WebSVN - Projects - /Transportables_Koptertool/PKT/trunk/motortest/motortest.c

/*****************************************************************************
* 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 motortest.c
//#
//# 13.05.2014 OG
//# - chg: motor_test() - #ifdef USE_I2CMOTORTEST erweitert um unsigned int SerLoop;
//# wegen Warning: variable set but not used
//#
//# 12.02.2014 OG
//# - chg: motor_test() Verschiebung von var 'buffer' wegen "unused variable 'buffer'"
//#
//# 13.05.2013 Cebra
//# - chg: #define USE_I2CMOTORTEST, I2C Funktionen schaltbar
//#
//############################################################################

#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;

#ifdef USE_I2CMOTORTEST
//--------------------------------------------------------------
// 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
}
#endif

//--------------------------------------------------------------
//
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;

#ifdef USE_I2CMOTORTEST
unsigned int SerLoop;
SerLoop = 10;

char buffer[7];

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));
}
#endif
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_printp_at(0, 7, strGet(KEYLINE3), 0);
lcd_printp_at (18, 7, PSTR("\x1a \x1b"), 0);
lcd_printp_at (0, 2, PSTR("\x1d"), 0);

#ifdef USE_I2CMOTORTEST
if (MotorMode == I2C_Mode)
uart1_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))
{
#ifdef USE_I2CMOTORTEST
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
}
}
#endif

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))//
#ifdef USE_I2CMOTORTEST
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 (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--;
}

while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
}
else
#endif
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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