), 3, 0,0); // Pulse width in %
lcd_frect(61, 23, 2, 8, 1); // 0%
}
write_ndigit_number_u_100th(12, 5, Pos, 3, 0); // Pulse width in ms
lcd_line(3, 23,3, 31,1); // -150%
lcd_line(23, 23,23, 31,1); // -100%
lcd_line(43, 23,43, 31,1); // -50%
lcd_line(83, 23,83, 31,1); // +50%
lcd_line(103,23,103,31,1); // +100%
lcd_line(123,23,123,31,1); // +150%
OCR1A = Pos * SERVO_CORRECT; // Servostellung
}
}
while (!get_key_press (1 << KEY_ESC));
get_key_press(KEY_ALL);
#endif
}
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/tracking/servo.h
0,0 → 1,40
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef _SERVO_H
#define _SERVO_H
void servo_test (void);
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/tracking/servo_setup.c
0,0 → 1,1780
/****************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/****************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "../cpu.h"
#include <util/delay.h>
#include <avr/pgmspace.h>
#include <avr/interrupt.h>
#include "../main.h"
#include "../timer/timer.h"
#include "servo_setup.h"
#include "tracking.h"
#include "../lcd/lcd.h"
#include "../timer/timer.h"
#include "../menu.h"
#include "../messages.h"
#include "../mk-data-structs.h"
#include "mymath.h"
#include "../uart/usart.h"
#include "../osd/osd.h"
#include "../eeprom/eeprom.h"
#include "../setup/setup.h"
#include "tools.h"
//#include "ng_usart.h"
//#include "ng_config.h"
//#include "servo.h"
//#include "tools.h"
//#include "mk.h"
//#include "keys.h"
//#include "mymath.h"
//
//GPS_Pos_t last5pos[7];
//uint8_t error1 = 0;
//NaviData_t *naviData;
//HomePos_t MK_pos; // Home position of station
//GPS_Pos_t currentPos; // Current position of flying object
//int8_t satsInUse; // Number of satelites currently in use
//uint8_t tracking = TRACKING_MIN;
//uint8_t track_hyst = TRACKING_HYSTERESE;
//uint8_t track_tx = 0;
//geo_t geo;
//int16_t anglePan, angleTilt; // Servo Winkel
//uint8_t coldstart = 1;
uint8_t servo_nr; // zwischen Servo 1 und 2 wird nur mit global servo_nr unterschieden
//uint8_t FCStatusFlags;
//--------------------------------------------------------------
#define ITEMS_SERVO 4
const prog_char servo_menuitems[ITEMS_SERVO][NUM_LANG][18]= // Zeilen,Zeichen+1
{
{"Servoschritte ","servo steps ","servo steps "},
{"Servo 1 \x1d","servo 1 \x1d","servo 1 \x1d"},
{"Servo 2 \x1d","servo 2 \x1d","servo 2 \x1d"},
{"Servotest \x1d","servotest \x1d","servotest \x1d"},
};
//--------------------------------------------------------------
#define ITEMS_SERVOTEST 4
const prog_char servotest_menuitems[ITEMS_SERVOTEST][NUM_LANG][18]= // Zeilen,Zeichen+1
{
{"Test Pulslänge ","test puls width","test puls width "},
{"Test fortlaufend\x1d","test cont. \x1d","test cont. \x1d"},
{"Servo ","servo ","servo "},
{"Periode ","frame ","frame "},
};
//--------------------------------------------------------------
#define ITEMS_SERVOTEST_CONT 5
const prog_char servotest_cont_menuitems[ITEMS_SERVOTEST_CONT][NUM_LANG][18]= // Zeilen,Zeichen+1
{ {"Start Test ","start test ","start test "},
{"Einzelschritt ","single step ","single step "},
{"Anzahl Test ","number of test ","number of test "},
{"Pause Endposition","pause end pos ","pasue end pos "},
{"Pause pro Inc. ","pause proc inc. ","pause proc inc. "},
};
//--------------------------------------------------------------
#define ITEMS_SERVOADJUST 4
const prog_char servo_adjust_menuitems[ITEMS_SERVOADJUST][NUM_LANG][18]= // Zeilen,Zeichen+1
{
{"Reverse ","reverse ","reverse "},
{"Links ","left ","left "},
{"Rechts ","right ","rigth "},
{"Mitte ","middle ","middle "},
};
///************************************************************************************/
///* */
///* Ändern der Werte mit Tasten +,- und Anzeige */
///* z.B. für U-Offset, Batterie leer Eingabe ... */
///* */
///* Parameter: */
///* uint16_t val :zu ändernter Wert */
///* uint16_t min_val, max_val :min, max Grenze Wert ändern darf */
///* uint8_t posX, posY :Darstellung Wert xPos, YPos auf LCD */
///* Displ_Fnct_t Displ_Fnct :Index um variable Display Funktion aufzurufen */
///* uint8_t cycle :0 begrenzt Anzeige bei man_val, bzw. max_val */
///* :1 springt nach max_val auf min_val und umgedreht */
///* uint8_t vrepeat :beschleunigte Repeat-Funktion aus/ein */
///* uint16_t Change_Value_plmi(...) :Rückgabe geänderter Wert */
///* */
///************************************************************************************/
void Servo_tmp_Original(uint8_t track)
{
servoSetDefaultPos();
// tracking = track; // ursprünglicher Wert Tracking aus, RSSI oder GPS
// NoTracking_ServosOff(); // Servos sind nur zum Tracking oder bei Kalibrierung eingeschaltet
// Jump_Menu(pmenu);
}
uint8_t Servo_tmp_on(uint8_t servo_period)
{
// uint8_t tmp_tracking = tracking;
// tracking = 0; // Servopositionierung durch tracking abschalten
// if (tracking == TRACKING_MIN) servoInit(servo_period); // falls aus, Servos einschalten
servoInit(servo_period);
// lcdGotoXY(0, 0); // lcd Cursor vorpositionieren
// return(tmp_tracking);
return (0);
}
void Displ_Off_On(uint16_t val)
{
if (val == 0) lcd_puts_at(17, 2, strGet(OFF), 0); else lcd_puts_at(17, 2, strGet(ON), 0);
}
uint16_t Change_Value_plmi(uint16_t val, uint16_t min_val, uint16_t max_val, uint8_t posX, uint8_t posY,Displ_Fnct_t Displ_Fnct)
{
uint16_t tmp_val;
// >> Menueauswahl nach oben
tmp_val = val;
if (get_key_press (1 << KEY_PLUS) || get_key_long_rpt_sp ((1 << KEY_PLUS), 3))
{
if (val < max_val) {
edit = 1;
val++;
}
else
{
val = min_val;
}
Displ_Fnct(val); // geänderten Wert darstellen, je nach Menüpunkt
}
// >> Menueauswahl nach unten
if (get_key_press (1 << KEY_MINUS) || get_key_long_rpt_sp ((1 << KEY_MINUS), 3))
{
if (val > min_val) {
val--;
edit = 1;
}
else
{
val = max_val;
}
Displ_Fnct(val); // geänderten Wert darstellen, je nach Menüpunkt
}
return(val);
}
//
///************************************************************************************/
///* */
///* Ändern der Werte mit Tasten +,- repetierend; (long)Entertaste und Anzeige */
///* z.B. für U-Offset, Batterie leer Eingabe ... */
///* */
///* Parameter: */
///* uint16_t *val :zu ändernter Wert */
///* uint16_t min_val, max_val :min, max Grenze Wert ändern darf */
///* uint8_t fl_pos :Bit 7 beschleunigte Repeat-Funktion aus/ein */
///* Bit 6 zyklische Werteänderung aus/ein */
///* Bit 4-5 z.Z. ohne Funktion */
///* Bit 0-3 Wert xPos auf LCD */
///* Displ_Fnct_t Displ_Fnct :Index um variable Display Funktion aufzurufen */
///* uint8_t Change_Value(...) :Rückgabe geändert ergibt TRUE */
///* */
///************************************************************************************/
//// Bei Bedarf könnte einfach innerhalp fl_pos auch noch pos_y (Bit 4-5) übergeben werden
uint8_t Change_Value(uint16_t *val, uint16_t min_val, uint16_t max_val,Displ_Fnct_t Displ_Fnct)
{ uint16_t tmp_val;
tmp_val = *val;
Displ_Fnct(tmp_val); // initiale Wertdarstellung, je nach Menüpunkt
while(!get_key_press(1<<KEY_ENTER) && !get_key_press(1<<KEY_ESC))
*val = Change_Value_plmi(*val, min_val, max_val, 16,2, Displ_Fnct);
if (*val == tmp_val) {
edit = 0;
// lcd_printp_at (0, 5, PSTR("Edit=0"), 0);
// _delay_ms(500);
//// return (*val);
}
//
else
{
edit = 1;
// lcd_printp_at (0, 5, PSTR("Edit=1"), 0);
// _delay_ms(500);
}
return (tmp_val != *val);
}
uint16_t calc_range(int16_t PosProzent, int16_t min, int16_t max, int16_t mid)
{ uint16_t range;
if (PosProzent < 0) {
range = mid - min;
// if (chrxs == CHRRS) { // falls Richtung geändert, anderen Zeichensatz laden
// chrxs = CHRLS;
//// lcdWriteCGRAM_Array(lcdSpecialChrLs, 5);// LCD-Char mit Rahmensymbole vom Graph
// }
}
else {
range = max - mid;
// if (chrxs == CHRLS) { // falls Richtung geändert, anderen Zeichensatz laden
//// lcdWriteCGRAM_Array(lcdSpecialChrRs, 5);// LCD-Char mit Rahmensymbole vom Graph
// chrxs = CHRRS;
// }
}
return(range);
}
/************************************************************************************/
/* zeigt einen max. 3-stelligen Integerwert auf Display an */
/* Parameter: */
/* uint16_t val :anzuzeigender Wert, */
/* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/************************************************************************************/
void Displ_Format_Int(uint16_t val)
{
// lcdPuts(my_itoa(val, 3, 0, 0));
// lcdPuts(my_itoa(mid_val, 4, 0, 0));
lcd_puts_at(16,2,my_itoa(val, 3, 0, 0),0);
}
void Displ_PulseWidth(uint16_t val)
{ int16_t PosProzent, range;
uint16_t Pos_us;
char me[3] = {"ms"};
servoSetPositionRaw(servo_nr, val);
PosProzent = val - steps_pw[Config.sIdxSteps].mid;
range = calc_range(PosProzent, steps_pw[Config.sIdxSteps].min, steps_pw[Config.sIdxSteps].max, steps_pw[Config.sIdxSteps].mid);
// draw_bar(PosProzent, range, 2); // auf 3. Display-Zeile
PosProzent = (int32_t)1000 * PosProzent / range;
// lcdGotoXY(1, 1);
Pos_us = pw_us(val); // Zeit in µs bei x Servoschritte
if (Pos_us < 1000) {
me[0] = 'u'; // soll 'µ' => programmierbarer Zeichensatz zu klein
// lcdPuts(" ");
Displ_Format_Int(Pos_us);
}
else {
// lcdPuts(my_itoa(Pos_us, 5, 3, 3));
lcd_puts_at(14,2,my_itoa(Pos_us, 5, 3, 3),0);
}
// lcdPuts(me);
// lcdGotoXY(8, 1);
// lcdPuts(my_itoa(PosProzent, 6, 1, 1));
lcd_puts_at(14,2,my_itoa(PosProzent, 6, 1, 1),0);
// lcdPutc('%');
}
/************************************************************************************/
/* zeigt Pausenlänge der Links-, Mittel- und Rechtsposition auf Display an */
/* Parameter: */
/* uint16_t val : Zeit in 1ms * 100 */
/* */
/************************************************************************************/
void Displ_Pause(uint16_t val)
{
if (val > 9) {
// lcdPuts(my_itoa(val, 3, 1, 1));
lcd_puts_at(16,2,my_itoa(val, 3, 1, 1),0);
// lcdPuts("s ");
}
else {
Displ_Format_Int(val * 100);
// lcdPuts("ms");
}
}
/************************************************************************************/
/* zeigt aus oder Integerwert auf Display an */
/* Parameter: */
/* uint16_t val : val = 0 ==> aus, sont Integerwert */
/* */
/************************************************************************************/
void Displ_Off_Format_Int(uint16_t val)
{
if (val == 0)
// lcdPutStrMid(Msg(MSG_OFF), ZLE_VAL);
lcd_puts_at(17, 2, strGet(OFF), 0);
else {
// write_ndigit_number_u (16, 2, val, 5, 0,0);
// lcdGotoXY(5,ZLE_VAL);
Displ_Format_Int(val);
// lcdPutc(' ');
}
}
/************************************************************************************/
/* zeigt aus oder Pausenzeit zwischen 2 Servoschritte auf Display an */
/* Parameter: */
/* uint16_t val : val = 0 ==> aus, sont Integerwert */
/* */
/************************************************************************************/
void Displ_Pause_Step(uint16_t val)
{
Displ_Off_Format_Int(val);
if (val > 0) {
// lcdGotoXY(8,ZLE_VAL);
// lcdPuts("ms");
}
}
/************************************************************************************/
/* zeigt zu testende Servonummer zur Auswahl auf Display an */
/* Parameter: */
/* uint16_t val :0 = Servo 1 oder 1 = Servo 2, */
/* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/************************************************************************************/
void Displ_ServoNr(uint16_t val)
{
// if (val == 0) lcdPuts(Msg(MSG_SERVO1)); else lcdPuts(Msg(MSG_SERVO2));
lcd_printp_at (0, 2, PSTR("Servo:"), 0);
if (val == 0) lcd_printp_at (14, 2, PSTR("Servo 1"), 0); else lcd_printp_at (14, 2, PSTR("Servo 2"), 0);
}
/**************************/
/* */
/* Servos-Tests */
/* */
/**************************/
//void Menu_Servo_Test(void)
//{ uint8_t scr_sub_menu[SCROLL_MAX_6] = {SCROLL_MAX_6 - 2, MSG_RETURN, MSG_PULSE_WIDTH, MSG_CONTINOUS, MSG_SERVO, MSG_FRAME};
//
// Scroll_Menu(scr_sub_menu, m_pkt); // pmenu global
// servo_nr = eeprom_read_byte(&ep_servo_nr);
// Jump_Menu(pmenu);
//}
void Menu_Test_Frame(void)
{ uint16_t tmp_val;
// Displ_Title(MSG_FRAME);
// lcdGotoXY(8, ZLE_VAL);
lcd_cls ();
lcd_puts_at(0, 0, strGet(SV_TEST3),2);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
// lcdPuts("ms");
tmp_val = Config.servo_frame;
if (Change_Value(&tmp_val, SERVO_PERIODE_MIN, SERVO_PERIODE_MAX,Displ_Format_Int)) { // pmenu global
Config.servo_frame = tmp_val;
// eeprom_write_byte(&ep_servo_frame, servo_frame);
// Double_Beep(DBEEPWR, DBEEPWRP);
}
// Jump_Menu(pmenu);
}
void Menu_Test_ServoNr(void)
{ uint16_t tmp_val;
// Displ_Title(MSG_SERVO);
lcd_cls ();
lcd_puts_at(0, 0, strGet(SV_TEST2),2);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
tmp_val = servo_nr;
if (Change_Value(&tmp_val, 0, 1,Displ_ServoNr)) { // pmenu global; es gibt nur 0=Servo1, 1=Servo2
servo_nr = tmp_val;
// eeprom_write_byte(&ep_servo_nr, servo_nr);
// Double_Beep(DBEEPWR, DBEEPWRP);
}
// Jump_Menu(pmenu);
}
// Dieser Test im raw-Modus ohne Anschlagkalibrierung (normiert) z.B.: für Modelleinstellungen ohne Empfänger
void Menu_Test_PulseWidth(void)
{ uint8_t tmp_tracking;
uint16_t tmp_val;
lcd_cls ();
lcd_puts_at(0, 0, strGet(SERVO_TEST1),2);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
tmp_tracking = Servo_tmp_on(Config.servo_frame);
// lcdWriteCGRAM_Array(lcdSpecialChrLs, 8); // LCD-Char mit Rahmensymbole vom Graph
// chrxs = CHRLS; // verhindert wiederholtes Lesen bereits geladener LCD-Char
// Displ_Title(MSG_PULSE_WIDTH);
tmp_val = steps_pw[Config.sIdxSteps].mid;
Change_Value(&tmp_val, steps_pw[Config.sIdxSteps].min, steps_pw[Config.sIdxSteps].max,Displ_PulseWidth); // pmenu global
// lcdWriteCGRAM_Array(lcdSpecialChr, 7); // LCD-Char für Bargraph zurückschreiben
cli();
servoInit(SERVO_PERIODE);
sei();
Servo_tmp_Original(tmp_tracking);
}
//void Menu_Test_Continuous(void)
//{ uint8_t scr_sub_menu[SCROLL_MAX_7] = {SCROLL_MAX_7 - 2, MSG_RETURN, MSG_START, MSG_SINGLE_STEP, MSG_REPEAT, MSG_PAUSE, MSG_PAUSE_STEP};
//
// Scroll_Menu(scr_sub_menu, m_pkt); // pmenu global
// Jump_Menu(pmenu);
//}
void Menu_Test_SingleStep(void)
{uint16_t tmp_val;
//TODO:
// Displ_Title(MSG_SINGLE_STEP);
lcd_cls ();
tmp_val = Config.single_step;
lcd_puts_at(0, 0, strGet(SV_SINGLESTEP),2);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
if (Change_Value(&tmp_val, SINGLE_STEP_MIN, SINGLE_STEP_MAX, Displ_Off_Format_Int)) { // pmenu global
Config.single_step = tmp_val;
// eeprom_write_byte(&ep_single_step, single_step);
// Double_Beep(DBEEPWR, DBEEPWRP);
}
// Jump_Menu(pmenu);
}
void Menu_Test_Repeat(void)
{uint16_t tmp_val;
//TODO:
// Displ_Title(MSG_REPEAT);
tmp_val = Config.repeat;
lcd_cls ();
lcd_puts_at(0, 0, strGet(SV_COUNTTEST),2);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
if (Change_Value(&tmp_val, REPEAT_MIN, REPEAT_MAX,Displ_Format_Int)) { // pmenu global
Config.repeat = tmp_val;
// eeprom_write_byte(&ep_repeat, repeat);
// Double_Beep(DBEEPWR, DBEEPWRP);
}
// Jump_Menu(pmenu);
}
void Menu_Test_Pause(void)
{uint16_t tmp_val;
//TODO:
// Displ_Title(MSG_PAUSE);
lcd_cls ();
lcd_puts_at(0, 0, strGet(SV_PAUSEEND),2);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
tmp_val = Config.pause;
if (Change_Value(&tmp_val, PAUSE_MIN, PAUSE_MAX,Displ_Pause)) { // pmenu global
Config.pause = tmp_val;
// eeprom_write_byte(&ep_pause, pause);
// Double_Beep(DBEEPWR, DBEEPWRP);
}
// Jump_Menu(pmenu);
}
void Menu_Test_Pause_Step(void)
{uint16_t tmp_val;
//TODO:
// Displ_Title(MSG_PAUSE_STEP);
lcd_cls ();
lcd_puts_at(0, 0, strGet(SV_PAUSEINC),2);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
tmp_val = Config.pause_step;
if (Change_Value(&tmp_val, PAUSE_STEP_MIN, PAUSE_STEP_MAX,Displ_Pause_Step)) { // pmenu global
Config.pause_step = tmp_val;
// eeprom_write_byte(&ep_pause_step, pause_step);
// Double_Beep(DBEEPWR, DBEEPWRP);
}
// Jump_Menu(pmenu);
}
int8_t calc_dir(uint8_t idx, int16_t *Position)
{ uint8_t nextIdx;
int8_t nextDir = 1;
nextIdx = idx;
if ((idx + 1) < POSIDX_MAX)
nextIdx++;
else
nextIdx = 0;
if (Position[PosIdx[idx]] > Position[PosIdx[nextIdx]]) nextDir = -1;
return(nextDir);
}
void Displ_LoopCounter(uint8_t val)
{
// lcdGotoXY(2,2);
// lcdPuts(Msg(MSG_COUNTER));
// lcdPuts(my_itoa(val, 4, 0, 0));
lcd_puts_at(16,2,my_itoa(val, 4, 0, 0),0);
}
// Test über Scalierung der Servos mit Anschlagkalibrierung
void Menu_Test_Start(void)
{ uint8_t tmp_tracking, idx, rep;
int8_t dir;
int16_t sPos;
int16_t Position[3];
int16_t range;
tmp_tracking = Servo_tmp_on(Config.servo_frame);
// lcdWriteCGRAM_Array(lcdSpecialChrLs, 8); // LCD-Char mit Rahmensymbole vom Graph
// chrxs = CHRLS; // Flag, welche Kästchensymbole geladen
// Displ_Title(MSG_CONTINOUS);
lcd_cls ();
lcd_puts_at(0, 0, strGet(SV_TESTCONT),2);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
Displ_LoopCounter(Config.repeat);
Position[0] = 0; // skalierte Servoposition aber unterschiedliche Schrittanzahl möglich
Position[1] = ServoSteps()/2;
Position[2] = ServoSteps();
// init Einzelschritt
idx = 0;
dir = calc_dir(idx, Position);
sPos = Position[PosIdx[idx]];
idx++;
rep = Config.repeat;
// Test bis Ende der Wiederholungen oder irgendein Enter
while(!get_key_press(1<<KEY_ENTER) && !get_key_press(1<<KEY_ESC)) {
range = calc_range(sPos - Position[1], Position[0], Position[2], Position[1]);
// draw_bar(sPos - Position[1], range, 1); // eingerahmter Balkengraph auf 2. Display-Zeile
servoSetPosition(servo_nr, sPos);
if ( sPos != Position[PosIdx[idx]]) { // Links-, Mittel- oder Rechtsposotion erreicht?
