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321 | cascade | 1 | /**************************************************************************** |
728 | cascade | 2 | * Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje * |
321 | cascade | 3 | * admiralcascade@gmail.com * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
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5 | * * |
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6 | * This program is free software; you can redistribute it and/or modify * |
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7 | * it under the terms of the GNU General Public License as published by * |
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8 | * the Free Software Foundation; either version 2 of the License. * |
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9 | * * |
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10 | * This program is distributed in the hope that it will be useful, * |
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11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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13 | * GNU General Public License for more details. * |
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14 | * * |
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15 | * You should have received a copy of the GNU General Public License * |
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16 | * along with this program; if not, write to the * |
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17 | * Free Software Foundation, Inc., * |
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18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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19 | * * |
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20 | * * |
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21 | * Credits to: * |
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471 | cascade | 22 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
321 | cascade | 23 | * Gregor "killagreg" Stobrawa for making the MK code readable * |
24 | * Klaus "akku" Buettner for the hardware * |
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25 | * Manuel "KeyOz" Schrape for explaining the MK protocol to me * |
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26 | ****************************************************************************/ |
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27 | |||
28 | #include <avr/io.h> |
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29 | #include <avr/interrupt.h> |
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30 | #include <util/delay.h> |
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455 | cascade | 31 | #include <avr/pgmspace.h> |
346 | cascade | 32 | #include "main.h" |
33 | #include "max7456_software_spi.h" |
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331 | cascade | 34 | #include "usart1.h" |
389 | cascade | 35 | #include "osd_helpers.h" |
471 | cascade | 36 | #include "config.h" |
37 | #include "spi.h" |
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38 | #include "buttons.h" |
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477 | cascade | 39 | #include "ppm.h" |
497 | cascade | 40 | #include "osd_ncmode_default.h" |
41 | #include "osd_ncmode_minimal.h" |
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42 | #include "osd_fcmode_default.h" |
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685 | cascade | 43 | #include "osd_fcmode_jopl.h" |
514 | cascade | 44 | |
45 | #if WRITECHARS != -1 |
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46 | #include "characters.h" |
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497 | cascade | 47 | #endif |
321 | cascade | 48 | |
49 | /* TODO: |
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50 | * - verifiy correctness of values |
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324 | cascade | 51 | * - clean up code :) |
321 | cascade | 52 | */ |
53 | |||
54 | |||
55 | /* ########################################################################## |
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56 | * global definitions and global vars |
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57 | * ##########################################################################*/ |
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346 | cascade | 58 | |
321 | cascade | 59 | volatile NaviData_t naviData; |
60 | volatile DebugOut_t debugData; |
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61 | |||
62 | // cache old vars for blinking attribute, checkup is faster than full |
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63 | // attribute write each time |
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64 | volatile uint8_t last_UBat = 255; |
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65 | volatile uint8_t last_RC_Quality = 255; |
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66 | |||
67 | // 16bit should be enough, normal LiPos don't last that long |
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68 | volatile uint16_t uptime = 0; |
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69 | volatile uint16_t timer = 0; |
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685 | cascade | 70 | volatile uint16_t flytime_fc = 0; |
321 | cascade | 71 | |
331 | cascade | 72 | // remember last time data was received |
73 | volatile uint8_t seconds_since_last_data = 0; |
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74 | |||
497 | cascade | 75 | // general PAL|NTSC distingiusch stuff |
76 | uint8_t top_line = 1; |
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77 | uint8_t bottom_line = 14; |
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78 | |||
79 | // battery voltages |
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80 | uint8_t min_voltage = 0; |
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81 | uint8_t max_voltage = 0; |
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82 | |||
83 | // Flags |
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528 | cascade | 84 | uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0; |
497 | cascade | 85 | |
514 | cascade | 86 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
87 | |||
497 | cascade | 88 | // stats for after flight |
89 | int16_t max_Altimeter = 0; |
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90 | uint8_t min_UBat = 255; |
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91 | uint16_t max_GroundSpeed = 0; |
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92 | int16_t max_Distance = 0; |
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93 | uint16_t max_FlyingTime = 0; |
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94 | |||
95 | // flags from last round to check for changes |
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96 | uint8_t old_MKFlags = 0; |
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97 | |||
346 | cascade | 98 | // store stats description in progmem to save space |
489 | woggle | 99 | const char stats_item_0[] PROGMEM = "max Altitude:"; |
100 | const char stats_item_1[] PROGMEM = "max Speed :"; |
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101 | const char stats_item_2[] PROGMEM = "max Distance:"; |
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102 | const char stats_item_3[] PROGMEM = "min Voltage :"; |
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103 | const char stats_item_4[] PROGMEM = "max Time :"; |
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104 | const char stats_item_5[] PROGMEM = "longitude :"; |
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105 | const char stats_item_6[] PROGMEM = "latitude :"; |
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106 | const char stats_item_7[] PROGMEM = "max current :"; |
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499 | cascade | 107 | const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
467 | cascade | 108 | stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7}; |
346 | cascade | 109 | |
489 | woggle | 110 | //char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
761 | - | 111 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
489 | woggle | 112 | const char str_NE[] PROGMEM = "NE"; |
761 | - | 113 | const char str_E[] PROGMEM = "E "; |
489 | woggle | 114 | const char str_SE[] PROGMEM = "SE"; |
761 | - | 115 | const char str_S[] PROGMEM = "S "; |
489 | woggle | 116 | const char str_SW[] PROGMEM = "SW"; |
761 | - | 117 | const char str_W[] PROGMEM = "W "; |
489 | woggle | 118 | const char str_NW[] PROGMEM = "NW"; |
761 | - | 119 | const char str_N[] PROGMEM = "N "; |
489 | woggle | 120 | const char *directions[8] PROGMEM = { |
