int main(int argc, char** argv) {
char value, count = '0';
lcdInit();
i2c_init();
for(int i = 0; i < 16; i++)
{
sendByte(count++,0x30<<1);
lcdSetPos(i,0);
lcdWriteChar(count);
//for(int i = 0; i<10; i++ )
__delay_ms(10);
value = readByte(0x30<<1);
lcdSetPos(i,1);
lcdWriteChar(value);
//for(int i = 0; i<10; i++ )
__delay_ms(10);
}
while(1)
{
}
return (EXIT_SUCCESS);
}
static void _hSensorCalibration()
{
if (elementIndex == 0)
{
if (KEY4)
{
elementIndex = 1;
lcdClear();
lcdSetPos(3, 18);
lcdWriteString_P(strWait);
lcdSetPos(3, 78);
lcdWriteString_P(strSec);
writeSoftkeys(_skCANCEL);
_tStart = millis();
}
}
else if (elementIndex == 1)
{
lcdSetPos(3, 66);
uint8_t sec = (millis() - _tStart) / 1000;
lcdWriteChar((5-sec) + 48);
if (sec >= 5)
{
sensorsCalibrate();
configSave();
lcdSetPos(3, 0);
lcdWriteString_P(strCalSucc);
writeSoftkeys(NULL);
elementIndex = 2;
}
}
else if (KEY4)
loadPage(PAGE_MENU);
}
void multimeterDisplayAll()
{
char text[17] = " MIN MAX AVG " ;
uint8_t i = mmeter.measureMode;
text[i*4] = '[';
text[(i*4)+4] = ']';
if(mmeter.countsIndex == 16)
{
text[14] = '1';
text[15] = '6';
}
else
{
text[15] = '0' + mmeter.countsIndex;
}
text[16] = '\0';
lcdSetPos(0, 1);
lcdSendStr(text);
multimeterGetMeasStr(text);
lcdSetPos(0,0);
lcdSendStr(text);
}
static void showMotor(uint8_t motor, uint8_t withDir)
{
uint8_t x, y;
mixer_channel_t *channel = &Config.Mixer[motor];
if (channel->IsMotor)
{
x = CENTER_X + (channel->Aileron / 4);
y = CENTER_Y - (channel->Elevator / 4);
lcdLine(x, y, CENTER_X, CENTER_Y);
lcdXY(CENTER_X - 2, CENTER_Y - 2);
lcdWriteGlyph_P(&glyFC, ROP_COPY);
lcdXY(x - 4, y - 4);
lcdWriteGlyph_P(&glyBall, ROP_PAINT);
lcdXY(x - 4, y - 7);
if (channel->Rudder >= 0)
lcdWriteGlyph_P(&glyDirCW, ROP_PAINT);
else
lcdWriteGlyph_P(&glyDirCCW, ROP_PAINT);
lcdXY(x - 2, y - 2);
lcdReverse(1);
lcdSelectFont(&font4x6);
lcdWriteChar(motor + '1');
lcdSelectFont(NULL);
lcdReverse(0);
if (withDir)
{
lcdSetPos(2, 0);
lcdWriteString_P(strDirSeen);
lcdSetPos(5, 0);
if (channel->Rudder >= 0)
lcdWriteString_P(strCW);
else
lcdWriteString_P(strCCW);
}
}
else if (withDir)
{
lcdSetPos(3, 64);
if (channel->IsServo)
lcdWriteString_P(strServo);
else
lcdWriteString_P(strUnused);
}
}
//電流を表示する
//引数： 0.1mA単位の値
void lcdPutCurrent(int16_t mValue, int xPos, int yPos)
{
uint16_t num, dec;
lcdLineClear(xPos, yPos);
lcdSetPos(xPos * 8, yPos);
// 符号の表示
if (mValue < 0)
lcdPutChar('-');
else
lcdPutChar(' ');
num = abs(mValue) / 10; //整数部
dec = abs(mValue) % 10; //小数部
//100mA未満は小数第1位まで表示
//100mA以上は整数部のみ表示（小数点以下は切り捨て）
//[99.9][100]mAが境目
if (num < 100)
{
if (num < 10) lcdPutChar(' ');