sPos += (Config.single_step * dir); // variable Schrittweite subtrahieren oder addieren
if (((dir < 0) && (sPos < Position[PosIdx[idx]])) || ((dir > 0) && (sPos > Position[PosIdx[idx]])) || !(Config.single_step))
sPos = Position[PosIdx[idx]]; // Überlauf bei variabler Schrittweite berücksichtigen oder Einzelschritt
Delay_ms(Config.servo_frame + 1 + Config.pause_step);// Bei Schrittweite um 1 würden welche übersprungen, zusätzlich pro Servoschritt verzögert
}
else {
dir = calc_dir(idx, Position); // Richtungsänderung
if (idx < (POSIDX_MAX - 1)) {
if (idx == 0) {
rep--; // bei jeden vollen Durchlauf Wiederholzähler verringern
Displ_LoopCounter(rep);
}
idx++; // Index für nächsten Positionswert ==> Array PosIdx[] bestimmt Anschlagreihenfolge
}
else
idx = 0;
delay_ms100x(Config.pause); // variable Pause bei Links-, Mittel- und Rechtsposotion Mindestzeit 400ms (Servolauf)
}
}
// lcdClear();
// if (pmenu[0] == '\0')
// Displ_Main_Disp();
// else
// return_m_pkt(strlen(pmenu)); // um bei Rücksprung auf ursprünglichen Menüpunkt zeigen oder Displ_Main_Disp()
// lcdWriteCGRAM_Array(lcdSpecialChr, 7); // LCD-Char für Bargraph zurückschreiben
cli();
servoInit(SERVO_PERIODE);
sei();
Servo_tmp_Original(tmp_tracking);
}
//--------------------------------------------------------------
void test_servo_menu(void)
{
// uint8_t ii = 0;
// uint8_t Offset = 0;
// uint8_t dmode = 0;
uint8_t target_pos = 1;
// uint8_t val = 0;
while(1)
{
size = ITEMS_SERVOTEST;
lcd_cls ();
lcd_printpns_at(0, 0, PSTR("test_servo_menu "), 2);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(2)
// {
// ii = 0;
// if(Offset > 0)
// {
// lcd_printp_at(1,1, PSTR("\x12"), 0);
// }
// for(ii = 0;ii < 6 ; ii++)
// {
// if((ii+Offset) < size)
// {
// lcd_printp_at(3,ii+1,servotest_menuitems[ii+Offset][Config.DisplayLanguage], 0);
// }
// if((ii == 5)&&(ii+Offset < (size-1)))
// {
// lcd_printp_at(1,6, PSTR("\x13"), 0);
// }
// }
// if(dmode == 0)
// {
// if(Offset == 0)
// {
// if(size > 6)
// {
// val = menu_choose2 (1, 5, target_pos,0,1);
// }
// else
// {
// val = menu_choose2 (1, size, target_pos,0,0);
// }
// }
// else
// {
// val = menu_choose2 (2, 5, target_pos,1,1);
// }
// }
// if(dmode == 1)
// {
// if(Offset+7 > size)
// {
// val = menu_choose2 (2, 6, target_pos,1,0);
// }
// else
// {
// val = menu_choose2 (2, 5, target_pos,1,1);
// }
// }
// if(val == 254)
// {
// Offset++;
// dmode = 1;
// target_pos = 5;
// }
// else if(val == 253)
// {
// Offset--;
// dmode = 0;
// target_pos = 2;
// }
// else if(val == 255)
// {
// return;
// }
// else
// {
// break;
// }
// }
val = menu_select(servotest_menuitems,size,target_pos);
if (val==255) break;
target_pos = val;
// {"Test Pulslänge ","test puls width","test puls width "},
// {"Test fortlaufend\x1d","test cont. \x1d","test cont. \x1d"},
// {"Servo ","servo ","servo "},
// {"Periode ","frame ","frame "},
if(val == 1 )
Menu_Test_PulseWidth();
if(val == 2 )
servotest_cont_menu();
if(val == 3 )
Menu_Test_ServoNr();
if(val == 4 )
Menu_Test_Frame();
}
}
//--------------------------------------------------------------
//--------------------------------------------------------------
void servotest_cont_menu(void)
{
// uint8_t ii = 0;
// uint8_t Offset = 0;
// uint8_t dmode = 0;
uint8_t target_pos = 1;
// uint8_t val = 0;
while(1)
{
size = ITEMS_SERVOTEST_CONT;
lcd_cls ();
lcd_printpns_at(0, 0, PSTR("Servotest cont."), 2);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(2)
// {
// ii = 0;
// if(Offset > 0)
// {
// lcd_printp_at(1,1, PSTR("\x12"), 0);
// }
// for(ii = 0;ii < 6 ; ii++)
// {
// if((ii+Offset) < size)
// {
// lcd_printp_at(3,ii+1,servotest_cont_menuitems[ii+Offset][Config.DisplayLanguage], 0);
// }
// if((ii == 5)&&(ii+Offset < (size-1)))
// {
// lcd_printp_at(1,6, PSTR("\x13"), 0);
// }
// }
// if(dmode == 0)
// {
// if(Offset == 0)
// {
// if(size > 6)
// {
// val = menu_choose2 (1, 5, target_pos,0,1);
// }
// else
// {
// val = menu_choose2 (1, size, target_pos,0,0);
// }
// }
// else
// {
// val = menu_choose2 (2, 5, target_pos,1,1);
// }
// }
// if(dmode == 1)
// {
// if(Offset+7 > size)
// {
// val = menu_choose2 (2, 6, target_pos,1,0);
// }
// else
// {
// val = menu_choose2 (2, 5, target_pos,1,1);
// }
// }
// if(val == 254)
// {
// Offset++;
// dmode = 1;
// target_pos = 5;
// }
// else if(val == 253)
// {
// Offset--;
// dmode = 0;
// target_pos = 2;
// }
// else if(val == 255)
// {
// if (edit == 1)
// {
//// WriteParameter();
// edit = 0;
// return;
// }
// return;
// }
// else
// {
// break;
// }
// }
val = menu_select(servotest_cont_menuitems,size,target_pos);
if (val==255) break;
target_pos = val;
if(val == 1 )
Menu_Test_Start();
if(val == 2 )
Menu_Test_SingleStep();
if(val == 3)
Menu_Test_Repeat();
if(val == 4 )
Menu_Test_Pause();
if(val == 5)
Menu_Test_Pause_Step();
}
}
//--------------------------------------------------------------
void Servo_rev(void)
{ uint16_t tmp_val;
uint8_t tmp_tracking;
lcd_puts_at(0, 2, strGet(SERVO_REVERSE),0);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
tmp_tracking = Servo_tmp_on(SERVO_PERIODE);
tmp_val = Config.servo[servo_nr].rev;
if (Change_Value(&tmp_val , 0, 1, Displ_Off_On))
{ //reverse gibt es nur 0=off, 1=on
Config.servo[servo_nr].rev = tmp_val ;
servoSet_rev(servo_nr, tmp_val );
}
Servo_tmp_Original(tmp_tracking);
}
void Menu_Servotext(void)
{
lcd_cls ();
if (servo_nr == 0)
lcd_puts_at(0, 0, strGet(SERVO1_TEXT), 2);
else
lcd_puts_at(0, 0, strGet(SERVO2_TEXT), 2);
}
void Menu_Servo_rev(void)
{
Menu_Servotext();
Servo_rev();
}
/********************************************************************************/
/* zeigt Servo-Anschlagposition links auf Display an */
/* mit sofortiger Wirkung auf Servo */
/* Parameter: */
/* uint16_t val :anzuzeigender Wert, */
/* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/********************************************************************************/
void Displ_Servo_Min(uint16_t val)
{ uint16_t steps = 0;
// Displ_Format_Int(val);
write_ndigit_number_s (16, 2, val, 5, 0,0);
servoSet_min(servo_nr, val); // Wert setzen damit nachfolgend die
if (Config.servo[servo_nr].rev) steps = ServoSteps();
servoSetPosition(servo_nr, steps); // Änderung direkt am Servo sichtbar ist
}
/************************************************************************************/
/* zeigt Servo-Anschlagposition rechts auf Display an */
/* mit sofortiger Wirkung auf Servo */
/* Parameter: */
/* uint16_t val :anzuzeigender Wert, */
/* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/************************************************************************************/
void Displ_Servo_Max(uint16_t val)
{ uint16_t steps = ServoSteps();
// Displ_Format_Int(val);
write_ndigit_number_u (16, 2, val, 5, 0,0);
servoSet_max(servo_nr, val); // Wert setzen damit nachfolgend die
if (Config.servo[servo_nr].rev) steps = 0;
servoSetPosition(servo_nr, steps); // Änderung direkt am Servo sichtbar ist
}
/************************************************************************************/
/* zeigt Servo-Anschlagposition Mitte auf Display an */
/* mit sofortiger Wirkung auf Servo */
/* Parameter: */
/* uint16_t val :anzuzeigender Wert, */
/* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/************************************************************************************/
void Displ_Servo_Mid(uint16_t val)
{ int16_t mid_val;
mid_val = val - ServoSteps()/2;
// lcdPuts(my_itoa(mid_val, 4, 0, 0));
lcd_puts_at(16,2,my_itoa(mid_val, 4, 0, 0),0);
servoSet_mid(servo_nr, val); // Wert setzen damit nachfolgend die
servoSetPosition(servo_nr, ServoSteps()/2); // Änderung direkt am Servo sichtbar ist
}
void Servo_left(void)
{ uint16_t tmp_val;
uint8_t tmp_tracking;
lcd_puts_at(0, 2, strGet(SERVO_LEFT),0);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
tmp_tracking = Servo_tmp_on(SERVO_PERIODE);
servoSetPosition(servo_nr, ServoSteps()); // Linkssanschlag um Kalibrierung am Servo zu sehen
tmp_val = Config.servo[servo_nr].max;
// if (Change_Value(&tmp_val, servo_limit[sIdxSteps][LEFT].min, servo_limit[sIdxSteps][LEFT].max, 6|(1<<V_REPEAT), Displ_Servo_Max)) { // pmenu global
if (Change_Value(&tmp_val , servo_limit[Config.sIdxSteps][LEFT].min, servo_limit[Config.sIdxSteps][LEFT].max, Displ_Servo_Max))
{
Config.servo[servo_nr].max = tmp_val;
// eeprom_write_block(&servo[servo_nr],&ep_servo[servo_nr],sizeof(servo_t));
servoSet_mid(servo_nr, Config.servo[servo_nr].mid); // Mittelposition muss sich bei Ausschlagsänderung verschieben
// Double_Beep(DBEEPWR, DBEEPWRP);
}
Servo_tmp_Original(tmp_tracking);
}
void Menu_Servo_left(void)
{
// Displ_Title(MSG_CALIB1_LEFT);
Menu_Servotext();
Servo_left();
}
void Servo_right(void)
{ uint16_t tmp_val;
uint8_t tmp_tracking;
lcd_puts_at(0, 2, strGet(SERVO_RIGTH),0);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
tmp_tracking = Servo_tmp_on(SERVO_PERIODE);
servoSetPosition(servo_nr, 0); // Rechtsanschlag um Kalibrierung am Servo zu sehen
tmp_val = Config.servo[servo_nr].min;
// if (Change_Value(&tmp_val, servo_limit[sIdxSteps][RIGHT].min, servo_limit[sIdxSteps][RIGHT].max, 6|(1<<V_REPEAT), Displ_Servo_Min)) { // pmenu global
if (Change_Value(&tmp_val , servo_limit[Config.sIdxSteps][RIGHT].min, servo_limit[Config.sIdxSteps][RIGHT].max, Displ_Servo_Min))
{Config.servo[servo_nr].min = tmp_val;
// eeprom_write_block(&servo[servo_nr],&ep_servo[servo_nr],sizeof(servo_t));
servoSet_mid(servo_nr, Config.servo[servo_nr].mid); // Mittelposition muss sich bei Ausschlagsänderung verschieben
// Double_Beep(DBEEPWR, DBEEPWRP);
}
Servo_tmp_Original(tmp_tracking);
}
void Menu_Servo_rigth(void)
{
Menu_Servotext();
Servo_right();
}
void Servo_middle(void)
{ uint16_t tmp_val;
uint8_t tmp_tracking;
lcd_puts_at(0, 2, strGet(SERVO_MID),0);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
tmp_tracking = Servo_tmp_on(SERVO_PERIODE);
servoSetPosition(servo_nr, ServoSteps()/2); // Mittelposition um Kalibrierung am Servo zu sehen
tmp_val = Config.servo[servo_nr].mid;
// if (Change_Value(&tmp_val, servo_limit[sIdxSteps][MIDDLE].min, servo_limit[sIdxSteps][MIDDLE].max, 5|(1<<V_REPEAT), Displ_Servo_Mid)) { // pmenu global
if (Change_Value(&tmp_val , servo_limit[Config.sIdxSteps][MIDDLE].min, servo_limit[Config.sIdxSteps][MIDDLE].max, Displ_Servo_Mid))
{ Config.servo[servo_nr].mid = tmp_val;
// eeprom_write_block(&servo[servo_nr], &ep_servo[servo_nr], sizeof(servo_t));
// Double_Beep(DBEEPWR, DBEEPWRP);
}
Servo_tmp_Original(tmp_tracking);
}
void Menu_Servo_mid(void)
{
Menu_Servotext();
Servo_middle();
}
void Servo_NewValues(uint8_t idx_presc)
{
for (uint8_t i = 0; i < SERVO_NUM_CHANNELS; i++) {
if (idx_presc == STEPS_255) { // Werte umrechnen für Prescaler = 256
Config.servo[i].min /= 4;
Config.servo[i].max /= 4;
Config.servo[i].mid /= 4;
}
else { // Werte umrechnen für Prescaler = 64
Config.servo[i].min *= 4;
Config.servo[i].max *= 4;
Config.servo[i].mid = (Config.servo[i].mid + 1) * 4 - 1;
}
servoSet_min(i, Config.servo[i].min);
servoSet_max(i, Config.servo[i].max);
servoSet_mid(i, Config.servo[i].mid);
// eeprom_write_block(&servo[i],&ep_servo[i],sizeof(servo_t));
}
// Vorberechnung von ServoChannels[channel].duty
servoSetDefaultPos(); // Ausgangsstellung beider Servos
}
/************************************************************************************/
/* zeigt Servoschritte zur Auswahl auf Display an */
/* Parameter: */
/* uint16_t val :0 = 255 oder 1 = 1023, */
/* uint16_t wegen Vereinheitlichung f. Funktionsaufrauf */
/* */
/************************************************************************************/
void Displ_Servo_Steps(uint16_t val)
{
if (val==0)
lcd_puts_at(16,2,INTERNAT_STEPS_255,0 );
else
lcd_puts_at(16,2,INTERNAT_STEPS_1023,0 );
}
void Menu_Servo_Steps(void)
{ uint16_t tmp_val;
lcd_cls ();
lcd_puts_at(0, 0, strGet(SERVOSTEPS), 2);
lcd_puts_at(0, 2, strGet(SERVOSTEPS),0);
lcd_puts_at(0, 7, strGet(KEYLINE2), 0);
tmp_val = Config.sIdxSteps;
if (Change_Value(&tmp_val, STEPS_255, STEPS_1023,Displ_Servo_Steps))
{
cli();
Config.sIdxSteps = tmp_val;
Servo_NewValues(Config.sIdxSteps); // hier ist der neue Index anzugeben!
servoInit(SERVO_PERIODE);
sei();
}
}
void adjust_servo_menu(uint8_t servo)
{
// uint8_t ii = 0;
// uint8_t Offset = 0;
// uint8_t dmode = 0;
uint8_t target_pos = 1;
// uint8_t val = 0;
char ServoNr;
servo_nr = servo;
if (servo_nr == 0) ServoNr = '1'; else ServoNr = '2';
while(1)
{
size = ITEMS_SERVOADJUST;
lcd_cls ();
lcd_printpns_at(0, 0, PSTR("adjust servo "), 2);
lcd_putc (18, 0, ServoNr, 2);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(2)
// {
// ii = 0;
// if(Offset > 0)
// {
// lcd_printp_at(1,1, PSTR("\x12"), 0);
// }
// for(ii = 0;ii < 6 ; ii++)
// {
// if((ii+Offset) < size)
// {
// lcd_printp_at(3,ii+1,servo_adjust_menuitems[ii+Offset][Config.DisplayLanguage], 0);
// }
// if((ii == 5)&&(ii+Offset < (size-1)))
// {
// lcd_printp_at(1,6, PSTR("\x13"), 0);
// }
// }
// if(dmode == 0)
// {
// if(Offset == 0)
// {
// if(size > 6)
// {
// val = menu_choose2 (1, 5, target_pos,0,1);
// }
// else
// {
// val = menu_choose2 (1, size, target_pos,0,0);
// }
// }
// else
// {
// val = menu_choose2 (2, 5, target_pos,1,1);
// }
// }
// if(dmode == 1)
// {
// if(Offset+7 > size)
// {
// val = menu_choose2 (2, 6, target_pos,1,0);
// }
// else
// {
// val = menu_choose2 (2, 5, target_pos,1,1);
// }
// }
// if(val == 254)
// {
// Offset++;
// dmode = 1;
// target_pos = 5;
// }
// else if(val == 253)
// {
// Offset--;
// dmode = 0;
// target_pos = 2;
// }
// else if(val == 255)
// {
// if (edit == 1)
// {
//
//// WriteParameter();
// edit = 0;
// return;
// }
// return;
// }
// else
// {
// break;
// }
// }
val = menu_select(servo_adjust_menuitems,size,target_pos);
if (val==255) break;
target_pos = val;
// {"Reverse ","reverse ","reverse "},
// {"Links ","left ","left "},
// {"Rechts ","right ","rigth "},
// {"Mitte ","middle ","middle "},
if(val == 1 )
{
Menu_Servo_rev();
}
if(val == 2 )
{
Menu_Servo_left();
}
if(val == 3 )
{
Menu_Servo_rigth();
}
if(val == 4 )
{
Menu_Servo_mid();
}
}
}
//--------------------------------------------------------------
void servo_menu(void)
{
// uint8_t ii = 0;
// uint8_t Offset = 0;
// uint8_t dmode = 0;
uint8_t target_pos = 1;
// uint8_t val = 0;
edit =0;
while(1)
{
size = ITEMS_SERVO;
lcd_cls ();
lcd_printpns_at(0, 0, PSTR("servo_menu"), 2);
// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(2)
// {
// ii = 0;
// if(Offset > 0)
// {
// lcd_printp_at(1,1, PSTR("\x12"), 0);
// }
// for(ii = 0;ii < 6 ; ii++)
// {
// if((ii+Offset) < size)
// {
// lcd_printp_at(3,ii+1,servo_menuitems[ii+Offset][Config.DisplayLanguage], 0);
// }
// if((ii == 5)&&(ii+Offset < (size-1)))
// {
// lcd_printp_at(1,6, PSTR("\x13"), 0);
// }
// }
// if(dmode == 0)
// {
// if(Offset == 0)
// {
// if(size > 6)
// {
// val = menu_choose2 (1, 5, target_pos,0,1);
// }
// else
// {
// val = menu_choose2 (1, size, target_pos,0,0);
// }
// }
// else
// {
// val = menu_choose2 (2, 5, target_pos,1,1);
// }
// }
// if(dmode == 1)
// {
// if(Offset+7 > size)
// {
// val = menu_choose2 (2, 6, target_pos,1,0);
// }
// else
// {
// val = menu_choose2 (2, 5, target_pos,1,1);
// }
// }
// if(val == 254)
// {
// Offset++;
// dmode = 1;
// target_pos = 5;
// }
// else if(val == 253)
// {
// Offset--;
// dmode = 0;
// target_pos = 2;
// }
// else if(val == 255)
// {
// if (edit == 1)
// {
//// WriteParameter();
// edit = 0;
// return;
// }
// return;
// }
// else
// {
// break;
// }
// }
val = menu_select(servo_menuitems,size,target_pos);
if (val==255) break;
target_pos = val;
// Edit_generic(uint8_t Value, uint8_t min, uint8_t max,uint8_t Text, uint8_t what
// if(val == 1 ) sIdxSteps=Edit_generic (sIdxSteps, STEPS_255, STEPS_1023,SERVOSTEPS,0);
if(val == 1 ) Menu_Servo_Steps();
if(val == 2 )
adjust_servo_menu(0);
if(val == 3 )
adjust_servo_menu(1);
if(val == 4 )
test_servo_menu();
}
}
//--------------------------------------------------------------
//--------------------------------------------------------------
//void start_tracking(void)
//{
// #define TIMEOUT 200 // 2 sec
//
// uint16_t old_anglePan = 0;
// uint16_t old_angleTilt = 0;
//
// //uint16_t old_hh = 0;
// uint8_t flag;
// uint8_t tmp_dat;
//
// lcd_cls ();
// //lcd_printpns_at(0, 0, PSTR("start_tracking "), 2);
//
// //lcd_printpns_at(0, 1, PSTR("ab jetzt Tracking"), 0);
//
// lcd_ecircle(22, 35, 16, 1);
// lcd_ecircle(88, 35, 16, 1);
// lcd_putc (10, 1, 0x1e, 0); // degree symbol
// lcd_putc (20, 1, 0x1e, 0); // degree symbol
//// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
// lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// SwitchToNC();
//
// mode = 'O';
//
// // disable debug...