lcdPutUInt(num);
lcdPutChar('.');
lcdPutUInt(dec);
}
else
{
if (num < 1000) lcdPutChar(' ');
lcdPutUInt(num);
}
lcdPutStr("mA");
}
static void writeString_P(uint8_t x, uint8_t y, PGM_P str, uint8_t len, uint8_t index)
{
lcdReverse(index == elementIndex);
lcdSetPos(x, y);
writePadded_P(str, len);
lcdReverse(0);
}
static void _hShowModelLayout()
{
if (ANYKEY)
{
if (KEY2) // NEXT
elementIndex = (elementIndex + 1) % 9;
lcdClear();
writeSoftkeys(NULL);
lcdSetPos(0, 0);
lcdWriteString_P(strOutput);
lcdWriteChar(32);
if (elementIndex == 0)
{
lcdWriteString_P(strALL);
for (uint8_t i = 0; i < 8; i++)
showMotor(i, 0);
}
else
{
lcdWriteChar(elementIndex + '0');
showMotor(elementIndex - 1, 1);
}
}
}
static void _hStickCentering()
{
if (KEYINIT)
{
if ((RX_good & 0x0F) != 0x0F)
{
lcdWriteString_P(scrRadioCal1);
elementIndex = 1;
writeSoftkeys(_skBACK);
}
else
lcdWriteString_P(scrRadioCal0);
}
if (elementIndex == 0)
{
if (KEY4)
{
lcdClear();
if (rxCalibrate())
{
configSave();
lcdSetPos(3, 0);
lcdWriteString_P(strCalSucc);
}
else
lcdWriteString_P(scrRadioCal2);
writeSoftkeys(NULL);
elementIndex = 1;
}
}
else if (KEY4)
loadPage(PAGE_MENU);
}
void writeValue_test(uint8_t x, uint8_t y, int16_t value, uint8_t len, uint8_t index)
{
char s[7];
itoa(value, s, 10);
lcdReverse(index == elementIndex);
lcdSetPos(x, y);
writePadded(s, len);
lcdReverse(0);
}
static uint8_t doMenu(menu_t *menu)
{
if (!keys) return 0;
// key handling
if (KEY2) // UP
{
if (menu->marked > 0)
menu->marked--;
}
else if (KEY3) // DOWN
{
if (menu->marked < menu->len - 1)
menu->marked++;
}
else if (KEY4) // ENTER
return 1;
if (menu->marked < menu->top)
menu->top = menu->marked;
else if (menu->marked - menu->top >= 5)
menu->top = menu->marked - 4;
// upper arrow
lcdSetPos(0, 58);
lcdReverse(menu->top == 0);
lcdWriteGlyph_P(&glyArrowUp, ROP_PAINT);
// text output
for (uint8_t i = 0; i < 5 && i < menu->len; i++)
{
lcdSetPos(i + 1, 0);
PGM_P item = menu->textSelector(menu->top + i);
lcdReverse(menu->top + i == menu->marked);
writePadded_P(item, 21);
}
// lower arrow
lcdSetPos(6, 58);
lcdReverse(menu->top >= menu->len - 5);
lcdWriteGlyph_P(&glyArrowDown, ROP_PAINT);
return 0;
}
static void writeSoftkeys(const char* sk)
{
if (!sk)
sk = currentPage.softkeys;
if (sk)
{
lcdSetPos(7, 0);
writePadded_P(sk, 21);
}
}
static void writeCPPMScreen(uint8_t index)
{
lcdClear();
lcdWriteString_P(strCPPMSettings);
lcdSetPos(2, 0);
if (index == 0)
lcdWriteString_P(scrCPPMSettings1);
else
lcdWriteString_P(scrCPPMSettings2);
writeSoftkeys(NULL);
}
static void _hReceiverTest()
{
static const char* const info[6][2] PROGMEM = {