// // RS232_request_mk_data (0, 'd', 0);
// tmp_dat = 0;
// SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
//
// // request OSD Data from NC every 100ms
// // RS232_request_mk_data (1, 'o', 100);
// tmp_dat = 10;
// SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
//
// if (rxd_buffer_locked)
// {
// timer = TIMEOUT;
// Decode64 ();
// naviData = (NaviData_t *) pRxData;
//
// if(error1 == 1)
// lcd_cls();
// }
//
// GPS_Pos_t currpos;
// currpos.Latitude = naviData->CurrentPosition.Latitude;
// currpos.Longitude = naviData->CurrentPosition.Longitude;
//
// flag = 0;
// timer = TIMEOUT;
// abo_timer = ABO_TIMEOUT;
//
// coldstart = 1;
//
// do
// {
// if (rxd_buffer_locked)
// {
// timer = TIMEOUT;
// Decode64 ();
// naviData = (NaviData_t *) pRxData;
//
//
////CB uint8_t FCStatusFlag = naviData->FCFlags;
// uint8_t FCStatusFlag = naviData->FCStatusFlags;
// //write_ndigit_number_u (0, 0, FCStatusFlag);
//
// Tracking_GPS();
//
// //uint16_t heading_home = (naviData->HomePositionDeviation.Bearing + 360 - naviData->CompassHeading) % 360;
//
// // alte Linien löschen
// //lcd_ecirc_line (22, 35, 15, old_hh, 0);
// //old_hh = heading_home;
// lcd_ecirc_line (22, 35, 15, old_anglePan, 0);
// old_anglePan = anglePan;
// lcd_ecirc_line (88, 35, 15, old_angleTilt, 0);
// old_angleTilt = angleTilt;
//
// lcd_ecirc_line (22, 35, 15, anglePan, 1);
// write_ndigit_number_u (7, 1, anglePan, 3, 0,0);
// lcd_ecirc_line (88, 35, 15, angleTilt, 1);
// write_ndigit_number_u (17, 1, angleTilt, 3, 0,0);
//
// rxd_buffer_locked = FALSE;
//
// if (!abo_timer)
// { // renew abo every 3 sec
// // request OSD Data from NC every 100ms
// // RS232_request_mk_data (1, 'o', 100);
// tmp_dat = 10;
// SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
//
// abo_timer = ABO_TIMEOUT;
// }
// }
//
// if (!timer)
// {
// OSD_Timeout(flag);
// flag = 0;
// }
// }
// while(!get_key_press (1 << KEY_ESC));
//
// //lcd_cls();
// //return;
//}
//--------------------------------------------------------------
//
//void conect2at_unit(void)
//{
// lcd_cls ();
// lcd_printpns_at(0, 0, PSTR("conect2at_unit "), 2);
//
// lcd_printpns_at(0, 3, PSTR("work in progress ;)"), 2);
//
//// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
// lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
//
// while(!get_key_press (1 << KEY_ESC));
//
// lcd_cls();
// return;
//}
//
////--------------------------------------------------------------
//
//void conect2gps_ser (void)
//{
// lcd_cls ();
// lcd_printpns_at(0, 0, PSTR("conect2gps_ser "), 2);
//
// lcd_printpns_at(0, 3, PSTR("work in progress ;)"), 2);
//
//// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
// lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(!get_key_press (1 << KEY_ESC));
//
// lcd_cls();
// return;
//}
//
////--------------------------------------------------------------
//
//void conect2gps_bt (void)
//{
// lcd_cls ();
// lcd_printpns_at(0, 0, PSTR("conect2gps_bt "), 2);
//
// lcd_printpns_at(0, 3, PSTR("work in progress ;)"), 2);
//
//// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
// lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(!get_key_press (1 << KEY_ESC));
//
// lcd_cls();
// return;
//}
//--------------------------------------------------------------
//void conect2gps_menu(void)
//{
// uint8_t ii = 0;
// uint8_t Offset = 0;
// uint8_t size = ITEMS_CONECT_GPS;
// uint8_t dmode = 0;
// uint8_t target_pos = 1;
// uint8_t val = 0;
//
// while(1)
// {
// lcd_cls ();
// lcd_printpns_at(0, 0, PSTR("conect2gps_menu "), 2);
//// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
// lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(2)
// {
// ii = 0;
// if(Offset > 0)
// {
// lcd_printp_at(1,1, PSTR("\x12"), 0);
// }
// for(ii = 0;ii < 6 ; ii++)
// {
// if((ii+Offset) < size)
// {
// lcd_printp_at(3,ii+1,conect_gps_menuitems[ii+Offset], 0);
// }
// if((ii == 5)&&(ii+Offset < (size-1)))
// {
// lcd_printp_at(1,6, PSTR("\x13"), 0);
// }
// }
// if(dmode == 0)
// {
// if(Offset == 0)
// {
// if(size > 6)
// {
// val = menu_choose2 (1, 5, target_pos,0,1);
// }
// else
// {
// val = menu_choose2 (1, size, target_pos,0,0);
// }
// }
// else
// {
// val = menu_choose2 (2, 5, target_pos,1,1);
// }
// }
// if(dmode == 1)
// {
// if(Offset+7 > size)
// {
// val = menu_choose2 (2, 6, target_pos,1,0);
// }
// else
// {
// val = menu_choose2 (2, 5, target_pos,1,1);
// }
// }
// if(val == 254)
// {
// Offset++;
// dmode = 1;
// target_pos = 5;
// }
// else if(val == 253)
// {
// Offset--;
// dmode = 0;
// target_pos = 2;
// }
// else if(val == 255)
// {
// return;
// }
// else
// {
// break;
// }
// }
// target_pos = val;
//
// if((val+Offset) == 1 )
// conect2gps_ser();
// if((val+Offset) == 2 )
// conect2gps_bt();
// }
//}
//--------------------------------------------------------------
//void tracking_menu(void)
//{
// uint8_t ii = 0;
// uint8_t Offset = 0;
// uint8_t size = ITEMS_AT;
// uint8_t dmode = 0;
// uint8_t target_pos = 1;
// uint8_t val = 0;
//
// while(1)
// {
// lcd_cls ();
// lcd_printpns_at(1, 0, PSTR("Tracking Men\x06 V.01 "), 2);
//// lcd_printp_at (0, 7, PSTR(KEY_LINE_1), 0);
// lcd_puts_at(0, 7, strGet(KEYLINE1), 0);
// while(2)
// {
// ii = 0;
// if(Offset > 0)
// {
// lcd_printp_at(1,1, PSTR("\x12"), 0);
// }
// for(ii = 0;ii < 6 ; ii++)
// {
// if((ii+Offset) < size)
// {
// lcd_printp_at(3,ii+1,at_menuitems[ii+Offset], 0);
// }
// if((ii == 5)&&(ii+Offset < (size-1)))
// {
// lcd_printp_at(1,6, PSTR("\x13"), 0);
// }
// }
// if(dmode == 0)
// {
// if(Offset == 0)
// {
// if(size > 6)
// {
// val = menu_choose2 (1, 5, target_pos,0,1);
// }
// else
// {
// val = menu_choose2 (1, size, target_pos,0,0);
// }
// }
// else
// {
// val = menu_choose2 (2, 5, target_pos,1,1);
// }
// }
// if(dmode == 1)
// {
// if(Offset+7 > size)
// {
// val = menu_choose2 (2, 6, target_pos,1,0);
// }
// else
// {
// val = menu_choose2 (2, 5, target_pos,1,1);
// }
// }
// if(val == 254)
// {
// Offset++;
// dmode = 1;
// target_pos = 5;
// }
// else if(val == 253)
// {
// Offset--;
// dmode = 0;
// target_pos = 2;
// }
// else if(val == 255)
// {
// return;
// }
// else
// {
// break;
// }
// }
// target_pos = val;
//
// if((val+Offset) == 1 )
// test_servo_menu();
// if((val+Offset) == 2 )
// adjust_servo_menu();
// if((val+Offset) == 3 )
// show_angle();
// if((val+Offset) == 4 )
////TODO: start_tracking();
// if((val+Offset) == 5 )
// conect2at_unit();
// if((val+Offset) == 6 )
// conect2gps_menu();
// }
//}
//--------------------------------------------------------------
// kapeschi Ant.Treking Funktionen
//--------------------------------------------------------------
// Berechnung von Distanz und Winkel aus GPS-Daten home(MK eingeschaltet)
// zur aktuellen Position(nach Motorstart)
//geo_t calc_geo(HomePos_t *home, GPS_Pos_t *pos)
//{ int32_t lat1, lon1, lat2, lon2;
// int32_t d1, dlat;
// geo_t geo;
//
// lon1 = MK_pos.Home_Lon;
// lat1 = MK_pos.Home_Lat;
// lon2 = pos->Longitude;
// lat2 = pos->Latitude;
//
// // Formel verwendet von http://www.kompf.de/gps/distcalc.html
// // 111.3 km = Abstand zweier Breitenkreise und/oder zweier Längenkreise am Äquator
// // es wird jedoch in dm Meter weiter gerechnet
// // (tlon1 - tlon2)/10) sonst uint32_t-Überlauf bei cos(0) gleich 1
// d1 = (1359 * (int32_t)(c_cos_8192((lat1 + lat2) / 20000000)) * ((lon1 - lon2)/10))/ 10000000;
// dlat = 1113 * (lat1 - lat2) / 10000;
// geo.bearing = (my_atan2(d1, dlat) + 540) % 360; // 360 +180 besserer Vergleich mit MkCockpit
// geo.distance = sqrt32(d1 * d1 + dlat * dlat);
// return(geo);
//}
//void do_tracking(void)
//{ //static uint8_t hysteresis = 0;
// // aus MkCockpit http://forum.mikrokopter.de/topic-post216136.html#post216136
// // (4 * (........))/5 ==> Wichtung Luftdruck-Höhe zu GPS
// currentPos.Altitude = MK_pos.Home_Alt + (4000 * (int32_t)(naviData->Altimeter) / AltFaktor + currentPos.Altitude - MK_pos.Home_Alt) / 5;
//
// geo = calc_geo(&MK_pos, &currentPos);
// angleTilt = RAD_TO_DEG * (double)atan2((double)(currentPos.Altitude - MK_pos.Home_Alt) / 1000, geo.distance);
// //if (geo.distance < 4 || (geo.distance < 6 && hysteresis)) { // < 4m ==> Pan-Servo in Mittelstellung. Hysterese bis 6m, damit Servo im Grenzbereich nicht wild rumschlägt
// //geo.bearing = MK_pos.direction;
// //angleTilt = 0;
// //hysteresis = 1;
// //}
// //else {
// //hysteresis = 0;
// //}
////
// //// egal wo der Übergangspunkt 359, 360, 1grd ist => Winkelübergangspunkt auf 0 bzw. 180grd des Servos bringen
// //// 360 grd negative Winkelwerte als positive
// anglePan = (geo.bearing + 450 - MK_pos.direction) % 360; // 450 = 360 + 90
//
// //if (angleTilt < 0) angleTilt = 0;
// //if (angleTilt > 180) angleTilt = 180;
////
// //if (anglePan >= 180) { // zwecks 360grd-Abdeckung flipt Pan-/Tilt-Servo
// //anglePan = anglePan - 180;
// //angleTilt = 180 - angleTilt;
// //
// //}
////angleTilt = 180;
////angleTilt = 180;
//
//// servoSetAngle(0, anglePan);
//// servoSetAngle(1, angleTilt);
//}
/****************************************************************/
/* */
/* MK GPS Tracking */
/* */
/****************************************************************/
// MK OSD-Daten lesen und verifizieren
//uint8_t OSD_Data_valid(NaviData_t **navi_data)
//{ uint8_t ret = 0;
//char *tx_osd = {"#co?]==EH\r"};
//// char interval[2] = {10, '\0'};
//
//if (rx_line_decode('O')) { // OSD-Datensatz prüfen/dekodieren
////*navi_data = (NaviData_t*)data_decode; // dekodierte Daten mit Struktur OSD-Daten versehen
//if (rx_timeout < RX_TIME_OLD) { // GPS-Daten nicht zu alt und ok.
//currentPos = (*navi_data)->CurrentPosition;
//if ((*navi_data)->NCFlags & NC_FLAG_GPS_OK)
//ret = 1;
//// aus MkCockpit http://forum.mikrokopter.de/topic-post216136.html#post216136
//// (4 * (........))/5 ==> Wichtung Luftdruck-Höhe zu GPS
//currentPos.Altitude = MK_pos.Home_Alt + (4000 * (int32_t)((*navi_data)->Altimeter) / AltFaktor + currentPos.Altitude - MK_pos.Home_Alt) / 5;
//satsInUse = (*navi_data)->SatsInUse;
//}
//}
//// ca. 210ms keine OSD-Daten empfangen ==> sende neue Anforderung an MK
//// if ((track_tx) && (rx_timeout > RX_TIMEOUT)) tx_Mk(NC_ADDRESS, 'o', interval, 1); // 420 * 0.5ms interval
//if ((track_tx) && (rx_timeout > RX_TIMEOUT)) SendOutData(tx_osd); // 420 * 0.5ms interval
//return ret;
//}
//
// MK eingeschaltet und GPS-ok, danach Motoren gestartet ==> Berechnung horizontaler/vertikaler Servowinkel
// Hauptprogramm von GPS Antennen-Nachführung
//void Tracking_GPS(void)
//{ //NaviData_t *navidata;
// static uint8_t track_running = 0;
//
// if (!track_running)
// {
// //track_running = 1; // verhindert doppelten Aufruf, wenn in Eingabeschleife Menu_MK_BatteryChangeNr() !!!
// //if (OSD_Data_valid(&naviData)) {
// if (coldstart)
// {
// //// erst nach Neustart NGVideo und beim Motorstart werden Daten vom MK übernommen
// //if (naviData->FCFlags & FC_FLAG_MOTOR_START)
// //{
// MK_pos.Home_Lon = (double)naviData->HomePosition.Longitude / 10000000.0;
// MK_pos.Home_Lat = (double)naviData->HomePosition.Latitude / 10000000.0;
// MK_pos.Home_Lon7 = naviData->HomePosition.Longitude;
// MK_pos.Home_Lat7 = naviData->HomePosition.Latitude;
// MK_pos.Home_Alt = naviData->HomePosition.Altitude;
// MK_pos.direction = naviData->CompassHeading;
// coldstart = 0;
// //}
// //}
// //else {
// //do_tracking();
// }
// //}
// track_running = 0;
// }
// do_tracking();
//}
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/tracking/servo_setup.h
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#ifndef _TRACKING_H_
#define _TRACKING_H_
#define TRACKING_RSSI 1
#define TRACKING_GPS 2
#define TRACKING_MKCOCKPIT 3
#define TRACKING_NMEA 4
#define DLEFT 0
#define DRIGHT 1
#define AltFaktor 22.5
#define PAN_SERVO_CORRECT 3.125
#define TILT_SERVO_CORRECT 3.125
typedef void (*Displ_Fnct_t)( uint16_t );
//typedef struct {
// int32_t distance;
// int16_t bearing;
//}geo_t;
//typedef struct {
// double Home_Lon; // in degrees
// double Home_Lat; // in degrees
// int32_t Home_Lon7; // in 1E-7 degrees
// int32_t Home_Lat7; // in 1E-7 degrees
// int32_t Home_Alt; // in mm
// // ermittelte Konstante aus Mittelposition Antenne geo.bearing - navi_data.CompassHeading
// int16_t direction;
//}__attribute__((packed)) HomePos_t;
#define INTERNAT_STEPS_255 "255 "
#define INTERNAT_STEPS_1023 "1023"
// kapeschi
void servo_menu(void);
void servotest_cont_menu(void);
void Tracking_GPS(void);
void Tracking_NMEA(void);
void Tracking_RSSI(void);
void setNMEAdir(void);
#endif
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/****************************************************************/
/* */
/* NG-Video 5,8GHz */
/* */
/* Copyright (C) 2011 - gebad */
/* */
/* This code is distributed under the GNU Public License */
/* which can be found at http://www.gnu.org/licenses/gpl.txt */
/* */
/****************************************************************/
#include <stdlib.h>
#include <util/delay.h>
#include <avr/pgmspace.h>
//#include "config.h"
//#include "dogm.h"
#include "tools.h"
//#include "messages.h"
#define MAX_POWER 10
#define getPower(x) (int32_t)pgm_read_dword(&powers[x])
const int32_t PROGMEM powers[MAX_POWER] = {1, 10, 100, 1000, 10000, 100000, 1000000, 10000000, 100000000, 1000000000};
/* Funktion zur Umwandlung einer vorzeichenbehafteten Integer
32-Bit "Festkomma-Zahl"(gedachtes Komma in Integer) in einen String
vereinfacht Variablenübergabe funktion change_value(uint16_t x),
kein printf, double oder float
siehe http://www.mikrocontroller.net/articles/Festkommaarithmetik
len: max 13, Gesamtlänge des Resultats inklusive Vorzeichen und Komma, Rest wird mit ' ' aufgefüllt
fixedPoint: Position des Kommas im Integer-Wert. Bei Wert in mm und Anzeige in m ist das z.B. 3
afterPoint: Ziffern nach dem Komma = wieviele der fixedPoint Ziffern angezeigt werden sollen
Ist nicht genug Platz für die Zahl vorhanden werden nur '*' Zeichen ausgegeben!