{ strLeft, strRight },
{ strForward, strBack },
{ strRight, strLeft },
{ strIdle, strFull },
{ strOff, strOn },
{ strOff, strOn },
};
for (uint8_t i = 0; i < 6; i++)
{
if (RX_good & _BV(i))
{
writeValue(i, 66, RX[i], 4, -1);
lcdSetPos(i, 96);
if (i == THR)
{
if (State.ThrottleOff)
writePadded_P(strIdle, 5);
else if (RX[THR] >= RX_THRESHOLD)
writePadded_P(strFull, 5);
else
writeSpace(5);
}
else
{
if (abs(RX[i]) > (RX_THRESHOLD / 2))
writePadded_P((PGM_P)pgm_read_word(&info[i][RX[i] > 0]), 5);
else
writeSpace(5);
}
}
else
{
lcdSetPos(i, 66);
lcdWriteString_P(strNoSignal);
}
}
}
//電圧を表示する
//引数： mV単位の値
void lcdPutVoltage(int16_t mValue, int xPos, int yPos)
{
uint16_t num, dec;
lcdLineClear(xPos, yPos);
lcdSetPos(xPos * 8, yPos);
// 符号の表示
if (mValue < 0)
lcdPutChar('-');
else
lcdPutChar(' ');
num = abs(mValue) / 1000; //整数部
dec = abs(mValue) % 1000; //小数部
/*
//10mV未満は小数第2位まで表示（小数第3位以下は切り捨て）
//10mV以上は小数第1位まで表示（小数第2位以下は切り捨て）
//[9.99][10.0]mVが境目
if (num < 10)
{
*/
if (num < 10)
lcdPutChar(' ');
lcdPutUInt(num);
lcdPutChar('.');
//小数部3桁中2桁表示（3桁目は切り捨て）
dec /= 10;
if (dec < 10) lcdPutChar('0');
lcdPutUInt(dec);
/*
}
else
{
lcdPutUInt(num);
lcdPutChar('.');
//小数部3桁中1桁表示（2桁目以降は切り捨て）
lcdPutUInt(dec / 1000);
}
*/
lcdPutStr("V");
}
static void _hFactoryReset()
{
if (KEYINIT)
{
lcdSetPos(3, 18);
lcdWriteString_P(strAreYouSure);
}
else if (KEY4) // Yes
{
configReset();
configSave();
// force reset by enabling watchdog and enter endless loop
cli();
wdt_enable(WDTO_15MS);
for(;;);
}
}
void switchSize()
{
if(mmeter.countsIndex == MMETER_COUNTS_N-1)
mmeter.countsIndex = 0;
else
++mmeter.countsIndex;
multimeterUpdateData();
multimeterSaveToFlash();
lcdSetPos(14,1);
uint8_t i = mmeter.countsIndex;
if(i == 16)
lcdSendStr("16");
else
{
lcdSendChr(' ');
lcdSendChr('0' + i);
}
}
static void defaultHandler()
{
if (editMode) // edit mode?
editModeHandler();
else
{
if (KEYINIT | KEYREFRESH)
{
lcdClear();
if (currentPage.screen)
lcdWriteString_P(currentPage.screen);
writeSoftkeys(NULL);
lcdSetPos(0, 0);
}
if (currentPage.handler)
currentPage.handler();
}
}
void switchMode()
{
if(mmeter.measureMode == MMETER_AVG)
mmeter.measureMode = MMETER_MIN;
else
++mmeter.measureMode;
multimeterUpdateData();
multimeterSaveToFlash();
char nibble[4] = { ' ', ' ', ' ', ' ' };
uint8_t i = mmeter.measureMode;
nibble[i] = '[' ; nibble[i+1] = ']';
i = 3 ; uint8_t x = 12 ;
do
{
lcdSetPos(x, 1);
lcdSendChr(nibble[i]);
x -= 4;
}while(i--);
}
static void _hLoadModelLayout()
{
if (KEYINIT)
mnuMLayout.marked = Config.MixerIndex;
if (elementIndex == 0)
{
if (doMenu(&mnuMLayout))
{
lcdClear();
lcdSetPos(3, 18);
lcdWriteString_P(strAreYouSure);
writeSoftkeys(_skCANCELYES);
elementIndex = 1;
}
}
else if (KEY4) // YES
{
mixerLoadModel(mnuMLayout.marked);
//configSave();
loadPage(PAGE_SHOW_LAYOUT);
}
}
static void _hPIEditor()
{
NOKEYRETURN;
elementKey(5);
uint8_t index = subpage;
if (Config.LinkRollPitch) index = subpage & 0xFE;
if (KEY4) // CHANGE
{
if (elementIndex == 0)
{
subpage = (subpage + 1) % 3;
index = subpage;
if (Config.LinkRollPitch) index = subpage & 0xFE;
}
else
{
startEditMode(&Config.PID[index].UI8[elementIndex - 1], 0, 200, TYPE_UINT8);
return;
}
}
lcdSetPos(0, 30);
lcdReverse(elementIndex == 0);
switch (subpage)
{
case 0: writePadded_P(strRollAil, 16); break;
case 1: writePadded_P(strPitchEle, 16); break;
default: writePadded_P(strYawRud, 16); break;
}
for (uint8_t i = 0; i < 4; i++)
writeValue(i + 2, 60, Config.PID[index].UI8[i], 5, i + 1);
}
//LCDの表示を1行消去する
void lcdLineClear(int x, int y)
{
lcdSetPos(x * 8, y);
lcdPutStr(" "); //8桁
}
int main(void)
{
uint16_t adcPVoltages[BUFSIZE] = {0UL};
uint16_t adcNVoltages[BUFSIZE] = {0UL};
uint16_t adcCurrents[BUFSIZE] = {0UL};
uint16_t adcGNDs[BUFSIZE] = {0UL};
uint16_t adcValue;
int16_t gndValue;
int16_t mVoltage, mCurrent;
uint8_t idx;
float fv, fa;
// ポートの初期化
DDRD = _BV(2); // RSTピンを出力に
PORTC = _BV(4) | _BV(5); // SCL, SDA内蔵プルアップを有効
// デバイスの初期化
i2c_init(); // AVR内蔵I2Cモジュールの初期化
wait_ms(500);
PORTD &= ~_BV(2); // RSTをLにします。リセット
wait_ms(1);
PORTD |= _BV(2); // RSTをHにします。リセット解除
wait_ms(10);
lcdInit();
//LCD初期表示
lcdSetPos(0, 0); lcdPutStr("Volt + / Current");
lcdSetPos(0, 1); lcdPutStr("Volt - / GND");
wait_sec(3);
//消費電力削減のためADC使用ピンをデジタル入力禁止にする（ADC入力（アナログ）専用となる）
DIDR0 |= (1 << ADC0D) | (1 << ADC1D) | (1 << ADC2D) | (1 << ADC3D); //PC0,PC1,PC2,PC3
//ADC動作設定
ADCSRA = 0b10000110 //bit2-0: 110 = 64分周 8MHz/64=125kHz (50k〜200kHzであること)
| (1 << ADIE); //割り込み許可（スリープ対応）
//ADCの基準電圧(AVCC)と入力ピンを設定する
ADMUX = (1 << REFS0) | ADC_SET_PVOLTAGE;
//A/D変換ノイズ低減のスリープモードを設定する
set_sleep_mode(SLEEP_MODE_ADC);
sei(); //割り込み許可
sleep_mode(); //A/Dコンバータ初期化として初回変換開始…変換中…変換完了
adcValue = ADC; //値の読み捨て
idx = 0;
while(1)
{
//===== GND電圧を測定する ===================================================
//
ADMUX = ADC_SET_GND;
wait_ms(10); //安定待ち
sleep_mode(); //スリープモード突入…変換中…変換完了
adcGNDs[idx] = ADC;
adcValue = total(adcGNDs);
gndValue = (float)adcValue / BUFSIZE;
fv = gndValue * F_VCC * 1000 / 1024; // mV単位
//電圧を表示する
mVoltage = (int16_t)fv;
lcdPutVoltage(mVoltage, 1, 1);
//===== 正電圧を測定する ===================================================
//
ADMUX = ADC_SET_PVOLTAGE;
wait_ms(10); //安定待ち
sleep_mode(); //スリープモード突入…変換中…変換完了
adcPVoltages[idx] = ADC;