makefile derzeit somit auch ohne! Minimalistic printf version*/
char *my_itoa(int32_t value, uint8_t len, uint8_t fixedPoint, uint8_t afterPoint)
{ int8_t i;
int8_t digits, digitsNeeded;
uint8_t neg = 0;
static char str[13];
// Terminate string
str[len] = '\0';
// Reduce precision of value if we're not supposed to show all of the mantissa
if (fixedPoint > afterPoint) {
value /= getPower(fixedPoint - afterPoint);
fixedPoint = afterPoint;
}
// Handle negative values
if (value < 0) {
value = -value;
neg = 1;
}
// Check how many digits we've got in total and if it fits in our space
for (digits = 1; digits < MAX_POWER && value >= getPower(digits); digits++);
if (neg) digits++; // We also need space for the sign
if (fixedPoint) digits++; // Plus space for decimal point
digitsNeeded = digits - len;
if (digitsNeeded > 0) {
// Not enough space, do something
if (digitsNeeded == fixedPoint || digitsNeeded == fixedPoint + 1) { // +1 = space for decimal point that we can get rid of
// If space is just big enough for integer part then simply don't show mantissa BUT ROUND CORRECTLY
value = (value + 5 * getPower(fixedPoint - 1)) / getPower(fixedPoint);
fixedPoint = 0;
} else if (digitsNeeded < fixedPoint) {
// We can reduce precision to make it fit (round correctly)
value = (value + 5 * getPower(digitsNeeded - 1)) / getPower(digitsNeeded);
fixedPoint -= digitsNeeded;
} else {
// Error, cannot display value! Let's show stars
for (i = len - 1; i >= 0; --i) str[i] = '*';
return str;
}
}
for (i = len - 1; i >= neg; --i) {
if (fixedPoint && i == len - fixedPoint - 1) {
// Insert decimal point at the right location
// str[i] = Msg(MSG_KOMMA)[0];
str[i] = ',';
fixedPoint = 0; // Now in integer part
} else {
str[i] = (value % 10) + '0';
value /= 10;
// Break if we're in integer part and there are only zeros from this point on
if (value == 0 && fixedPoint == 0) {
--i;
break;
}
}
}
// Insert sign
if (neg) str[i--] = '-';
// Rest is blank
for (; i >= 0; --i)
str[i] = ' ';
return str;
}
// Trying to avoid floating point maths here. Converts a floating point string to an integer with a smaller unit
// i.e. floatStrToInt("4.5", 2) = 4.5 * 1E2 = 450
int32_t floatStrToInt(const char *s, int32_t power1)
{ char *endPtr;
int32_t v = strtol(s, &endPtr, 10);
if (*endPtr == '.') {
for (s = endPtr + 1; *s && power1; s++) {
v = v * 10 + (*s - '0');
--power1;
}
}
if (power1) {
// Table to avoid multiple multiplications
v = v * getPower(power1);
}
return v;
}
// Delay helper
void delay_ms100x(uint8_t delay)
{
for ( uint8_t i=0; i<delay; i++)
_delay_ms(100);
}
//
///************************************************************************************/
///* */
///* Zeitanzeige */
///* */
///************************************************************************************/
//
//uint32_t TimeBase60(char *str, uint32_t time, uint8_t idx)
//{ uint32_t tmp = time % 60;
//
// str[idx] = (tmp / 10) + '0';
// str[idx + 1] = (tmp % 10) + '0';
// return time / 60;
//}
//
//void Displ_TimeMS(int32_t time)
//{ char str[7];
//
// str[6] = '\0';
// if (time < 0) {
// time = abs(time);
// str[0] = '-';
// }
// else
// str[0] = ' ';
// time = TimeBase60(str, time, 4);
// str[3] = ':';
// TimeBase60(str, time, 1);
// lcdPuts(str);
//}
//
//void Displ_TimeHMS(uint32_t time)
//{ char str[9];
//
// time /= T2SECDIV; // Zähler aller 500µs
// str[8] = '\0';
// time = TimeBase60(str, time, 6);
// str[5] = ':';
// time = TimeBase60(str, time, 3);
// str[2] = ':';
// TimeBase60(str, time, 0);
// lcdPuts(str);
//}
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#ifndef _TOOLS_H_
#define _TOOLS_H_
#include <avr/io.h>
//char *my_itoa(int32_t value, uint8_t sign, uint8_t len, uint8_t fixedPoint, uint8_t afterPoint);
char *my_itoa(int32_t value, uint8_t len, uint8_t fixedPoint, uint8_t afterPoint);
int32_t floatStrToInt(const char *s, int32_t power1);
void delay_ms100x(uint8_t delay);
void Displ_TimeMS(int32_t time);
void Displ_TimeHMS(uint32_t time);
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/tracking/tracking.c
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/*
* tracking.c
*
* Created on: 13.02.2012
* Author: cebra
*/
#include "../cpu.h"
#include <string.h>
#include <util/delay.h>
#include <avr/interrupt.h>
#include <stdlib.h>
#include <math.h>
#include "../main.h"
#include "../tracking/tracking.h"
#include "../tracking/ng_servo.h"
#include <avr/pgmspace.h>
#include "../bluetooth/fifo.h"
#include "../bluetooth/bluetooth.h"
#include "../lcd/lcd.h"
#include "../mk-data-structs.h"
#include "tools.h"
#include "../messages.h"
#include "../lcd/lcd.h"
#include "../eeprom/eeprom.h"
#include "../timer/timer.h"
#include "../uart/uart1.h"
#include "../uart/usart.h"
#include "../osd/osd.h"
#include "../tracking/mymath.h"
#include "../setup/setup.h"
#ifdef HWVERSION3_9
//#define MAX_POWER 10
//#define getPower(x) (int32_t)pgm_read_dword(&powers[x])
//const int32_t PROGMEM powers[MAX_POWER] = {1, 10, 100, 1000, 10000, 100000, 1000000, 10000000, 100000000, 1000000000};
#define DLEFT 0
#define DRIGHT 1
#define DEG_TO_RAD 0.0174533 // degrees to radians = PI / 180
#define RAD_TO_DEG 57.2957795 // radians to degrees = 180 / PI
#define AltFaktor 22.5
#define TIMEOUT 200 // 2 sec
NaviData_t *naviData;
mk_param_struct_t *mk_param_struct;
HomePos_t MK_pos; // Home position of station
GPS_Pos_t currentPos; // Current position of flying object
uint8_t NMEAsatsInUse; // Number of satelites currently in use BT-Mouse
//uint8_t MKsatsInUse; // Number of satelites currently in use Mikrokopter
int32_t NMEAlatitude, NMEAlongitude; // Longitude, Latitude
int16_t NMEAaltitude; // Höhe in Meter
uint8_t posfix; // GPS Fix, 0 = Fix not available or invalid,1 = GPS SPS Mode, fix valid,
// 2 = Differential GPS, SPS Mode, fix valid, 6 = Dead Reckoning Mode, fix valid
int16_t HDOP; // Horizontal Dilution of Precision, 1.1 -xx.x, niederiger = besser
uint8_t tracking = TRACKING_MIN;
uint8_t track_hyst = TRACKING_HYSTERESE;
uint8_t track_tx =0;
uint8_t coldstart; // Flag erstmaliger MK-Start(Motore) nur nach GPS-Fix
geo_t geo;
int16_t anglePan, angleTilt;
char NMEAtime[9] = "GP:Ti:me";
//char NMEADate [6];
//// Berechnung von Distanz und Winkel aus GPS-Daten home(MK eingeschaltet)
//// zur aktuellen Position(nach Motorstart)
//geo_t calc_geo(HomePos_t *home, GPS_Pos_t *pos)
//{ double lat1, lon1, lat2, lon2, d1, dlat;
// geo_t geo;
//
// lon1 = MK_pos.Home_Lon;
// lat1 = MK_pos.Home_Lat;
// lon2 = (double)pos->Longitude / 10000000.0;
// lat2 = (double)pos->Latitude / 10000000.0;
//
// // Formel verwendet von http://www.kompf.de/gps/distcalc.html
// // 111.3 km = Abstand zweier Breitenkreise und/oder zweier Längenkreise am Äquator
// // es wird jedoch in Meter weiter gerechnet
// d1 = 111300 * (double)cos((double)(lat1 + lat2) / 2 * DEG_TO_RAD) * (lon1 - lon2);
// dlat = 111300 * (double)(lat1 - lat2);
// // returns a value in metres http://www.kompf.de/gps/distcalc.html
// geo.bearing = fmod((RAD_TO_DEG * (double)atan2(d1, dlat)) + 180, 360); // +180 besserer Vergleich mit MkCockpit
// if (geo.bearing > 360) geo.bearing -= 360; // bekam schon Werte über 400
// geo.distance = sqrt(d1 * d1 + dlat * dlat);
// return(geo);
//}
// Berechnung von Distanz und Winkel aus GPS-Daten home(MK eingeschaltet)
// zur aktuellen Position(nach Motorstart)
geo_t calc_geo(HomePos_t *home, GPS_Pos_t *pos)
{ int32_t lat1, lon1, lat2, lon2;
int32_t d1, dlat;
geo_t geo;
lon1 = home->Home_Lon;
lat1 = home->Home_Lat;
lon2 = pos->Longitude;
lat2 = pos->Latitude;
if (!CheckGPS)
{
lcd_puts_at (0, 3, my_itoa(home->Home_Lat, 10, 7, 7), 0);
lcd_puts_at (11, 3, my_itoa(home->Home_Lon, 10, 7, 7), 0);
lcd_puts_at (0, 4, my_itoa(pos->Latitude, 10, 7, 7), 0);
lcd_puts_at (11, 4, my_itoa(pos->Longitude, 10, 7, 7), 0);
}
// lcd_printp_at (0, 3, PSTR("H"), 0);
// lcd_printp_at (0, 4, PSTR("M"), 0);
// Formel verwendet von http://www.kompf.de/gps/distcalc.html
// 111.3 km = Abstand zweier Breitenkreise und/oder zweier Langenkreise am Äquator
// es wird jedoch in dm Meter weiter gerechnet
// (tlon1 - tlon2)/10) sonst uint32_t-Überlauf bei cos(0) gleich 1
d1 = (1359 * (int32_t)(c_cos_8192((lat1 + lat2) / 20000000)) * ((lon1 - lon2)/10))/ 10000000;
dlat = 1113 * (lat1 - lat2) / 10000;
geo.bearing = (my_atan2(d1, dlat) + 540) % 360; // 360 +180 besserer Vergleich mit MkCockpit
geo.distance = sqrt32(d1 * d1 + dlat * dlat);
if (!CheckGPS)
{
lcd_printp_at (0, 5, PSTR("Bear:"), 0);
lcd_puts_at (5, 5, my_itoa((uint32_t)geo.bearing, 3, 0, 0), 0);
lcd_printp_at (8, 5, PSTR("\x1e"), 0);
lcd_printp_at (9, 5, PSTR("Dist:"), 0);
lcd_puts_at (15, 5, my_itoa((uint32_t)geo.distance, 3, 1, 1), 0);
lcd_printp_at (20, 5, PSTR("m"), 0);
}
return(geo);
}
void do_tracking(void)
{ static uint8_t hysteresis = 0;
geo = calc_geo(&MK_pos, &currentPos);
angleTilt = my_atan2((currentPos.Altitude - MK_pos.Home_Alt) / 100, geo.distance);
if (geo.distance < 40 || (geo.distance < 60 && hysteresis)) { // < 4m ==> Pan-Servo in Mittelstellung. Hysterese bis 6m, damit Servo im Grenzbereich nicht wild rumschl�gt
geo.bearing = MK_pos.direction;
if (currentPos.Altitude - MK_pos.Home_Alt < 4000) angleTilt = 0; // man fliegt nicht direkt �ber Kopf
hysteresis = 1;
}
else {
hysteresis = 0;
}
// egal wo der Übergangspunkt 359, 360, 1grd ist => Winkelübergangspunkt auf 0 bzw. 180grd des Servos bringen
// 360 grd negative Winkelwerte als positive
anglePan = (geo.bearing + 450 - MK_pos.direction) % 360; // 450 = 360 + 90
if (angleTilt < 0) angleTilt = 0;
if (angleTilt > 180) angleTilt = 180;
if (anglePan >= 180) { // zwecks 360grd-Abdeckung flipt Pan-/Tilt-Servo
anglePan = anglePan - 180;
angleTilt = 180 - angleTilt;
}
servoSetAngle(0, anglePan);
servoSetAngle(1, angleTilt);
if (!CheckGPS)
{
lcd_printp_at (0, 6, PSTR("Pan :"), 0);
write_ndigit_number_u (6, 6, anglePan, 3, 1,0);
lcd_printp_at (11, 6, PSTR("Tilt:"), 0);
write_ndigit_number_u (17, 6, angleTilt, 3, 1,0);
}
// write_ndigit_number_u (0, 5, (uint16_t)(currentPos.Altitude/10000000), 2, 0,0);
//// lcd_printp_at (4, 4, PSTR("."), 0);
// write_ndigit_number_u (2, 5, (uint16_t)((currentPos.Altitude/1000) % 10000), 4, 1,0);
// write_ndigit_number_u (6, 5, (uint16_t)((currentPos.Altitude/10) % 100), 2, 1,0);
//
// write_ndigit_number_u (10, 5, (uint16_t)(MK_pos.Home_Alt/10000000), 2, 0,0);
//// lcd_printp_at (4, 4, PSTR("."), 0);
// write_ndigit_number_u (12, 5, (uint16_t)((MK_pos.Home_Alt/1000) % 10000), 4, 1,0);
// write_ndigit_number_u (16, 5, (uint16_t)((MK_pos.Home_Alt/10) % 100), 2, 1,0);
}
//*******************************************************************************************************
uint8_t PKT_trackingBT(void) // Tracking mit NMEA-Daten von BT-Maus
{
uint8_t BT_WhasOn = 0;
uint8_t BT_status;
uint8_t flag;
uint8_t tmp_dat;
coldstart =1;
{
// lcd_printp_at(0,1, PSTR("try NMEA data from:"), 0);
lcd_puts_at (0, 1,Config.gps_UsedDevName, 0);
set_BTOn();
BT_WhasOn = true;
if (Config.BTIsSlave==true)
{
bt_downlink_init();
}
lcd_printp_at (18, 1, PSTR(" ?? "), 0);
BT_status = bt_connect(Config.gps_UsedMac);
if (BT_status==true)
{
lcd_printp_at (18, 1, PSTR(" OK "), 0);
receiveNMEA = true;
}
else lcd_printp_at (17, 1, PSTR("FAIL"), 2);
if (receiveNMEA==true)
{
lcd_printp_at (0, 2, PSTR("S Latitude Longitude"), 2);
lcd_cls_line (0,1,20);
lcd_printp_at (0, 3, PSTR("H"), 0);
lcd_printp_at (0, 4, PSTR("M"), 0);
bt_rx_ready = 0;
SwitchToNC();
mode = 'O';
// disable debug...
// RS232_request_mk_data (0, 'd', 0);
tmp_dat = 0;
SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
// request OSD Data from NC every 100ms
// RS232_request_mk_data (1, 'o', 100);
tmp_dat = 10;
// OSD_active = true; // benötigt für Navidata Ausgabe an SV2
SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
flag = 0;
timer = TIMEOUT;
abo_timer = ABO_TIMEOUT;
do
{
// bt_rx_ready = 0;
if (!bt_receiveNMEA())
break;
if (rxd_buffer_locked)
{
timer = TIMEOUT;
Decode64 ();
naviData = (NaviData_t *) pRxData;
//#ifdef DEBUG
// debug_pgm(PSTR("setup Tracking_NMEA"));
//#endif
currentPos = naviData->CurrentPosition;
// currentPos.Altitude = MK_pos.Home_Alt + (4000 * (int32_t)(naviData->Altimeter) / AltFaktor + currentPos.Altitude - MK_pos.Home_Alt) / 5;
// uint32_t lat = currentPos.Latitude;
// uint32_t lon = currentPos.Longitude;
// write_ndigit_number_u (2, 4, (uint16_t)(lat/10000000), 2, 0,0);
// lcd_printp_at (4, 4, PSTR("."), 0);
// write_ndigit_number_u (5, 4, (uint16_t)((lat/1000) % 10000), 4, 1,0);
// write_ndigit_number_u (9, 4, (uint16_t)((lat/10) % 100), 2, 1,0);
//
// write_ndigit_number_u (12, 4, (uint16_t)(lon/10000000), 2, 0,0);
// lcd_printp_at (14, 4, PSTR("."), 0);
// write_ndigit_number_u (15, 4, (uint16_t)((lon/1000) % 10000), 4, 1,0);
// write_ndigit_number_u (19, 4, (uint16_t)((lon/10) % 100),2, 1,0);
Tracking_NMEA();
// write_ndigit_number_u (2, 3, (uint16_t)(NMEAlatitude/10000000), 2, 0,0);
// lcd_printp_at (4, 3, PSTR("."), 0);
// write_ndigit_number_u (5, 3, (uint16_t)((NMEAlatitude/1000) % 10000), 4, 1,0);
// write_ndigit_number_u (9, 3, (uint16_t)((NMEAlatitude/10) % 100), 2, 1,0);
//
//
// write_ndigit_number_u (12, 3, (uint16_t)(NMEAlongitude/10000000), 2, 0,0);
// lcd_printp_at (14, 3, PSTR("."), 0);
// write_ndigit_number_u (15, 3, (uint16_t)((NMEAlongitude/1000) % 10000), 4, 1,0);
// write_ndigit_number_u (19, 3, (uint16_t)((NMEAlongitude/10) % 100), 2, 1,0);
// lcd_printp_at (0, 2, PSTR("GPS Time: "), 0);
if (!CheckGPS)
{
lcd_puts_at (13, 0, NMEAtime, 2);
lcd_printp_at (16, 1, PSTR("Sat:"), 0);
write_ndigit_number_u (19, 1, NMEAsatsInUse, 2, 1,0);
lcd_printp_at (0, 1, PSTR("Fix:"), 0);
write_ndigit_number_u (4, 1, posfix, 1, 1,0);
lcd_printp_at (6, 1, PSTR("HDOP:"), 0);
write_ndigit_number_u_10th (11, 1, HDOP, 3, 0,0);
}
rxd_buffer_locked = FALSE;
if (!abo_timer)
{ // renew abo every 3 sec
// request OSD Data from NC every 100ms
// RS232_request_mk_data (1, 'o', 100);
tmp_dat = 10;
SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
abo_timer = ABO_TIMEOUT;
}
}//if (rxd_buffer_locked)
if (!timer)
{
OSD_Timeout(flag);
flag = 0;
error = 1;
}
} //end do
while (!get_key_press (1 << KEY_ENTER) || !receiveNMEA==true || error ==1);
// while (!get_key_press (1 << KEY_ENTER));
lcd_cls_line(0,1,21);
lcd_cls_line(0,2,21);
lcd_cls_line(0,3,21);
lcd_cls_line(0,4,21);
lcd_cls_line(0,5,21);
lcd_cls_line(0,6,21);
if (!receiveNMEA) lcd_printp_at (0, 2, PSTR("lost BT data"), 0);
// if (error ==1) lcd_printp_at (0, 2, PSTR("lost Wi.232 data"), 0);
lcd_printp_at (0, 3, PSTR("GPS trennen"), 0);
}
else
{
lcd_printp_at (0, 4, PSTR("Error at connecting"), 0);
lcd_printp_at (0, 5, PSTR("switch on BT Mouse!!"), 0);
while (!get_key_press (1 << KEY_ENTER));
}
receiveNMEA = false;
if (!bt_disconnect()) lcd_printp_at (0, 3, PSTR("Fehler beim Trennen"), 0);
set_BTOff();
return true;
}
}
//*******************************************************************************************************
uint8_t PKT_trackingMK(void) // Tracking mit GPS-Daten vom Mikrokopter
{
// uint8_t BT_WhasOn = 0;
// uint8_t BT_status;
uint8_t GPSfix=0;
uint8_t tmp_dat;
uint8_t toggletimer=0;
coldstart = true;
lcd_printp_at (0, 2, PSTR("S Latitude Longitude"), 2);
lcd_cls_line (0,1,20);
// lcd_printp_at (0, 3, PSTR("H"), 0);
// lcd_printp_at (0, 4, PSTR("M"), 0);
SwitchToNC();
mode = 'O';
// disable debug...
// RS232_request_mk_data (0, 'd', 0);
tmp_dat = 0;
SendOutData ('d', ADDRESS_ANY, 1, &tmp_dat, 1);
// request OSD Data from NC every 100ms
// RS232_request_mk_data (1, 'o', 100);
tmp_dat = 10;
SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
timer = TIMEOUT;
abo_timer = ABO_TIMEOUT;
error = 0;
do
{
if (rxd_buffer_locked)
{
timer = TIMEOUT;
Decode64 ();
naviData = (NaviData_t *) pRxData;
//OSD_Screen_Element (18, 1, OSD_SATS_IN_USE,1);
//if (GPSfix == true) OSD_Screen_Element (0, 1, OSD_STATUS_FLAGS,1);
OSD_Element_SatsInUse( 18, 1, 1);
if (GPSfix == true) OSD_Element_StatusFlags( 0, 1);
if (!(naviData->NCFlags & NC_FLAG_GPS_OK))
{
toggletimer++;
if (toggletimer == 50) toggletimer = 0;
if (toggletimer == 25) lcd_printp_at(0,1, PSTR("Whait for GPS Fix "), 2);
if (toggletimer == 1) lcd_printp_at(0,1, PSTR("Whait for GPS Fix "), 0);
rxd_buffer_locked = false;
GPSfix = false;
}
else GPSfix = true;
if (GPSfix)
{
if (coldstart)
{
// erst nach Neustart NGVideo und beim Motorstart werden Daten vom MK übernommen
if (naviData->FCStatusFlags & FC_FLAG_MOTOR_START) {
MK_pos.Home_Lon = naviData->HomePosition.Longitude;
MK_pos.Home_Lat = naviData->HomePosition.Latitude;
MK_pos.Home_Alt = naviData->HomePosition.Altitude;
MK_pos.direction = naviData->CompassHeading;
coldstart = false;
rxd_buffer_locked = false;
lcd_printp_at(0,1, PSTR(" "), 0);
}
else
{
lcd_printp_at(0,1, PSTR("GPS ok, start ok "), 0);
rxd_buffer_locked = false;
}
}
else
{ //run
currentPos = naviData->CurrentPosition;
currentPos.Altitude = MK_pos.Home_Alt + (4000 * (int32_t)(naviData->Altimeter) / AltFaktor + currentPos.Altitude - MK_pos.Home_Alt) / 5;
do_tracking();
// lcd_puts_at (13, 0, NMEAtime, 2);
// lcd_printp_at (16, 1, PSTR("Sat:"), 0);
// write_ndigit_number_u (19, 1, NMEAsatsInUse, 2, 1,0);
// lcd_printp_at (0, 1, PSTR("Fix:"), 0);
// write_ndigit_number_u (4, 1, posfix, 1, 1,0);
// lcd_printp_at (6, 1, PSTR("HDOP:"), 0);
// write_ndigit_number_u_10th (11, 1, HDOP, 3, 0,0);
rxd_buffer_locked = FALSE;
} // run
}
if (!abo_timer)
{ // renew abo every 3 sec
// request OSD Data from NC every 100ms
// RS232_request_mk_data (1, 'o', 100);
tmp_dat = 10;
SendOutData ('o', ADDRESS_NC, 1, &tmp_dat, 1);
abo_timer = ABO_TIMEOUT;
}
} //rx_buffer_locked
if (!timer)
{
OSD_Timeout(1);
error = 1;
}
} //end do
while ((!get_key_press (1 << KEY_ENTER)) && (error ==0));
lcd_cls_line(0,1,21);
lcd_cls_line(0,2,21);
lcd_cls_line(0,3,21);
lcd_cls_line(0,4,21);
lcd_cls_line(0,5,21);
lcd_cls_line(0,6,21);
if (error ==1)
{
lcd_printp_at (0, 2, PSTR("lost Wi.232 data"), 0);
_delay_ms(2000);
}
return true;
}
//*******************************************************************************************************
void PKT_tracking(void)
{
get_key_press(KEY_ALL);
lcd_cls ();
if (Config.gps_UsedGPSMouse==GPS_Bluetoothmouse1) lcd_printp_at(0,0, PSTR("Tracking Bluetooth "), 2);
if (Config.gps_UsedGPSMouse==GPS_Mikrokopter) lcd_printp_at(0,0, PSTR(" Tracking Mikrokopter"), 2);
lcd_printp_at (16, 7, PSTR("Ende"), 0);
if (Config.gps_UsedGPSMouse==GPS_Bluetoothmouse1) PKT_trackingBT();
if (Config.gps_UsedGPSMouse==GPS_Mikrokopter) PKT_trackingMK();
get_key_press(KEY_ALL);
}
//// Trying to avoid floating point maths here. Converts a floating point string to an integer with a smaller unit
//// i.e. floatStrToInt("4.5", 2) = 4.5 * 1E2 = 450
//int32_t floatStrToInt(const char *s, int32_t power1)
//{ char *endPtr;
// int32_t v = strtol(s, &endPtr, 10);
//
// if (*endPtr == '.') {
// for (s = endPtr + 1; *s && power1; s++) {
// v = v * 10 + (*s - '0');
// --power1;
// }
// }
// if (power1) {
// // Table to avoid multiple multiplications
// v = v * getPower(power1);
// }
// return v;
//}
// NMEA latitudes are in the form ddmm.mmmmm, we want an integer in 1E-7 degree steps
int32_t getLatitude(const char *s, const char *NS)
{ int32_t deg = (s[0] - '0') * 10 + s[1] - '0'; // First 2 chars are full degrees
int32_t min = floatStrToInt(&s[2], 6) / 6; // Minutes * 1E5 * 100 / 60 = Minutes * 1E6 / 6 = 1E-7 degree steps
deg = deg * 10000000 + min;
if (*NS == 'S') deg = -deg;
return deg;
}
// NMEA longitudes are in the form dddmm.mmmmm, we want an integer in 1E-7 degree steps
int32_t getLongitude(const char *s, const char *WE)
{ int32_t deg = ((s[0] - '0') * 10 + s[1] - '0') * 10 + s[2] - '0'; // First 3 chars are full degrees
int32_t min = floatStrToInt(&s[3], 6) / 6; // Minutes * 1E5 * 100 / 60 = Minutes * 1E6 / 6 = 1E-7 degree steps
deg = deg * 10000000 + min;
if (*WE == 'W') deg = -deg;
return deg;
}
void getNMEATime( const char *s)
{
uint8_t sem = 0;
uint8_t i;
for ( i=0;i < 6; i++ )
{
NMEAtime[sem++] = s[i];
if (i==1 || i==3) NMEAtime[sem++] = ':';
}
NMEAtime[sem] = '\0';
}
//$GPGGA,191410.000,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45
// ^ ^ ^ ^ ^ ^ ^ ^
// | | | | | | | |
// | | | | | | | Höhe Geoid minus
// | | | | | | | Höhe Ellipsoid (WGS84)
// | | | | | | | in Metern (48.0,M)
// | | | | | | |
// | | | | | | Höhe über Meer (über Geoid)in Metern (351.5,M)
// | | | | | |
// | | | | | HDOP (horizontal dilution
// | | | | | of precision) Genauigkeit
// | | | | |
// | | | | Anzahl der erfassten Satelliten
// | | | |
// | | | Qualität der Messung
// | | | (0 = ungültig)
// | | | (1 = GPS)
// | | | (2 = DGPS)
// | | | (6 = geschätzt nur NMEA-0183 2.3)
// | | |
// | | Längengrad
// | |
// | Breitengrad
// |
// Uhrzeit
void Tracking_NMEA(void)
{
char *token;
if (decodeNMEA()) {
token = strtok((char*)data_decode, ",");
if (!strcmp(token, "GPGGA"))
{
// $GPGGA,220613.400,4843.5080,N,00922.9583,E,1,7,2.23,287.1,M,48.0,M,,
// Time
getNMEATime(strtok(0, ".")); //Zeit
strtok(0, ","); // Skip Rest von der Zeit
// Latitude
NMEAlatitude = getLatitude(strtok(0, ","), strtok(0, ",")); //N
// Longitude
NMEAlongitude = getLongitude(strtok(0, ","), strtok(0, ","));//E
// Signal valid? (Position Fix Indicator)
posfix = atoi(strtok(0, ",")); // Qualität
// Satellites in use
NMEAsatsInUse = atoi(strtok(0, ",")); //Anzahl Sats
// Dilition, best = 0.0
HDOP = floatStrToInt(strtok(0, ","),1); //Dilution
// // Altitude
NMEAaltitude = floatStrToInt(strtok(0, ","), 1);
// currentPos.Altitude = altitude;
// currentPos.Latitude = latitude;
// currentPos.Longitude = longitude;
//TODO: erstmal test if ((coldstart) && (satsInUse > 5)) {
// First position after reboot (or change of mode) will be the home position (facing north)
MK_pos.Home_Lon = NMEAlongitude;
MK_pos.Home_Lat = NMEAlatitude;
MK_pos.Home_Alt = NMEAaltitude;
MK_pos.direction = 0;
// coldstart = 0;
// Double_Beep(DBEEPNMEAFIX, DBEEPMEAFIXP);
do_tracking();
// }
}
}
// Displ_GPS(); // letzte empfangene Daten auch bei ausgeschalteter NMEA sichtbar
}
uint8_t hexDigitToInt(uint8_t digit)
{
if (digit >= '0' && digit <= '9') return digit - '0';
if (digit >= 'a' && digit <= 'f') return digit - 'a' + 10;
if (digit >= 'A' && digit <= 'F') return digit - 'A' + 10;
return 0;
}
uint8_t decodeNMEA(void)
{
uint8_t ret = 0;
uint8_t crc;
uint8_t tmpCRC = 0;
uint8_t i;
if (bt_rx_ready == 1 && bt_rx_len > 0) {
// Calculate checksum
for (i = 1; i < bt_rx_len && bt_rx_buffer[i] != '*'; i++) {
tmpCRC ^= bt_rx_buffer[i];
}
if (bt_rx_len >= i + 3) {
crc = hexDigitToInt(bt_rx_buffer[i + 1]) << 4 | hexDigitToInt(bt_rx_buffer[i + 2]);
if (crc == tmpCRC) {
bt_rx_buffer[i] = 0;
strcpy(data_decode, &bt_rx_buffer[1]); // Data without $, crc
ret = 1;
// wi232RX = 1; // So antenna-symbol will blink
// cli();
// rx_timeout = 0; // Got valid data, reset counter
// sei();
}
}
}
// if (rx_timeout < RX_TIME_OLD) wi232RX = 1;
bt_rx_ready = 0; // Unlock buffer, next NMEA string can be received
return ret;
}
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/tracking/tracking.h
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/*
* tracking.h
*
* Created on: 13.02.2012
* Author: cebra
*/
#ifndef TRACKING_H_
#define TRACKING_H_
#define REPEAT 1
#define REPEAT_MIN 1
#define REPEAT_MAX 100
#define PAUSE 10
#define PAUSE_MIN 4 // mindestens 400ms, da mechanischer Servo-Lauf zur Position berücksichtigt werden muss
#define PAUSE_MAX 20 // Pause pro Links-, Mittel- und Rechtsposition 10*100ms
#define PAUSE_STEP 0
#define PAUSE_STEP_MIN 0 // Pause bei jeden Servoschritt in ms
#define PAUSE_STEP_MAX 200
/* Antennen-Nachführung */
#define TRACKING_MIN 0 // aus, TRACKING_RSSI, TRACKING_GPS, TRACKING_MKCOCKPIT, TRACKING_NMEA
#define TRACKING_MAX 4
/* Antennen-Nachführung per RSSI */
#define TRACKING_HYSTERESE 40 // Hysterese bevor Tracking bei Richtungswechsel anspricht
#define TRACKING_HYST_MIN 0
#define TRACKING_HYST_MAX 100
#define FC_FLAG_MOTOR_RUN 0x01
#define FC_FLAG_FLY 0x02
#define FC_FLAG_CALIBRATE 0x04
#define FC_FLAG_MOTOR_START 0x08
//#define NC_FLAG_GPS_OK 0
typedef struct {
int32_t distance;
int16_t bearing;
}geo_t;
typedef struct {
int32_t Home_Lon; // in 1E-7 degrees
int32_t Home_Lat; // in 1E-7 degrees
int32_t Home_Alt; // in mm
int16_t direction; // ermittelte Konstante aus Mittelposition Antenne geo.bearing - navi_data.CompassHeading
}__attribute__((packed)) HomePos_t;
extern uint8_t NMEAsatsInUse; // Number of satelites currently in use
extern int32_t NMEAlatitude, NMEAlongitude;
extern uint8_t posfix; // GPS Fix, 0 = Fix not available or invalid,1 = GPS SPS Mode, fix valid,
// 2 = Differential GPS, SPS Mode, fix valid, 6 = Dead Reckoning Mode, fix valid
extern int16_t HDOP; // Horizontal Dilution of Precision, 1.1 -xx.x, niederiger = besser
extern int16_t NMEAaltitude; // Höhe in Meter
extern char NMEAtime[9];
extern uint8_t coldstart; // Flag erstmaliger MK-Start(Motore) nur nach GPS-Fix
void Tracking_NMEA(void);
uint8_t decodeNMEA(void);
void PKT_tracking(void);
#endif /* TRACKING_H_ */
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/uart/.directory
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ViewMode=1

/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/uart/uart1.c
0,0 → 1,371
/*************************************************************************
Title: Interrupt UART library with receive/transmit circular buffers
Author: Peter Fleury <pfleury@gmx.ch> http://jump.to/fleury
File: $Id: uart.c,v 1.6.2.2 2009/11/29 08:56:12 Peter Exp $
Software: AVR-GCC 4.1, AVR Libc 1.4.6 or higher
Hardware: any AVR with built-in UART,
License: GNU General Public License
DESCRIPTION:
An interrupt is generated when the UART has finished transmitting or
receiving a byte. The interrupt handling routines use circular buffers
for buffering received and transmitted data.
The UART_RX_BUFFER_SIZE and UART_TX_BUFFER_SIZE variables define
the buffer size in bytes. Note that these variables must be a
power of 2.
USAGE:
Refere to the header file uart.h for a description of the routines.
See also example test_uart.c.
NOTES:
Based on Atmel Application Note AVR306
LICENSE:
Copyright (C) 2006 Peter Fleury
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, or
any later version.
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.
*************************************************************************/
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <string.h>
#include <stdbool.h>
#include "uart1.h"
#include "../main.h"
#include "../bluetooth/bluetooth.h"
#include "../tracking/tracking.h"
//
// constants and macros
//
#if defined HWVERSION1_3W || defined HWVERSION3_9
// size of RX/TX buffers
#define UART_RX_BUFFER_MASK ( UART_RX_BUFFER_SIZE - 1)
#define UART_TX_BUFFER_MASK ( UART_TX_BUFFER_SIZE - 1)
#if ( UART_RX_BUFFER_SIZE & UART_RX_BUFFER_MASK )
#error RX buffer size is not a power of 2
#endif
#if ( UART_TX_BUFFER_SIZE & UART_TX_BUFFER_MASK )
#error TX buffer size is not a power of 2
#endif
// ATmega with two USART
#define ATMEGA_USART1
#define UART1_STATUS UCSR1A
#define UART1_CONTROL UCSR1B
#define UART1_DATA UDR1
#define UART1_UDRIE UDRIE1
//
// module global variables
//
uint8_t receiveNMEA = false;
#if defined( ATMEGA_USART1 )
static volatile unsigned char UART1_TxBuf[UART_TX_BUFFER_SIZE];
static volatile unsigned char UART1_RxBuf[UART_RX_BUFFER_SIZE];
static volatile unsigned char UART1_TxHead;
static volatile unsigned char UART1_TxTail;
static volatile unsigned char UART1_RxHead;
static volatile unsigned char UART1_RxTail;
static volatile unsigned char UART1_LastRxError;
volatile uint16_t UART1_RxError;
#endif
void SetBaudUart1(uint8_t Baudrate)
{
switch (Baudrate)
{
case Baud_2400: uart1_init( UART_BAUD_SELECT(2400,F_CPU) ); break;
case Baud_4800: uart1_init( UART_BAUD_SELECT(4800,F_CPU) ); break;
// case Baud_9600: uart1_init( UART_BAUD_SELECT(9600,F_CPU) ); break;
case Baud_9600: uart1_init( 129); break;
case Baud_19200: uart1_init( UART_BAUD_SELECT(19200,F_CPU) ); break;
case Baud_38400: uart1_init( UART_BAUD_SELECT(38400,F_CPU) ); break;
case Baud_57600: uart1_init( UART_BAUD_SELECT(57600,F_CPU) ); break;
// case Baud_57600: uart1_init( 21); break;
// case Baud_115200: uart1_init( UART_BAUD_SELECT(115200,F_CPU) ); break;
case Baud_115200: uart1_init( 10 ); break;
}
}
//
// these functions are only for ATmegas with two USART
//
#if defined( ATMEGA_USART1 )
//--------------------------------------------------------------
// Function: UART1 Receive Complete interrupt
// Purpose: called when the UART1 has received a character
//--------------------------------------------------------------
ISR(USART1_RX_vect)
{
unsigned char tmphead;
unsigned char data;
unsigned char usr;
unsigned char lastRxError;
// read UART status register and UART data register
usr = UART1_STATUS;
data = UART1_DATA;
lastRxError = (usr & (_BV(FE1)|_BV(DOR1)) );
// calculate buffer index
tmphead = ( UART1_RxHead + 1) & UART_RX_BUFFER_MASK;
if ( tmphead == UART1_RxTail )
{
// error: receive buffer overflow
lastRxError = UART_BUFFER_OVERFLOW >> 8;
UART1_RxError++;
}
else
{
// store new index
UART1_RxHead = tmphead;
// store received data in buffer
UART1_RxBuf[tmphead] = data;
}
UART1_LastRxError = lastRxError;
// if (receiveNMEA==true)
// {
// if (bt_receiveNMEA()) Tracking_NMEA();
// else receiveNMEA = false;
//
// }
}
//--------------------------------------------------------------
// Function: UART1 Data Register Empty interrupt
// Purpose: called when the UART1 is ready to transmit the next byte
//--------------------------------------------------------------
ISR(USART1_UDRE_vect)
{
unsigned char tmptail;
if ( UART1_TxHead != UART1_TxTail)
{
// calculate and store new buffer index
tmptail = (UART1_TxTail + 1) & UART_TX_BUFFER_MASK;
UART1_TxTail = tmptail;
// get one byte from buffer and write it to UART
UART1_DATA = UART1_TxBuf[tmptail]; // start transmission
}
else
{
// tx buffer empty, disable UDRE interrupt
UART1_CONTROL &= ~_BV(UART1_UDRIE);
}
}
//--------------------------------------------------------------
// Function: uart1_init()
// Purpose: initialize UART1 and set baudrate
// Input: baudrate using macro UART_BAUD_SELECT()
// Returns: none
//--------------------------------------------------------------
void uart1_init(unsigned int baudrate)
{
UART1_TxHead = 0;
UART1_TxTail = 0;
UART1_RxHead = 0;
UART1_RxTail = 0;
UART1_RxError = 0;
// Set baud rate
if ( baudrate & 0x8000 )
{
UART1_STATUS = (1<<U2X1); //Enable 2x speed
baudrate &= ~0x8000;
}
UBRR1H = (unsigned char)(baudrate>>8);
UBRR1L = (unsigned char) baudrate;
// Enable USART receiver and transmitter and receive complete interrupt
UART1_CONTROL = _BV(RXCIE1)|(1<<RXEN1)|(1<<TXEN1);
// Set frame format: asynchronous, 8data, no parity, 1stop bit
#ifdef URSEL1
UCSR1C = (1<<URSEL1)|(3<<UCSZ10);
#else
UCSR1C = (3<<UCSZ10);
// UCSR1C = (1<<UCSZ11) | (1<<UCSZ10); // 8data Bit
#endif
}
//--------------------------------------------------------------
// Function: uart1_getc()
// Purpose: return byte from ringbuffer
// Returns: lower byte: received byte from ringbuffer
// higher byte: last receive error
//--------------------------------------------------------------
unsigned int uart1_getc(void)
{
unsigned char tmptail;
unsigned char data;
if ( UART1_RxHead == UART1_RxTail )
{
return UART_NO_DATA; // no data available
}
// calculate /store buffer index
tmptail = (UART1_RxTail + 1) & UART_RX_BUFFER_MASK;
UART1_RxTail = tmptail;
// get data from receive buffer
data = UART1_RxBuf[tmptail];
return (UART1_LastRxError << 8) + data;
}/* uart1_getc */
//--------------------------------------------------------------
// Function: uart1_putc()
// Purpose: write byte to ringbuffer for transmitting via UART
// Input: byte to be transmitted
// Returns: 1 on succes, 0 if remote not ready
//--------------------------------------------------------------
int uart1_putc(unsigned char data)
{
unsigned char tmphead;
tmphead = (UART1_TxHead + 1) & UART_TX_BUFFER_MASK;
while ( tmphead == UART1_TxTail )
{;} // wait for free space in buffer
UART1_TxBuf[tmphead] = data;
UART1_TxHead = tmphead;
// enable UDRE interrupt
UART1_CONTROL |= _BV(UART1_UDRIE);
return (UART1_LastRxError << 8) + data;
}
//--------------------------------------------------------------
// Function: uart1_puts()
// Purpose: transmit string to UART1
// Input: string to be transmitted
// Returns: none
//--------------------------------------------------------------
void uart1_puts(const char *s )
{
while (*s)
uart1_putc(*s++);
}
//--------------------------------------------------------------
// Function: uart1_puts_p()
// Purpose: transmit string from program memory to UART1
// Input: program memory string to be transmitted
// Returns: none
//--------------------------------------------------------------
void uart1_puts_p(const char *progmem_s )
{
register char c;
while ( (c = pgm_read_byte(progmem_s++)) )
uart1_putc(c);
}
//--------------------------------------------------------------
// Function: uart1_available()
// Purpose: Determine the number of bytes waiting in the receive buffer
// Input: None
// Returns: Integer number of bytes in the receive buffer
//--------------------------------------------------------------
uint16_t uart1_available(void)
{
return (UART_RX_BUFFER_MASK + UART1_RxHead - UART1_RxTail) % UART_RX_BUFFER_MASK;
}
//--------------------------------------------------------------
// Function: uart1_flush()
// Purpose: Flush bytes waiting the receive buffer. Acutally ignores them.
// Input: None
// Returns: None
//--------------------------------------------------------------
void uart1_flush(void)
{
UART1_RxHead = UART1_RxTail;
}
/*************************************************************************
Function: utoa()
Purpose: convert unsigned integer to ascii
Input: string_buffer, string_buffer_size, unsigned integer value
Returns: first ascii character
**************************************************************************/
char *utoa1(char* buffer, const unsigned int size, unsigned int value)
{
char *p;
// p points to last char
p = buffer+size-1;
// Set terminating Zero
*p='\0';
do
{
*--p = value%10 + '0';
value = value/10;
} while (value!=0 && p>buffer);
return p;
}/* utoa */
#endif
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/uart/uart1.h
0,0 → 1,175
/************************************************************************
Title: Interrupt UART library with receive/transmit circular buffers
Author: Peter Fleury <pfleury@gmx.ch> http://jump.to/fleury
File: $Id: uart.h,v 1.8.2.1 2007/07/01 11:14:38 peter Exp $
Software: AVR-GCC 4.1, AVR Libc 1.4
Hardware: any AVR with built-in UART, tested on AT90S8515 & ATmega8 at 4 Mhz
License: GNU General Public License
Usage: see Doxygen manual
LICENSE:
Copyright (C) 2006 Peter Fleury
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, or
any later version.
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.
************************************************************************/
//
// @defgroup pfleury_uart UART Library
// @code #include <uart.h> @endcode
//
// @brief Interrupt UART library using the built-in UART with transmit and receive circular buffers.
//
// This library can be used to transmit and receive data through the built in UART.
//
// An interrupt is generated when the UART has finished transmitting or
// receiving a byte. The interrupt handling routines use circular buffers
// for buffering received and transmitted data.
//
// The UART_RX_BUFFER_SIZE and UART_TX_BUFFER_SIZE constants define
// the size of the circular buffers in bytes. Note that these constants must be a power of 2.
// You may need to adapt this constants to your target and your application by adding
// CDEFS += -DUART_RX_BUFFER_SIZE=nn -DUART_RX_BUFFER_SIZE=nn to your Makefile.
//
// @note Based on Atmel Application Note AVR306
// @author Peter Fleury pfleury@gmx.ch http://jump.to/fleury
//
#ifndef UART_H
#define UART_H
#if (__GNUC__ * 100 + __GNUC_MINOR__) < 304
#error "This library requires AVR-GCC 3.4 or later, update to newer AVR-GCC compiler !"