adcValue = total(adcPVoltages);
//A/D変換値から電圧を求める
fv = (((float)adcValue / BUFSIZE) - gndValue) * F_VCC * 1000 / (1024 * F_POSITIVE_V_RATE); // mV単位
//電圧を表示する
mVoltage = (int16_t)fv;
lcdPutVoltage(mVoltage, 0, 0);
//===== 負電圧を測定する ===================================================
//
ADMUX = ADC_SET_NVOLTAGE;
wait_ms(10); //安定待ち
sleep_mode(); //スリープモード突入…変換中…変換完了
adcNVoltages[idx] = ADC;
adcValue = total(adcNVoltages);
//A/D変換値から電圧を求める
fv = (((float)adcValue / BUFSIZE) - gndValue) * F_VCC * 1000 / (1024 * F_NEGATIVE_V_RATE); // mV単位
//電圧を表示する
mVoltage = (int16_t)fv;
lcdPutVoltage(mVoltage, 0, 1);
//===== 電流を測定する ====================================================
//
ADMUX = ADC_SET_CURRENT;
wait_ms(10); //安定待ち
sleep_mode(); //スリープモード突入…変換中…変換完了
adcCurrents[idx] = ADC;
adcValue = total(adcCurrents);
// ADCの読み取り値が1000以上の場合測定不可とする
if ((float)adcValue / BUFSIZE < 1000) {
//A/D変換値から電圧を求め、電流を算出する
fv = (((float)adcValue / BUFSIZE) - gndValue) * F_VCC * 1000 / (1024 * F_CURRENT_AMP); // mV単位
fa = fv / F_SHUNT_R; //mA単位
//電流を表示する
mCurrent = (int16_t)(fa * 10.0); //0.1mA単位
lcdPutCurrent(mCurrent, 1, 0);
}
else {
lcdLineClear(1, 0);
lcdSetPos(8, 0);
lcdPutStr(" OVER");
}
//次のループの準備
if (++idx == BUFSIZE) idx = 0;
}
return 0;
}
static void _hStart()
{
char s[7];
if (KEY4) // MENU
{
arm(OFF);
loadPage(PAGE_MENU);
return;
}
if (KEYINIT || KEYREFRESH)
{
if (Config.ArmingMode)
arm(ON);
if (State.Armed)
{
lcdSetPos(3, 30);
lcdSelectFont(&font12x16);
lcdWriteString_P(strARMED);
lcdSelectFont(NULL);
return;
}
else
{
lcdSetPos(0, 5);
lcdSelectFont(&font12x16);
lcdWriteString_P(strHeader);
lcdSelectFont(NULL);
lcdSetPos(2, 0);
lcdWriteString_P(scrStart);
}
}
if (!State.Armed)
{
lcdSetPos(2, 84);
if (State.SelfLevel)
writePadded_P(strON, 3);
else
writePadded_P(strOFF, 3);
lcdSetPos(3, 0);
if (State.Error)
{
lcdWriteString_P(strError);
lcdWriteChar(32);
if (State.Error & ERR_NOT_CALIBRATED)
lcdWriteString_P(strSensorNotCal);
else
{
lcdWriteString_P(PSTR("no "));
const char* s;
if ((State.Error & ERR_NO_RX) == ERR_NO_RX)
s = PSTR("RX");
else if (State.Error & ERR_NO_ROLL)
s = strRoll;
else if (State.Error & ERR_NO_PITCH)
s = strPitch;
else if (State.Error & ERR_NO_YAW)
s = strYaw;
else
s = strThro;
lcdWriteString_P(s);
lcdWriteString_P(PSTR(" input"));
}
}
else
lcdWriteString_P(PSTR("Ready for departure!"));
// battery level
lcdSetPos(4, 13*6);
utoa(BATT / 10, s, 10);
lcdWriteString(s);
lcdWriteChar('.');
utoa(BATT % 10, s, 10);
writePadded(s, 3);
// roll angle
writeValue(5, 13*6, (int16_t)ANGLE[ROL], 7, -1);
// pitch angle
writeValue(6, 13*6, (int16_t)ANGLE[PIT], 7, -1);
}
}