#endif
// constants and macros
// @brief UART Baudrate Expression
// @param xtalcpu system clock in Mhz, e.g. 4000000L for 4Mhz
// @param baudrate baudrate in bps, e.g. 1200, 2400, 9600
//
#define UART_BAUD_SELECT(baudRate,xtalCpu) ((xtalCpu)/((baudRate)*16l)-1)
// @brief UART Baudrate Expression for ATmega double speed mode
// @param xtalcpu system clock in Mhz, e.g. 4000000L for 4Mhz
// @param baudrate baudrate in bps, e.g. 1200, 2400, 9600
//
#define UART_BAUD_SELECT_DOUBLE_SPEED(baudRate,xtalCpu) (((xtalCpu)/((baudRate)*8l)-1)|0x8000)
// Size of the circular receive buffer, must be power of 2
#ifndef UART_RX_BUFFER_SIZE
#define UART_RX_BUFFER_SIZE 1024
#endif
// Size of the circular transmit buffer, must be power of 2
#ifndef UART_TX_BUFFER_SIZE
#define UART_TX_BUFFER_SIZE 64
#endif
// test if the size of the circular buffers fits into SRAM
#if ( (UART_RX_BUFFER_SIZE+UART_TX_BUFFER_SIZE) >= (RAMEND-0x60 ) )
#error "size of UART_RX_BUFFER_SIZE + UART_TX_BUFFER_SIZE larger than size of SRAM"
#endif
//global variable
extern uint8_t receiveNMEA;
extern volatile uint16_t UART1_RxError;
// high byte error return code of uart_getc()
#define UART_FRAME_ERROR 0x0800 // Framing Error by UART
#define UART_OVERRUN_ERROR 0x0400 // Overrun condition by UART
#define UART_BUFFER_OVERFLOW 0x0200 // receive ringbuffer overflow
#define UART_NO_DATA 0x0100 // no receive data available
#define TRACKING_RSSI 1
#define TRACKING_GPS 2
#define TRACKING_MKCOCKPIT 3
#define TRACKING_NMEA 4
//
// function prototypes
//
//
// @brief Initialize UART and set baudrate
// @param baudrate Specify baudrate using macro UART_BAUD_SELECT()
// @return none
//
extern void uart_init(unsigned int baudrate);
//
// @brief Get received byte from ringbuffer
//
// Returns in the lower byte the received character and in the
// higher byte the last receive error.
// UART_NO_DATA is returned when no data is available.
//
// @param void
// @return lower byte: received byte from ringbuffer
// @return higher byte: last receive status
// - \b 0 successfully received data from UART
// - \b UART_NO_DATA
// <br>no receive data available
// - \b UART_BUFFER_OVERFLOW
// <br>Receive ringbuffer overflow.
// We are not reading the receive buffer fast enough,
// one or more received character have been dropped
// - \b UART_OVERRUN_ERROR
// <br>Overrun condition by UART.
// A character already present in the UART UDR register was
// not read by the interrupt handler before the next character arrived,
// one or more received characters have been dropped.
// - \b UART_FRAME_ERROR
// <br>Framing Error by UART
//
extern unsigned int uart_getc(void);
//
// @brief Put byte to ringbuffer for transmitting via UART
// @param data byte to be transmitted
// @return none
//
// @brief Set Baudrate USART1
extern void SetBaudUart1(uint8_t Baudrate);
// @brief Initialize USART1 (only available on selected ATmegas) @see uart_init
extern void uart1_init(unsigned int baudrate);
// @brief Get received byte of USART1 from ringbuffer. (only available on selected ATmega) @see uart_getc
extern unsigned int uart1_getc(void);
// @brief Put byte to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_putc
//extern void uart1_putc(unsigned char data);
extern int uart1_putc(unsigned char data);
// @brief Put string to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_puts
extern void uart1_puts(const char *s );
// @brief Put string from program memory to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_puts_p
extern void uart1_puts_p(const char *s );
// @brief Macro to automatically put a string constant into program memory
#define uart1_puts_P(__s) uart1_puts_p(PSTR(__s))
extern char *utoa1(char* buffer, const unsigned int size, unsigned int value);
extern uint16_t uart1_available(void);
#endif // UART_H
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/uart/usart.c
0,0 → 1,688
/*****************************************************************************
* 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 *
* *
* 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 <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <avr/wdt.h>
#include "../cpu.h"
#include <util/delay.h>
#include <stdarg.h>
#include "../main.h"
#include "usart.h"
#include "../lcd/lcd.h"
#include "../timer/timer.h"
#include "uart1.h"
#include "../eeprom/eeprom.h"
#include "../osd/osd.h"
uint8_t buffer[30];
volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
volatile uint8_t txd_complete = TRUE;
volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
volatile uint8_t rxd_buffer_locked = FALSE;
volatile uint8_t ReceivedBytes = 0;
volatile uint8_t *pRxData = 0;
volatile uint8_t RxDataLen = 0;
volatile uint16_t stat_crc_error = 0;
volatile uint16_t stat_overflow_error = 0;
volatile uint8_t rx_byte;
volatile uint8_t rxFlag = 0;
#define UART_RXBUFSIZE 64
#define UART_NO_DATA 0x0100 /* no receive data available */
volatile static uint8_t rxbuf[UART_RXBUFSIZE];
volatile static uint8_t *volatile rxhead, *volatile rxtail;
/*
//-----------------------------------------------------------------------------
// USART1 transmitter ISR
ISR (USART1_TX_vect)
{
static uint16_t ptr_txd1_buffer = 0;
uint8_t tmp_tx1;
if(!txd1_complete) // transmission not completed
{
ptr_txd1_buffer++; // [0] was already sent
tmp_tx1 = txd1_buffer[ptr_txd1_buffer];
// if terminating character or end of txd buffer was reached
if((tmp_tx1 == '\r') || (ptr_txd1_buffer == TXD_BUFFER_LEN))
{
ptr_txd1_buffer = 0; // reset txd pointer
txd1_complete = TRUE; // stop transmission
}
UDR1 = tmp_tx1; // send current byte will trigger this ISR again
}
// transmission completed
else ptr_txd1_buffer = 0;
}
*/
#ifdef USART_INT
//-----------------------------------------------------------------------------
// USART0 transmitter ISR
ISR (USART_TX_vect)
{
static uint16_t ptr_txd_buffer = 0;
uint8_t tmp_tx;
if(!txd_complete) // transmission not completed
{
ptr_txd_buffer++; // [0] was already sent
tmp_tx = txd_buffer[ptr_txd_buffer];
// if terminating character or end of txd buffer was reached
if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN))
{
ptr_txd_buffer = 0; // reset txd pointer
txd_complete = TRUE; // stop transmission
}
UDR = tmp_tx; // send current byte will trigger this ISR again
}
// transmission completed
else ptr_txd_buffer = 0;
}
#endif
void SetBaudUart0(uint8_t Baudrate)
{
switch (Baudrate)
{
case Baud_2400: USART_Init( UART_BAUD_SELECT(2400,F_CPU) ); break;
case Baud_4800: USART_Init( UART_BAUD_SELECT(4800,F_CPU) ); break;
case Baud_9600: USART_Init( UART_BAUD_SELECT(9600,F_CPU) ); break;
case Baud_19200: USART_Init( UART_BAUD_SELECT(19200,F_CPU) ); break;
case Baud_38400: USART_Init( UART_BAUD_SELECT(38400,F_CPU) ); break;
case Baud_57600: USART_Init( UART_BAUD_SELECT(57600,F_CPU) ); break;
// case Baud_115200: USART_Init( UART_BAUD_SELECT(115200,F_CPU) ); break;
// Macro erechnet falschen Wert (9,85 = 9) für 115200 Baud mit 20Mhz Quarz, zu grosse Abweichung
//#warning "Baurate prüfen wenn kein 20 Mhz Quarz verwendet wird"
case Baud_115200: USART_Init( 10 ); break;
}
}
//-----------------------------------------------------------------------------
//
//
//uint8_t uart_getc_nb(uint8_t *c)
//{
// if (rxhead==rxtail) return 0;
// *c = *rxtail;
// if (++rxtail == (rxbuf + UART_RXBUFSIZE)) rxtail = rxbuf;
// return 1;
//}
ISR (USART0_RX_vect)
{
static uint16_t crc;
static uint8_t ptr_rxd_buffer = 0;
uint8_t crc1, crc2;
uint8_t c;
// IdleTimer = 0;
if (current_hardware == Wi232)
{
// rx_byte = c;
// rxFlag = 1;
int diff;
uint8_t c;
c=UDR;
diff = rxhead - rxtail;
if (diff < 0) diff += UART_RXBUFSIZE;
if (diff < UART_RXBUFSIZE -1)
{
*rxhead = c;
++rxhead;
if (rxhead == (rxbuf + UART_RXBUFSIZE)) rxhead = rxbuf;
};
// USART_putc (c);
return;
}
if (current_hardware == MKGPS)
{
// rx_byte = c;
// rxFlag = 1;
int diff;
uint8_t c;
c=UDR;
diff = rxhead - rxtail;
if (diff < 0) diff += UART_RXBUFSIZE;
if (diff < UART_RXBUFSIZE -1)
{
*rxhead = c;
++rxhead;
if (rxhead == (rxbuf + UART_RXBUFSIZE)) rxhead = rxbuf;
};
return;
}
c = UDR; // catch the received byte
if (OSD_active && Config.OSD_SendOSD) // Daten an SV2 senden
uart1_putc(c);
if (rxd_buffer_locked)
return; // if rxd buffer is locked immediately return
// the rxd buffer is unlocked
if ((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received
{
rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
crc = c; // init crc
}
else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes
{
if(c != '\r') // no termination character
{
rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
crc += c; // update crc
}
else // termination character was received
{
// the last 2 bytes are no subject for checksum calculation
// they are the checksum itself
crc -= rxd_buffer[ptr_rxd_buffer-2];
crc -= rxd_buffer[ptr_rxd_buffer-1];
// calculate checksum from transmitted data
crc %= 4096;
crc1 = '=' + crc / 64;
crc2 = '=' + crc % 64;
// compare checksum to transmitted checksum bytes
if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))
{ // checksum valid
rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes
if (mode == rxd_buffer[2])
{
rxd_buffer_locked = TRUE; // lock the rxd buffer
// if 2nd byte is an 'R' enable watchdog that will result in an reset
if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando
}
}
else
{ // checksum invalid
stat_crc_error++;
rxd_buffer_locked = FALSE; // unlock rxd buffer
}
ptr_rxd_buffer = 0; // reset rxd buffer pointer
}
}
else // rxd buffer overrun
{
stat_overflow_error++;
ptr_rxd_buffer = 0; // reset rxd buffer
rxd_buffer_locked = FALSE; // unlock rxd buffer
}
}
//-----------------------------------------------------------------------------
// Function: uart0_getc()
// Purpose: return byte from ringbuffer
// Returns: lower byte: received byte from ringbuffer
// higher byte: last receive error
//-----------------------------------------------------------------------------
char USART_getc(void)
{
char val;
// while(rxhead==rxtail) ;
if (rxhead==rxtail)
return val=0;
// IdleTimer = 0;
val = *rxtail;
if (++rxtail == (rxbuf + UART_RXBUFSIZE))
rxtail = rxbuf;
return val;
}
uint8_t uart_getc_nb(uint8_t *c)
{
if (rxhead==rxtail)
return 0;
// IdleTimer = 0;
*c = *rxtail;
if (++rxtail == (rxbuf + UART_RXBUFSIZE))
rxtail = rxbuf;
return 1;
}
//-----------------------------------------------------------------------------
//
//-----------------------------------------------------------------------------
//
void USART_Init (unsigned int baudrate)
{
// set clock divider
// #undef BAUD
// #define BAUD baudrate
// #include <util/setbaud.h>
// UBRRH = UBRRH_VALUE;
// UBRRL = UBRRL_VALUE;
//#ifndef F_CPU
///* In neueren Version der WinAVR/Mfile Makefile-Vorlage kann
// F_CPU im Makefile definiert werden, eine nochmalige Definition
// hier wuerde zu einer Compilerwarnung fuehren. Daher "Schutz" durch
// #ifndef/#endif
//
// Dieser "Schutz" kann zu Debugsessions führen, wenn AVRStudio
// verwendet wird und dort eine andere, nicht zur Hardware passende
// Taktrate eingestellt ist: Dann wird die folgende Definition
// nicht verwendet, sondern stattdessen der Defaultwert (8 MHz?)
// von AVRStudio - daher Ausgabe einer Warnung falls F_CPU
// noch nicht definiert: */
//#warning "F_CPU war noch nicht definiert, wird nun nachgeholt mit 4000000"
//#define F_CPU 18432000UL // Systemtakt in Hz - Definition als unsigned long beachten
// Ohne ergeben sich unten Fehler in der Berechnung
//#endif
//#define BAUD 115200UL // Baudrate
//
//// Berechnungen
//#define UBRR_VAL ((F_CPU+BAUD*8)/(BAUD*16)-1) // clever runden
//#define BAUD_REAL (F_CPU/(16*(UBRR_VAL+1))) // Reale Baudrate
//#define BAUD_ERROR ((BAUD_REAL*1000)/BAUD) // Fehler in Promille, 1000 = kein Fehler.
//
//
//#if ((BAUD_ERROR<990) || (BAUD_ERROR>1010))
// #error "Systematischer Fehler der Baudrate grösser 1% und damit zu hoch!"
//#endif
UBRRH = (unsigned char)(baudrate>>8);
UBRRL = (unsigned char) baudrate;
// UBRRH = (unsigned char)(BAUD_REAL>>8);
// UBRRL = (unsigned char) BAUD_REAL;
#if USE_2X
UCSRA |= (1 << U2X); // enable double speed operation
#else
UCSRA &= ~(1 << U2X); // disable double speed operation
#endif
// set 8N1
#if defined (__AVR_ATmega8__) || defined (__AVR_ATmega32__)
UCSRC = (1 << URSEL) | (1 << UCSZ1) | (1 << UCSZ0);
#else
UCSRC = (1 << UCSZ1) | (1 << UCSZ0);
#endif
UCSRB &= ~(1 << UCSZ2);
// flush receive buffer
while ( UCSRA & (1 << RXC) ) UDR;
UCSRB |= (1 << RXEN) | (1 << TXEN);
#ifdef USART_INT
UCSRB |= (1 << RXCIE) | (1 << TXCIE);
#else
UCSRB |= (1 << RXCIE);
#endif
rxhead = rxtail = rxbuf;
}
//-----------------------------------------------------------------------------
// disable the txd pin of usart
void USART_DisableTXD (void)
{
#ifdef USART_INT
UCSRB &= ~(1 << TXCIE); // disable TX-Interrupt
#endif
UCSRB &= ~(1 << TXEN); // disable TX in USART
DDRB &= ~(1 << DDB3); // set TXD pin as input
PORTB &= ~(1 << PORTB3); // disable pullup on TXD pin
}
//-----------------------------------------------------------------------------
// enable the txd pin of usart
void USART_EnableTXD (void)
{
DDRB |= (1 << DDB3); // set TXD pin as output
PORTB &= ~(1 << PORTB3); // disable pullup on TXD pin
UCSRB |= (1 << TXEN); // enable TX in USART
#ifdef USART_INT
UCSRB |= (1 << TXCIE); // enable TX-Interrupt
#endif
}
//-----------------------------------------------------------------------------
// short script to directly send a request thorugh usart including en- and disabling it
// where <address> is the address of the receipient, <label> is which data set to request
// and <ms> represents the milliseconds delay between data
void USART_request_mk_data (uint8_t cmd, uint8_t addr, uint8_t ms)
{
USART_EnableTXD (); // re-enable TXD pin
unsigned char mstenth = ms/10;
SendOutData(cmd, addr, 1, &mstenth, 1);
// wait until command transmitted
while (txd_complete == FALSE);
USART_DisableTXD (); // disable TXD pin again
}
//-----------------------------------------------------------------------------
//
void USART_putc (char c)
{
#ifdef USART_INT
#else
loop_until_bit_is_set(UCSRA, UDRE);
UDR = c;
#endif
}
//-----------------------------------------------------------------------------
//
void USART_puts (char *s)
{
#ifdef USART_INT
#else
while (*s)
{
USART_putc (*s);
s++;
}
#endif
}
//-----------------------------------------------------------------------------
//
void USART_puts_p (const char *s)
{
#ifdef USART_INT
#else
while (pgm_read_byte(s))
{
USART_putc (pgm_read_byte(s));
s++;
}
#endif
}
//-----------------------------------------------------------------------------
//
void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ...
{
va_list ap;
uint16_t pt = 0;
uint8_t a,b,c;
uint8_t ptr = 0;
uint16_t tmpCRC = 0;
uint8_t *pdata = 0;
int len = 0;
txd_buffer[pt++] = '#'; // Start character
txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...)
txd_buffer[pt++] = cmd; // Command
va_start(ap, numofbuffers);
if(numofbuffers)
{
pdata = va_arg (ap, uint8_t*);
len = va_arg (ap, int);
ptr = 0;
numofbuffers--;
}
while(len)
{
if(len)
{
a = pdata[ptr++];
len--;
if((!len) && numofbuffers)
{
pdata = va_arg(ap, uint8_t*);
len = va_arg(ap, int);
ptr = 0;
numofbuffers--;
}
}
else
a = 0;
if(len)
{
b = pdata[ptr++];
len--;
if((!len) && numofbuffers)
{
pdata = va_arg(ap, uint8_t*);
len = va_arg(ap, int);
ptr = 0;
numofbuffers--;
}
}
else
b = 0;
if(len)
{
c = pdata[ptr++];
len--;
if((!len) && numofbuffers)
{
pdata = va_arg(ap, uint8_t*);
len = va_arg(ap, int);
ptr = 0;
numofbuffers--;
}
}
else
c = 0;
txd_buffer[pt++] = '=' + (a >> 2);
txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
txd_buffer[pt++] = '=' + ( c & 0x3f);
}
va_end(ap);
for(a = 0; a < pt; a++)
{
tmpCRC += txd_buffer[a];
}
tmpCRC %= 4096;
txd_buffer[pt++] = '=' + tmpCRC / 64;
txd_buffer[pt++] = '=' + tmpCRC % 64;
txd_buffer[pt++] = '\r';
txd_complete = FALSE;
#ifdef USART_INT
UDR = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)
#else
for(a = 0; a < pt; a++)
{
loop_until_bit_is_set(UCSRA, UDRE);
UDR = txd_buffer[a];
}
txd_complete = TRUE;
#endif
}
//-----------------------------------------------------------------------------
//
void Decode64 (void)
{
uint8_t a,b,c,d;
uint8_t ptrIn = 3;
uint8_t ptrOut = 3;
uint8_t len = ReceivedBytes - 6;
while (len)
{
a = rxd_buffer[ptrIn++] - '=';
b = rxd_buffer[ptrIn++] - '=';
c = rxd_buffer[ptrIn++] - '=';
d = rxd_buffer[ptrIn++] - '=';
//if(ptrIn > ReceivedBytes - 3) break;
if (len--)
rxd_buffer[ptrOut++] = (a << 2) | (b >> 4);
else
break;
if (len--)
rxd_buffer[ptrOut++] = ((b & 0x0f) << 4) | (c >> 2);
else
break;
if (len--)
rxd_buffer[ptrOut++] = ((c & 0x03) << 6) | d;
else
break;
}
pRxData = &rxd_buffer[3];
RxDataLen = ptrOut - 3;
}
//-----------------------------------------------------------------------------
//
void SwitchToNC (void)
{
if(hardware == NC)
{
// switch to NC
USART_putc (0x1b);
USART_putc (0x1b);
USART_putc (0x55);
USART_putc (0xaa);
USART_putc (0x00);
current_hardware = NC;
_delay_ms (50);
}
}
//-----------------------------------------------------------------------------
//
//-----------------------------------------------------------------------------
//
void SwitchToWi232 (void)
{
// if(hardware == NC)
{
// switch to Wi232
current_hardware = Wi232;
_delay_ms (50);
}
}
//-----------------------------------------------------------------------------
//
void SwitchToFC (void)
{
uint8_t cmd;
if (current_hardware == NC)
{
// switch to FC
cmd = 0x00; // 0 = FC, 1 = MK3MAG, 2 = MKGPS
SendOutData('u', ADDRESS_NC, 1, &cmd, 1);
current_hardware = FC;
_delay_ms (50);
}
}
//-----------------------------------------------------------------------------
//
void SwitchToMAG (void)
{
uint8_t cmd;
if (current_hardware == NC)
{
// switch to MK3MAG
cmd = 0x01; // 0 = FC, 1 = MK3MAG, 2 = MKGPS
SendOutData('u', ADDRESS_NC, 1, &cmd, 1);
current_hardware = MK3MAG;
_delay_ms (50);
}
}
//-----------------------------------------------------------------------------
//
void SwitchToGPS (void)
{
uint8_t cmd;
if (current_hardware == NC)
{
// switch to MKGPS
cmd = 0x02; // 0 = FC, 1 = MK3MAG, 2 = MKGPS
SendOutData('u', ADDRESS_NC, 1, &cmd, 1);
current_hardware = MKGPS;
_delay_ms (50);
}
}
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/uart/usart.h
0,0 → 1,150
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef _USART_H
#define _USART_H
//--------------------------------------------------------------
//
#ifndef FALSE
#define FALSE 0
#endif
#ifndef TRUE
#define TRUE 1
#endif
// addresses
#define ADDRESS_ANY 0
#define ADDRESS_FC 1
#define ADDRESS_NC 2
#define ADDRESS_MAG 3
// must be at least 4('#'+Addr+'CmdID'+'\r')+ (80 * 4)/3 = 111 bytes
#define TXD_BUFFER_LEN 180
#define RXD_BUFFER_LEN 180
// Baud rate of the USART
#define USART_BAUD 57600
//#define USART_BAUD 125000
//--------------------------------------------------------------
//
extern uint8_t buffer[30];
extern volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
extern volatile uint8_t txd_complete;
extern volatile uint8_t txd1_buffer[TXD_BUFFER_LEN];
extern volatile uint8_t txd1_complete;
extern volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
extern volatile uint8_t rxd_buffer_locked;
extern volatile uint8_t ReceivedBytes;
extern volatile uint8_t *pRxData;
extern volatile uint8_t RxDataLen;
extern volatile uint16_t stat_crc_error;
extern volatile uint16_t stat_overflow_error;
extern volatile uint8_t rxFlag;
extern volatile uint8_t rx_byte;
//--------------------------------------------------------------
//
void SetBaudUart0(uint8_t Baudrate);
void USART_Init (unsigned int baudrate);
void USART_DisableTXD (void);
void USART_EnableTXD (void);
void USART_request_mk_data (uint8_t cmd, uint8_t addr, uint8_t ms);
void USART_putc (char c);
void USART_puts (char *s);
void USART_puts_p (const char *s);
extern char USART_getc(void);
void SendOutData (uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...); // uint8_t *pdata, uint8_t len, ...
//void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, uint8_t *pdata, uint8_t len); // uint8_t *pdata, uint8_t len, ...
void Decode64 (void);
void SwitchToNC (void);
void SwitchToFC (void);
void SwitchToMAG (void);
void SwitchToGPS (void);
void SwitchToWi232 (void);
void debug1(void);
uint8_t uart_getc_nb(uint8_t*);
//--------------------------------------------------------------
//Anpassen der seriellen Schnittstellen Register
#define USART_RXC_vect USART0_RX_vect
//--------------------------------------------------------------
#define UCSRA UCSR0A
#define UCSRB UCSR0B
#define UCSRC UCSR0C
#define UDR UDR0
#define UBRRL UBRR0L
#define UBRRH UBRR0H
// UCSRA
#define RXC RXC0
#define TXC TXC0
#define UDRE UDRE0
#define FE FE0
#define UPE UPE0
#define U2X U2X0
#define MPCM MPCM0
// UCSRB
#define RXCIE RXCIE0
#define TXCIE TXCIE0
#define UDRIE UDRIE0
#define TXEN TXEN0
#define RXEN RXEN0
#define UCSZ2 UCSZ02
#define RXB8 RXB80
#define TXB8 TXB80
// UCSRC
#define UMSEL1 UMSEL01
#define UMSEL0 UMSEL00
#define UPM1 UPM01
#define UPM0 UPM00
#define USBS USBS0
#define UCSZ1 UCSZ01
#define UCSZ0 UCSZ00
#define UCPOL UCPOL0
#endif
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/waypoints/waypoints.c
0,0 → 1,360
/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!! */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
//
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdlib.h>
#include <avr/io.h>
#include <stdint.h>
#include <string.h>
#include <stdbool.h>
//#include "91x_lib.h"
#include "waypoints.h"
#include "../mk-data-structs.h"
#include "../uart/uart1.h"
#include "../eeprom/eeprom.h"
#include <util/delay.h>
// the waypoints list
NaviData_t *NaviData;
//Point_t PointList[MAX_LIST_LEN];
uint8_t WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount
uint8_t POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount
uint8_t WPCount = 0; // number of waypoints
uint8_t PointCount = 0; // number of wp in the list can be maximal equal to MAX_LIST_LEN
uint8_t POICount = 0;
uint8_t WPActive = false;
uint8_t PointList_Init(void)
{
return PointList_Clear();
}
uint8_t PointList_Clear(void)
{
uint8_t i;
WPIndex = 0; // real list position are 1 ,2, 3 ...
POIIndex = 0; // real list position are 1 ,2, 3 ...
WPCount = 0; // no waypoints
POICount = 0;
PointCount = 0; // no contents
WPActive = false;
NaviData->WaypointNumber = WPCount;
NaviData->WaypointIndex = 0;
for(i = 0; i < MAX_LIST_LEN; i++)
{
Config.PointList[i].Position.Status = INVALID;
Config.PointList[i].Position.Latitude = 0;
Config.PointList[i].Position.Longitude = 0;
Config.PointList[i].Position.Altitude = 0;
Config.PointList[i].Heading = 361; // invalid value
Config.PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered
Config.PointList[i].HoldTime = 0; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered
Config.PointList[i].Type = POINT_TYPE_INVALID;
Config.PointList[i].Event_Flag = 0; // future implementation
Config.PointList[i].AltitudeRate = 0; // no change of setpoint
}
return true;
}
uint8_t PointList_GetCount(void)
{
return PointCount; // number of points in the list
}
Point_t* PointList_GetAt(uint8_t index)
{
if((index > 0) && (index <= PointCount)) return(&(Config.PointList[index-1])); // return pointer to this waypoint
else return(NULL);
}
uint8_t PointList_SetAt(Point_t* pPoint)
{
// if index is in range
if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN))
{
// check list entry before update
switch(Config.PointList[pPoint->Index-1].Type)
{
case POINT_TYPE_INVALID: // was invalid
switch(pPoint->Type)
{
default:
case POINT_TYPE_INVALID:
// nothing to do
break;
case POINT_TYPE_WP:
WPCount++;
PointCount++;
break;
case POINT_TYPE_POI:
POICount++;
PointCount++;
break;
}
break;
case POINT_TYPE_WP: // was a waypoint
switch(pPoint->Type)
{
case POINT_TYPE_INVALID:
WPCount--;
PointCount--;
break;
default:
case POINT_TYPE_WP:
//nothing to do
break;
case POINT_TYPE_POI:
POICount++;
WPCount--;
break;
}
break;
case POINT_TYPE_POI: // was a poi
switch(pPoint->Type)
{
case POINT_TYPE_INVALID:
POICount--;
PointCount--;
break;
case POINT_TYPE_WP:
WPCount++;
POICount--;
break;
case POINT_TYPE_POI:
default:
// nothing to do
break;
}
break;
}
memcpy(&Config.PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry
NaviData->WaypointNumber = WPCount;
return pPoint->Index;
}
else return(0);
}
// returns the pointer to the first waypoint within the list
Point_t* PointList_WPBegin(void)
{
uint8_t i;
WPIndex = 0; // set list position invalid
if(WPActive == false) return(NULL);
POIIndex = 0; // set invalid POI
if(PointCount > 0)
{
// search for first wp in list
for(i = 0; i <MAX_LIST_LEN; i++)
{
if((Config.PointList[i].Type == POINT_TYPE_WP) && (Config.PointList[i].Position.Status != INVALID))
{
WPIndex = i + 1;
break;
}
}
if(WPIndex) // found a WP in the list
{
NaviData->WaypointIndex = 1;
// update index to POI
if(Config.PointList[WPIndex-1].Heading < 0) POIIndex = (uint8_t)(-Config.PointList[WPIndex-1].Heading);
else POIIndex = 0;
}
else // some points in the list but no WP found
{
NaviData->WaypointIndex = 0;
//Check for an existing POI
for(i = 0; i < MAX_LIST_LEN; i++)
{
if((Config.PointList[i].Type == POINT_TYPE_POI) && (Config.PointList[i].Position.Status != INVALID))
{
POIIndex = i + 1;
break;
}
}
}
}
else // no point in the list
{
POIIndex = 0;
NaviData->WaypointIndex = 0;
}
if(WPIndex) return(&(Config.PointList[WPIndex-1]));
else return(NULL);
}
// returns the last waypoint
Point_t* PointList_WPEnd(void)
{
uint8_t i;
WPIndex = 0; // set list position invalid
POIIndex = 0; // set invalid
if(WPActive == false) return(NULL);
if(PointCount > 0)
{
// search backward!
for(i = 1; i <= MAX_LIST_LEN; i++)
{
if((Config.PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (Config.PointList[MAX_LIST_LEN - i].Position.Status != INVALID))
{
WPIndex = MAX_LIST_LEN - i + 1;
break;
}
}
if(WPIndex) // found a WP within the list
{
NaviData->WaypointIndex = WPCount;
if(Config.PointList[WPIndex-1].Heading < 0) POIIndex = (uint8_t)(-Config.PointList[WPIndex-1].Heading);
else POIIndex = 0;
}
else // list contains some points but no WP in the list
{
// search backward for a POI!
for(i = 1; i <= MAX_LIST_LEN; i++)
{
if((Config.PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (Config.PointList[MAX_LIST_LEN - i].Position.Status != INVALID))
{
POIIndex = MAX_LIST_LEN - i + 1;
break;
}
}
NaviData->WaypointIndex = 0;
}
}
else // no point in the list
{
POIIndex = 0;
NaviData->WaypointIndex = 0;
}
if(WPIndex) return(&(Config.PointList[WPIndex-1]));
else return(NULL);
}
// returns a pointer to the next waypoint or NULL if the end of the list has been reached
Point_t* PointList_WPNext(void)
{
uint8_t wp_found = 0;
if(WPActive == false) return(NULL);
if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list
{
uint8_t i;
for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry
{
if((Config.PointList[i].Type == POINT_TYPE_WP) && (Config.PointList[i].Position.Status != INVALID)) // jump over POIs
{
wp_found = i+1;
break;
}
}
}
if(wp_found)
{
WPIndex = wp_found; // update list position
NaviData->WaypointIndex++;
if(Config.PointList[WPIndex-1].Heading < 0) POIIndex = (uint8_t)(-Config.PointList[WPIndex-1].Heading);
else POIIndex = 0;
return(&(Config.PointList[WPIndex-1])); // return pointer to this waypoint
}
else
{ // no next wp found
NaviData->WaypointIndex = 0;
POIIndex = 0;
return(NULL);
}
}
void PointList_WPActive(uint8_t set)
{
if(set)
{
WPActive = true;
PointList_WPBegin(); // uopdates POI index
}
else
{
WPActive = false;
POIIndex = 0; // disable POI also
}
}
Point_t* PointList_GetPOI(void)
{
return PointList_GetAt(POIIndex);
}
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/waypoints/waypoints.h
0,0 → 1,56
#ifndef _WAYPOINTS_H
#define _WAYPOINTS_H
//#include "ubx.h"
#include "../mk-data-structs.h"
#define POINT_TYPE_INVALID 255
#define POINT_TYPE_WP 0
#define POINT_TYPE_POI 1
#define INVALID 0x00
//typedef struct
//{
// int32_t Longitude; // in 1E-7 deg
// int32_t Latitude; // in 1E-7 deg
// int32_t Altitude; // in mm
// uint8_t Status;// validity of data
//} __attribute__((packed)) GPS_Pos_t;
//typedef struct
//{
// GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details
// int16_t Heading; // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List
// uint8_t ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered
// uint8_t HoldTime; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered
// uint8_t Event_Flag; // future implementation
// uint8_t Index; // to indentify different waypoints, workaround for bad communications PC <-> NC
// uint8_t Type; // typeof Waypoint
// uint8_t WP_EventChannelValue; //
// uint8_t AltitudeRate; // rate to change the setpoint
// uint8_t reserve[8]; // reserve
//} __attribute__((packed)) Point_t;
// Init List, return TRUE on success
uint8_t PointList_Init(void);
// Clear List, return TRUE on success
uint8_t PointList_Clear(void);
// Returns number of points in the list
uint8_t PointList_GetCount(void);
// return pointer to point at position
Point_t* PointList_GetAt(uint8_t index);
// set a point in the list at index, returns its index on success, else 0
uint8_t PointList_SetAt(Point_t* pPoint);
// goto the first WP in the list and return pointer to it
Point_t* PointList_WPBegin(void);
// goto the last WP in the list and return pointer to it
Point_t* PointList_WPEnd(void);
// goto next WP in the list and return pointer to it
Point_t* PointList_WPNext(void);
// enables/disables waypoint function
void PointList_WPActive(uint8_t set);
// returns pointer to actual POI
Point_t* PointList_GetPOI(void);
#endif // _WAYPOINTS_H
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/wi232/Text File
0,0 → 1,177
// wi232.c:
//
// Call fopen_wi232() to set up the wi232 as an input output data stream.
// If fopen_wi232() is the first fopen command called, then the wi232
// becomes stdin and stdout and stderr.
// The
//
// Uses Interupts to handle data streaming. The wi232 uses USART0, which uses:
// Rx = PORTE0 = pin 2
// Tx = PORTE1 = pin 3
// CTS = PORTE2 = pin 4
#include <inttypes.h>
#include <stdio.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/signal.h>
#include "wi232.h"
#include "circularqueue.h"
#include "usart.h"
const int _baud_rate_c = 38400;
const int _tx_buffer_size_c = 256;
const int _rx_buffer_size_c = 256;
const uint8_t _cts_pin_c = _BV( PINE2 );
volatile char wi232_tx_buffer[ _tx_buffer_size_c ];
volatile char wi232_rx_buffer[ _rx_buffer_size_c ];
// circular queues used for the USART
CircularQueue< volatile char > wi232_tx_q( wi232_tx_buffer, _tx_buffer_size_c );
CircularQueue< volatile char > wi232_rx_q( wi232_rx_buffer, _rx_buffer_size_c );
// prototype
int wi232_putchar( char );
int wi232_getchar();
void initialize_baud_rate();
void command( bool enable );
void write_register( uint8_t reg, uint8_t value );
bool _cts();
// use BAUD_RATE baud 8N1 RX & TX on USART0
// to transmit to the wi232
FILE* fopen_wi232()
{
// enable Rx, Tx & Rx interupt
// (Tx buffer empty interupt is enabled when we actually send something)
UCSR0B = _BV( RXEN0 ) |
_BV( TXEN0 ) |
_BV( RXCIE0 );
// UCSC00 = 1 & UCSC01 = 1 -> 8-bit data
UCSR0C = _BV( UCSZ00 ) | _BV( UCSZ01 );
initialize_baud_rate();
wi232_tx_q.clear();
wi232_rx_q.clear();
// set wi232_putchar as the stdout stream character Tx-er
// set wi232_getchar as the stdin stream chacacter Rx-er
return fdevopen( wi232_putchar, wi232_getchar, 0 );
}
inline void initialize_baud_rate()
{
// enable command pin as output
DDRE |= _BV( PORTE3 );
command( true );
usart0_set_baud_rate( 2400 );
sei();
write_register( 78, 3 ); // set baud rate to 38400
wait(100);
cli();
usart0_set_baud_rate( 38400 );
command( false );
}
inline void command( bool enable )
{
if ( enable )
PORTE &= ~_BV( PORTE3 );
else
PORTE |= _BV( PORTE3 );
}
inline void write_register( uint8_t reg, uint8_t value )
{
if ( value < 0x80 )
{
// data = [ 0xFF, 2, reg, value ]
wi232_putchar( 0xFF );
wi232_putchar( 2 );
wi232_putchar( reg );
wi232_putchar( value );
}
else // value >= 0x80
{
// data = [ 0xFF, 3, reg, 0xFE, (value - 0x80) ]
wi232_putchar( 0xFF );
wi232_putchar( 3 );
wi232_putchar( reg );
wi232_putchar( 0xFE );
wi232_putchar( value - 0x80 );
}
}
int wi232_putchar( char x )
{
wi232_tx_q.put( x );
// enable the "data register empty" interupt
// (it may already be enabled in which case no harm is done)
UCSR0B |= _BV( UDRIE0 );
// return -1 if overflow is true, otherwise return 0
// return wi232_tx_q.overflow() ? -1 : 0;
return 0; // for now, screw overflow - just ignore it
}
int wi232_getchar()
{
// wait until the queue is no longer empty
while ( wi232_rx_q.is_empty() );
char x = wi232_rx_q.get();
return x;
}
uint16_t wi232_data_available()
{
return wi232_rx_q.length();
}
bool wi232_is_empty()
{
return wi232_rx_q.is_empty();
}
// returns true when CTS is low,
// i.e. it is true when it is okay to send data
inline bool _cts()
{
return !(PINE & _cts_pin_c);
}
// we received some data on USART0
// put this data into the received data queue
SIGNAL( SIG_UART0_RECV )
{
wi232_rx_q.put( UDR0 );
}
// the USART is ready to queue another byte to send
SIGNAL( SIG_UART0_DATA )
{
if ( !wi232_tx_q.is_empty() )
{
if ( !_cts() )
{
sei();
// wait until CTS is true
while ( !_cts() );
}
// if the queue is not empty, put the next character in the buffer
// this also resets the interupt flag automatically
UDR0 = wi232_tx_q.get();
}
else
{
// disable the interupt
UCSR0B &= ~_BV( UDRIE0 );
}
}

/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/wi232/Wi232.c
0,0 → 1,621
/*****************************************************************************
* 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 *
* *
* 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/pgmspace.h>
#include <util/delay.h>
#include <stdlib.h>
#include <string.h>
#include "../lcd/lcd.h"
#include "../uart/usart.h"
#include "../uart/uart1.h"
#include "../main.h"
#include "../wi232/Wi232.h"
#include "../timer/timer.h"
#include "../eeprom/eeprom.h"
#include "../setup/setup.h"
#if defined HWVERSION1_3W || defined HWVERSION3_9 || defined HWVERSION1_2W
uint8_t Wi232_hardware = 0;
uint8_t InitErr=0;
uint8_t Wi232_Baudrate = 0; //Merkzelle für aktuelle Baudrate
uint8_t Wi232_New_Baudrate = 0; //Merkzelle für zu setzende Baudrate
uint16_t SearchWi232(uint8_t Baudrate) // Suche Wi232 mit entsprechender Baudrate
// Return = 0, Wi232 not found
{
int16_t RegisterWi232;
SetBaudUart0(Baudrate);
lcd_printpns_at (0, 1, PSTR(" with Baud"),0);
switch (Baudrate)
{
case Baud_2400: lcd_printpns_at (6, 1, PSTR(" 2400"),0);break;
case Baud_9600: lcd_printpns_at (6, 1, PSTR(" 9600"),0);break;
case Baud_19200: lcd_printpns_at (6, 1, PSTR(" 19200"),0);break;
case Baud_38400: lcd_printpns_at (6, 1, PSTR(" 38400"),0);break;
case Baud_57600: lcd_printpns_at (6, 1, PSTR(" 57600"),0);break;
case Baud_115200:lcd_printpns_at (6, 1, PSTR("115200"),0);break;
break;
}
RegisterWi232 = ReadWi232(regDiscover);
lcd_print_hex_at(0,2,RegisterWi232,0);
if (RegisterWi232 > 0 && RegisterWi232 < 0xFF)
{ Wi232_hardware = 2;
Wi232_Baudrate = Baudrate;
}
return RegisterWi232;
}
/*************************************************************************
Function: discoverWI232()
Purpose: check if Wi232 available
Returns: Version or 0 = timeout
**************************************************************************/
void discoverWi232(uint8_t DiscBaudrate)
{
int16_t RegisterWi232=0;
SwitchToWi232(); /* Serielle Kanäle Wi232 mit USB verbinden*/
set_WI232CMD();
_delay_ms(200);
lcd_cls();
SetBaudUart0( DiscBaudrate);
lcd_printpns_at (0, 0, PSTR("search Wi.232 Modul"),0);
{
while (RegisterWi232==0)
{
RegisterWi232=SearchWi232(DiscBaudrate); if (RegisterWi232 !=0) {Wi232_hardware = 1; continue;}
RegisterWi232=SearchWi232(Baud_2400); if (RegisterWi232 !=0) continue;
RegisterWi232=SearchWi232(Baud_9600); if (RegisterWi232 !=0) continue;
RegisterWi232=SearchWi232(Baud_19200); if (RegisterWi232 !=0) continue;
RegisterWi232=SearchWi232(Baud_38400); if (RegisterWi232 !=0) continue;
RegisterWi232=SearchWi232(Baud_57600); if (RegisterWi232 !=0) continue;
RegisterWi232=SearchWi232(Baud_115200); if (RegisterWi232 !=0) continue;
break;
}
// _delay_ms(1000);
}
if (RegisterWi232 == 0)
{
lcd_cls();
lcd_printpns_at (0, 0, PSTR("no Wi.232 found"),0);
Wi232_hardware = 0;
_delay_ms(2000);
}
if (RegisterWi232 == 0xFF)
{
lcd_cls();
lcd_printpns_at (0, 0, PSTR("Wi.232 Sytaxerror "),0);
set_beep ( 1000, 0x0040, BeepNormal);
_delay_ms(2000);
RegisterWi232 = 0;
}
if (RegisterWi232 > 0 && RegisterWi232 < 0xFF)
{
lcd_cls();
SetBaudUart0(Wi232_Baudrate);
if (Wi232_hardware ==1) // alles ok , Baudrate Wi232 passt
lcd_printpns_at (0, 0, PSTR("Wi.232 found "),0);
if (Wi232_hardware ==2) // Wi232 gefunden, aber falsche Baudrate
{
Config.WiIsSet= false; //wenn hier 2400 gefunden wurde, ist Wi232 nicht initialisiert
lcd_printpns_at (0, 0, PSTR("Wi.232 wrong Baudrate"),0);
if (WriteWi232(regNVDATARATE,Config.PKT_Baudrate)!=0) /* NV-Ram auf PKT-Baudrate setzen*/
{
lcd_printpns_at (0, 1, PSTR("Error set NV-RAM"),0);
set_beep ( 1000, 0x0040, BeepNormal);
_delay_ms(2000);
}
// else
// {
//// _delay_ms(1000);
// lcd_printpns_at (0, 1, PSTR("NV-RAM is set to "),0);
// lcd_printpns_at (0, 2, PSTR("given Baudrate"),0);
// _delay_ms(2000);
// }
if (WriteWi232(regDATARATE,Config.PKT_Baudrate)!=0) /* Ram auf PKT_Baudrate setzen*/
{
lcd_printpns_at (0, 3, PSTR("Error set RAM "),0);
set_beep ( 1000, 0x0040, BeepNormal);
_delay_ms(2000);
}
// else
// {
//// _delay_ms(1000);
// lcd_printpns_at (0, 1, PSTR("RAM is set to "),0);
// lcd_printpns_at (0, 2, PSTR("given Baudrate"),0);
// _delay_ms(2000);
// }
SetBaudUart0(Config.PKT_Baudrate);
Old_Baudrate = Config.PKT_Baudrate;
}
lcd_cls_line (0,1,21);
lcd_printpns_at (0, 1, PSTR("Version:"),0);
lcd_print_hex_at(9,1,RegisterWi232,0);
}
clr_WI232CMD();
}
/*************************************************************************
Function: InitWI232()
Purpose: set Wi232Register for Mikrokopter
Returns: 0 = ACK, FF = NAK
**************************************************************************/
void InitWi232(uint8_t InitBaudrate)
{
uint8_t i = 0;
#ifdef HWVERSION3_9
Change_Output(Uart02Wi); // Verbindung zu Wi232 herstellen
#endif
discoverWi232(Old_Baudrate); // Check if Wi232 available
if (Wi232_hardware != 0)
{
lcd_printpns_at (0, 2, PSTR("Init Wi232 wait...."),0);
set_WI232CMD();
_delay_ms(200);
SwitchToWi232(); /* Serielle Kanäle Wi232 mit USB verbinden*/
if (WriteWi232(regNETGRP,126)!=0) /*damit Wi232 nix mehr vom Kopter schickt erstmal Networkgroup ins Nirwana setzen */
lcd_printpns_at (i++,4,PSTR("."),0);
// InitErr =12;
// Grund:
//If RF packets are received while the CMD line is active,
//they are still processed and presented to the module’s UART for transmission.
// wenn sich ein EEPROM-Wert ändert wird auch das Ram beschrieben damit die Änderung sofort wirksam wird
if (WriteWi232(regNVTXCHANNEL,Config.WiTXRXChannel)!=0)
InitErrorWi232(1); /*TX Channel*/
lcd_printpns_at (i++,4,PSTR("."),0);
if (WriteWi232(regTXCHANNEL,Config.WiTXRXChannel)!=0)
InitErrorWi232(2);/*TX Channel*/
lcd_printpns_at (i++,4,PSTR("."),0);
if (WriteWi232(regNVRXCHANNEL,Config.WiTXRXChannel)!=0)
InitErrorWi232(3);/* RX Channel*/
lcd_printpns_at (i++,4,PSTR("."),0);
if (WriteWi232(regRXCHANNEL,Config.WiTXRXChannel)!=0)
InitErrorWi232(4);/* RX Channel*/
lcd_printpns_at (i++,4,PSTR("."),0);
if (WriteWi232(regNVSLPMODE ,Sleep_Awake)!=0)
InitErrorWi232(5);/* Sleepmode*/
lcd_printpns_at (i++,4,PSTR("."),0);
if (WriteWi232(regNVPWRMODE,WbModeP15)!=0)
InitErrorWi232(6);/* Transceiver Mode/Powermode */
lcd_printpns_at (i++,4,PSTR("."),0);
if (WriteWi232(regNVTXTO,Config.WiTXTO)!=0)
InitErrorWi232(7);/* UART Timeout */
lcd_printpns_at (i++,4,PSTR("."),0);
if (WriteWi232(regTXTO,Config.WiTXTO)!=0)
InitErrorWi232(8);/* UART Timeout */
lcd_printpns_at (i++,4,PSTR("."),0);
if (WriteWi232(regNVUARTMTU,Config.WiUartMTU)!=0)
InitErrorWi232(9);/* UART Buffer*/
lcd_printpns_at (i++,4,PSTR("."),0);
if (WriteWi232(regUARTMTU,Config.WiUartMTU)!=0)
InitErrorWi232(10);/* UART Buffer*/
lcd_printpns_at (i++,4,PSTR("."),0);
if (WriteWi232(regNVNETMODE,Config.WiNetworkMode)!=0)
InitErrorWi232(11);/* Networkmode*/
lcd_printpns_at (i++,4,PSTR("."),0);
if (WriteWi232(regNETMODE,Config.WiNetworkMode)!=0)
InitErrorWi232(12);/* Networkmode*/
lcd_printpns_at (i++,4,PSTR("."),0);
if (WriteWi232(regNVUSECRC ,CRC_Enable)!=0)
InitErrorWi232(13);/* CRC*/
lcd_printpns_at (i++,4,PSTR("."),0);
if (WriteWi232(regNVCSMAMODE,CSMA_En)!=0)
InitErrorWi232(14);/* CSMA*/
lcd_printpns_at (i++,4,PSTR("."),0);
if (WriteWi232(regNVNETGRP,Config.WiNetworkGroup)!=0)
InitErrorWi232(15);/* Networkgroup */
lcd_printpns_at (i++,4,PSTR("."),0);
if (WriteWi232(regNETGRP,Config.WiNetworkGroup)!=0)
InitErrorWi232(15);/* Networkgroup */
lcd_printpns_at (i++,4,PSTR("."),0);
if (WriteWi232(regNVDATARATE,InitBaudrate)!=0)
InitErrorWi232(16);/* Baudrate*/
lcd_printpns_at (i++,4,PSTR("."),0);
_delay_ms(200);
if (WriteWi232(regDATARATE,InitBaudrate)!=0)
InitErrorWi232(17);/* Baudrate*/
lcd_printpns_at (i++,4,PSTR("."),0);
clr_WI232CMD();
if (InitErr !=0)
{
lcd_printpns_at (0, 2, PSTR("Wi232 InitError "),0);
lcd_print_hex(InitErr,0);
set_beep ( 1000, 0x0040, BeepNormal);
_delay_ms(2000);
}
else
{
lcd_printpns_at (0, 2, PSTR("Wi232 Init ok...."),0);
WriteWiInitFlag(); // Init merken
lcd_print_hex(InitBaudrate,0);
}
SetBaudUart0(InitBaudrate);
_delay_ms(2000);
}
}
/*************************************************************************
Function: InitErrorWI232()
Purpose: Show Wi232 Error, Value
Returns:
**************************************************************************/
void InitErrorWi232(uint8_t Error)
{
lcd_printpns_at (0, 3, PSTR("Wi232 InitError "),0);
lcd_print_hex(Error,0);
InitErr=Error;
set_beep ( 500, 0x0040, BeepNormal);
_delay_ms(500);
}
/*************************************************************************
Function: WriteWI232()
Purpose: set Register to Wi232, Register, Value
Returns: 0 = ACK, FF = NAK
ACHTUNG nur für Value <0x80
**************************************************************************/
int16_t WriteWi232(uint8_t Wi232Register, uint8_t RegisterValue)
{
uint8_t timeout=10;
uint8_t tc=0;
unsigned int v;
if ( RegisterValue < 0x80 )
{
USART_putc(0xff);
USART_putc(0x02);
USART_putc(Wi232Register);
USART_putc(RegisterValue);
}
else // RegisterValue >= 0x80
{
USART_putc(0xff);
USART_putc(0x03);
USART_putc(Wi232Register);
USART_putc(0xfe);
USART_putc(RegisterValue - 0x80);
}
do
{
v = USART_getc(); /*ACK erwartet*/
_delay_ms(100);
tc ++;
}
while (v==0 && tc!=timeout);
// lcd_print_hex(v,0);
if (v != 0x06)
{
lcd_printpns_at (0, 2, PSTR("Wi.232 NAK"),0);
set_beep ( 1000, 0x0040, BeepNormal);
_delay_ms(2000);
return 0xFF;
}
if (v==0x06)
return 0;
return 0xFF;
}
/*************************************************************************
Function: ReadWI232()
Purpose: send Readcommand to Wi232,
Returns: Registervalue, 0 = timeout 0xFF = Syntaxerror
**************************************************************************/
int16_t ReadWi232(uint16_t Wi232Register)
{
uint8_t timeout=10;
uint8_t tc=0;
unsigned int v;
v = USART_getc(); /*Zeichen löschen*/
USART_putc(0xff);
USART_putc(0x02);
USART_putc(0xfe);
USART_putc(Wi232Register);
_delay_ms(50);
// lcd_printpns_at (0, 2, PSTR("read Wi232"),0);
do
{
v = USART_getc(); /*ACK erwartet*/
_delay_ms(100);
tc ++;
}
while (v==0 && tc!=timeout);
if (tc == timeout)
return 0; /* Timeout*/
if (v != 0x06)
return 0xFF; /* Syntaxerror*/
// lcd_print_hex(v,0);
// v = USART_getc(); /*Register*/
// lcd_print_hex(v,0);
// v = USART_getc(); /*Value*/
// lcd_print_hex(v,0);
return v;
}
///*************************************************************************
//Function: EscapeString()
//Purpose:
//Returns:
//Quelle: Radiotronix Wi.232 Manual
//**************************************************************************/
//
//
//int EscapeString(char *src, char src_len, char *dest)
//{
// // The following function copies and encodes the first
// // src_len characters from *src into *dest. This
// // encoding is necessary for Wi.232 command formats.
// // The resulting string is null terminated. The size
// // of this string is the function return value.
// // ---------------------------------------------------
// uint8_t src_idx, dest_idx;
// // Save space for the command header and size bytes
// // ------------------------------------------------
// dest_idx = 2;
// // Loop through source string and copy/encode
// // ------------------------------------------
// for (src_idx = 0; src_idx < src_len; src_idx++)
// {
// if (src[src_idx] > 127)
// {
// dest[dest_idx++] = 0xFE;
// }
// dest[dest_idx++] = (src[src_idx] & 0x7F);
// }
// // Add null terminator
// // -------------------
// dest[dest_idx] = 0;
// // Add command header
// // ------------------
// dest[0] = 0xFF;
// dest[1] = dest_idx-2;
//
// // Return escape string size
// // -------------------------
// return dest_idx;
//}
//#if defined HWVERSION1_3W || defined HWVERSION3_9
///*************************************************************************
//Function: Wi232USB()
//Purpose: Connect Wi232 Programmmode to PKT USB,
//Returns:
//
//**************************************************************************/
//void Wi232_USB(void)
//
//
//{
// unsigned int c0,c1;
//
// if (Wi232_hardware==1)
// {
//// USART_Init (UART_BAUD_SELECT(57600,F_CPU));
//// uart1_init( UART_BAUD_SELECT(57600,F_CPU) );
//// USART_Init (UART_BAUD_SELECT(2400,F_CPU));
//// uart1_init( UART_BAUD_SELECT(2400,F_CPU) );
// }
//
// if (Wi232_hardware==2)
// {
// USART_Init (UART_BAUD_SELECT(2400,F_CPU));
// uart1_init( UART_BAUD_SELECT(2400,F_CPU) );
// }
//
// lcd_cls ();
//// SwitchToWi232(); /* Serielle Kanäle Wi232 mit USB verbinden*/
//
// set_WI232CMD();
//
// lcd_printpns_at (0, 0, PSTR("Wi.232 Konfiguration "),0);
// lcd_printpns_at (0, 1, PSTR("PC mit USB verbinden"),0);
// lcd_printpns_at (0, 2, PSTR("Wi.232"),0);
// lcd_printpns_at (0, 3, PSTR("Programm starten"),0);
// lcd_printpns_at (17, 7, PSTR("Exit"),0);
//
// c1 = 0;
//
// for(;;)
// {
// c0 = uart1_getc(); /* from USB*/
// if ( c0 & UART_NO_DATA )
// {
// c1 = USART_getc();
//
// if (c1 == 0)
// {}
// else
// {
//// lcd_print_hex(c1,0);
// uart1_putc (c1); /*to USB*/;
// }
// }
// else
// {
// USART_putc(c0 ); /* to Wi232*/
//// lcd_print_hex(c0,0);
//// _delay_ms(1);
// }
//
// if ((get_key_press (1 << KEY_ENTER)))
// {
// clr_WI232CMD();
//// uart1_init( UART_BAUD_SELECT(57600,F_CPU) );
//// USART_Init( UART_BAUD_SELECT(57600,F_CPU) );
//// SwitchToFC();
// return;
// }
//
// }
//}
///*************************************************************************
//Function: Wi232_FC()
//Purpose: Connect Wi232 to PKT USB, Transparent
//Returns:
//
//**************************************************************************/
//void Wi232_FC(void)
//
//
//{
// unsigned int c0,c1;
//
//
//// USART_Init (UART_BAUD_SELECT(PKT_Baudrate,F_CPU));
//// uart1_init( UART_BAUD_SELECT(PKT_Baudrate,F_CPU) );
// SetBaudUart0(Config.PKT_Baudrate);
// SetBaudUart1(Config.PKT_Baudrate);
//
//
// lcd_cls ();
//// SwitchToWi232(); /* Serielle Kanäle Wi232 mit USB verbinden*/
//
//
// lcd_printpns_at (0, 0, PSTR("Wi.232 to FC "),0);
// lcd_printpns_at (0, 1, PSTR("PC mit USB verbinden"),0);
// lcd_printpns_at (0, 2, PSTR("und Mikrokoptertool"),0);
// lcd_printpns_at (0, 3, PSTR("starten"),0);
// lcd_printpns_at (17, 7, PSTR("Exit"),0);
//
// c1 = 0;
//
// for(;;)
// {
// c0 = uart1_getc(); /* from USB*/
// if ( c0 & UART_NO_DATA )
// {
// c1 = USART_getc();
// if (c1 == 0)
// {}
// else
// {
//// lcd_print_hex(c1,0);
// uart1_putc (c1); /*to USB*/;
//
// }
// }
// else
// {
// USART_putc(c0 ); /* to Wi232*/
//// lcd_print_hex(c0,0);
//// _delay_ms(1);
// }
//
// if ((get_key_press (1 << KEY_ENTER)))
// {
// return;
// }
// }
//}
#endif
Property changes:
Added: svn:mime-type
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/Transportables_Koptertool/branch/PKT/branch/GPL_PKT_V3_6_7f_FC090b/wi232/Wi232.h
0,0 → 1,178
/*****************************************************************************
* 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 *
* *
* 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*
*****************************************************************************/
#ifndef WI232_H_
#define WI232_H_
void discoverWi232(uint8_t Baudrate);
void InitWi232(uint8_t Baudrate);
int16_t WriteWi232(uint8_t Wi232Register, uint8_t RegisterValue);
int16_t ReadWi232(uint16_t Wi232Register);
void InitErrorWi232(uint8_t Error);
extern uint8_t Wi232_hardware;
extern uint8_t Wi232_New_Baudrate; //Merkzelle für zu setzende Baudrate
// Non-volatile Registers
// Name Address Description Default
#define regNVTXCHANNEL 0x00 // Transmit channel setting ## 0 ##
#define regNVRXCHANNEL 0x01 // Receive channel setting ## 0 ##
#define regNVPWRMODE 0x02 // Operating mode settings ## +13 dBm widebandmode ##
#define regNVDATARATE 0x03 // UART data rate ## 2400bps ##
#define regNVNETMODE 0x04 // Network mode (Normal/Slave) ## Normal ##
#define regNVTXTO 0x05 // Transmit wait timeout ## ~16ms ##
#define regNVNETGRP 0x06 // Network group ID ## 0x00 ##
#define regNVUSECRC 0x08 // Enable/Disable CRC ## Enabled ##
#define regNVUARTMTU 0x09 // Minimum transmission unit. ## 64 bytes ##
#define regNVSHOWVER 0x0A // Enable/Disable start-up message ## Enabled ##
#define regNVCSMAMODE 0x0B // Enable/Disable CSMA ## Enabled ##
#define regNVSLPMODE 0x0D // Power state of module ## Awake ##
#define regNVACKONWAKE 0x0E // Send ACK character to host on wake
// Non-volatile Read Only Registers
// Name Address Description
#define regMAC0 0x22 // These registers form the unique 48-bit MAC address.
#define regMAC1 0x23 // MAC
#define regMAC2 0x24 // MAC
#define regOUI0 0x25 // MAC
#define regOUI1 0x26 // MAC
#define regOUI2 0x27 // MAC
#define regDiscover 0x78 // Versionsregister
// Volatile Read/Write Registers
// Name Address Description
#define regTXCHANNEL 0x4B // Transmit channel setting
#define regRXCHANNEL 0x4C // Receive channel setting
#define regPWRMODE 0x4D // Operating mode settings
#define regDATARATE 0x4E // UART data rate
#define regNETMODE 0x4F // Network mode (Normal or Slave)
#define regTXTO 0x50 // Transmit wait timeout
#define regNETGRP 0x51 // Network group ID
#define regUSECRC 0x53 // Enable/Disable CRC
#define regUARTMTU 0x54 // Minimum transmission unit.
#define regSHOWVER 0x55 // Enable/Disable start-up message
#define regCSMAMODE 0x56 // Enable/disable CSMA
#define regSLPMODE 0x58 // Power state of module
#define regACKONWAKE 0x59 // Send ACK character to host on wake
// Wideband Channels
// regNVTXCHAN (0x00) regTXCHAN (0x4B)
// Channel Number Frequency
#define wChan0 0x00 // 868.300 MHz
#define wChan1 0x01 // 868.95 MHz ## MK ##
// Narrowband Channels
// regNVRXCHAN (0x01) regRXCHAN (0x4C)
// Channel Number Frequency
#define nChan0 0x00 // 868.225 MHz
#define nChan1 0x01 // 868.375 MHz ## MK ##
#define nChan2 0x02 // 868.850 MHz
#define nChan3 0x03 // 869.050 MHz
#define nChan4 0x04 // 869.525 MHz
#define nChan5 0x05 // 869.850 MHz
// Power Mode
// regNVPWRMODE (0x02) regPWRMODE (0x4D)
// PM1 PM1 PM0 Mode
#define NbModeN0 0x00 // 0 0 0 Narrowband Mode 0dBm power setting (typical)
#define WbModeP5 0x01 // 0 0 1 Wideband Mode +5dBm power setting (typical)
#define WbModeP10 0x02 // 0 1 0 Wideband Mode +10dBm power setting (typical)
#define WbModeP15 0x03 // 0 1 1 Wideband Mode +15dBm power setting (typical) ## MK ##
#define WbModeN0 0x04 // 1 0 0 Wideband Mode 0dBm power setting (typical)
#define NbModeP5 0x05 // 1 0 1 Narrowband Mode +5dBm power setting (typical)
#define NbModeP10 0x06 // 1 1 0 Narrowband Mode +10dBm power setting (typical)
#define NbModeP15 0x07 // 1 1 1 Narrowband Mode +15dBm power setting (typical)
// Wi232 UART Baudrate
// regNVDATARATE (0x03) regDATARATE (0x4E)
// Baud Rate BR2 BR1 BR0
#define Wi232_2400 Baud_2400 // 0 0 0* (default 2400)
#define Wi232_9600 Baud_9600 // 0 0 1
#define Wi232_19200 Baud_19200 // 0 1 0
#define Wi232_38400 Baud_38400 // 0 1 1
#define Wi232_57600 Baud_57600 // 1 0 0 ## MK ##
#define Wi232_115200 Baud_115200 // 1 0 1
#define Wi232_10400 0x06 // 1 1 0
#define Wi232_31250 0x07 // 1 1 1
// NetworkMode
// regNVNETMODE (0x04) regNETMODE (0x4F)
#define NetMode_Slave 0x00 // Slavemode
#define NetMode_Normal 0x01 // Normalmode (default)
// Transmit Wait Timeout
// regNVTXTO (0x05) regTXTO (0x50)
#define TWaitTimeFull 0x00 // full Buffer required
#define TWaitTime16 0x10 // 16 ms Delay (default)
// Network Group
// regNVNETGRP (0x06) regNETGRP (0x51)
#define NetWorkGroup 66 // default = 0, valid 0-127 ## MK = 66 ##
// CRC Control
// regNVUSECRC (0x08) regUSECRC (0x53)
#define CRC_Disable 0x00 // no CRC check
#define CRC_Enable 0x01 // CRC check (default)
// UART minimum transmission unit
// regNVUARTMTU (0x09) regUARTMTU (0x54)
#define UartMTU64 64 // default=64, valid 1-144
// Verbose mode
// regNVSHOWVER (0x0A)
#define ShowVers_Dis 0x00 // do not show Startupmessage ## MK = 66 ##
#define ShowVers_En 0x01 // show Startupmessage (default)
// CSMA enable
// regNVCSMAMODE (0x0B) regCSMAMODE (0x56)
#define CSMA_Dis 0x00 // disable CSMA Carrier-sense multiple access
#define CSMA_En 0x01 // enable CSMA (default)
// Sleep control
// regNVSLPMODE (0x0D) regSLPMODE (0x58)
#define Sleep_Awake 0x00 // Sleepmode = Awake (default)
#define Sleep 0x01 // Sleepmode = Sleep
#define Sleep_Stby 0x02 // Sleepmode = Standby
// ACK on Wake
// regNVACKONWAKE (0x0D) regACKONWAKE (0x59)
#define ACKwake_Dis 0x00 // disable ACK on Wake
#define ACKwake_En 0x01 // enable ACK on Wake (default)
#endif // WI232_H_
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