761 | - | 121 | str_NE, |
122 | str_E, |
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123 | str_SE, |
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124 | str_S, |
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125 | str_SW, |
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126 | str_W, |
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127 | str_NW, |
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128 | str_N |
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129 | }; |
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489 | woggle | 130 | |
497 | cascade | 131 | /* ########################################################################## |
132 | * Different display mode function pointers |
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133 | * ##########################################################################*/ |
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761 | - | 134 | const char str_1[] PROGMEM = "default"; |
135 | const char str_2[] PROGMEM = "minimal"; |
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136 | const char str_3[] PROGMEM = " jopl"; |
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326 | cascade | 137 | |
497 | cascade | 138 | const displaymode_t ncdisplaymodes[] PROGMEM = { |
761 | - | 139 | { osd_ncmode_default, (char *)str_1}, |
140 | { osd_ncmode_minimal, (char *)str_2} |
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497 | cascade | 141 | }; |
326 | cascade | 142 | |
497 | cascade | 143 | const displaymode_t fcdisplaymodes[] PROGMEM = { |
761 | - | 144 | { osd_fcmode_default, (char *)str_1}, |
145 | { osd_fcmode_jopl, (char *)str_3} |
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497 | cascade | 146 | }; |
453 | cascade | 147 | |
761 | - | 148 | int (*osd_ncmode)(void) = (int(*)(void)) & osd_ncmode_default; |
149 | int (*osd_fcmode)(void) = (int(*)(void)) & osd_fcmode_default; |
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497 | cascade | 150 | #endif |
326 | cascade | 151 | |
321 | cascade | 152 | /* ########################################################################## |
389 | cascade | 153 | * Interrupt handler |
154 | * ##########################################################################*/ |
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455 | cascade | 155 | |
321 | cascade | 156 | /** |
389 | cascade | 157 | * handler for undefined Interrupts |
158 | * if not defined AVR will reset in case any unhandled interrupts occur |
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321 | cascade | 159 | */ |
389 | cascade | 160 | ISR(__vector_default) { |
455 | cascade | 161 | asm("nop"); |
389 | cascade | 162 | } |
321 | cascade | 163 | |
389 | cascade | 164 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 165 | /* ########################################################################## |
166 | * timer stuff |
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167 | * ##########################################################################*/ |
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455 | cascade | 168 | |
507 | cascade | 169 | static uint8_t delay_spi = 0; |
170 | |||
466 | cascade | 171 | /** |
331 | cascade | 172 | * timer kicks in every 1000uS ^= 1ms |
321 | cascade | 173 | */ |
489 | woggle | 174 | ISR(TIMER0_COMP_vect) { |
321 | cascade | 175 | if (!timer--) { |
176 | uptime++; |
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685 | cascade | 177 | |
761 | - | 178 | #if FCONLY |
179 | if (debugData.Analog[12] > 10) { |
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180 | flytime_fc++; |
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181 | } |
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182 | #endif |
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685 | cascade | 183 | |
321 | cascade | 184 | timer = 999; |
455 | cascade | 185 | seconds_since_last_data++; |
321 | cascade | 186 | } |
466 | cascade | 187 | // in case there is still some spi data to send do it now |
761 | - | 188 | // delay to give the slave some time to compute values |
466 | cascade | 189 | if (spi_ready && icnt) { |
761 | - | 190 | if (!delay_spi--) { |
191 | delay_spi = 8; |
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192 | spi_send_next(); |
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193 | } |
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466 | cascade | 194 | } |
321 | cascade | 195 | } |
465 | cascade | 196 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
455 | cascade | 197 | |
321 | cascade | 198 | /* ########################################################################## |
199 | * MAIN |
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200 | * ##########################################################################*/ |
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201 | int main(void) { |
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761 | - | 202 | // set up FLAGS |
203 | COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0; |
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204 | #if NTSC |
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205 | COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC; |
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206 | #endif |
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207 | #if HUD |
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208 | COSD_FLAGS_MODES |= COSD_FLAG_HUD; |
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209 | #endif |
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210 | #if ARTHORIZON |
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211 | COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON; |
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212 | #endif |
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213 | #if BIGVARIO |
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214 | COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO; |
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215 | #endif |
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216 | #if STATS |
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217 | COSD_FLAGS_MODES |= COSD_FLAG_STATS; |
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218 | #endif |
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219 | #if WARNINGS |
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220 | COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS; |
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221 | #endif |
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222 | #if FCONLY |
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223 | COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE; |
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224 | #endif |
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466 | cascade | 225 | |
324 | cascade | 226 | |
339 | cascade | 227 | // set up Atmega162 Ports |
321 | cascade | 228 | DDRA |= (1 << PA1); // PA1 output (/CS) |
229 | MAX_CS_HIGH |
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230 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
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231 | MAX_SDIN_LOW |
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232 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
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233 | MAX_SCLK_LOW |
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234 | DDRA |= (1 << PA5); // PA5 output (RESET) |
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235 | MAX_RESET_HIGH |
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236 | |||
237 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
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238 | LED1_OFF |
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239 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
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240 | LED2_OFF |
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241 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
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242 | LED3_OFF |
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243 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
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244 | LED4_OFF |
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245 | |||
246 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
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247 | PORTC |= (1 << PC4); // pullup |
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248 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
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249 | PORTC |= (1 << PC5); // pullup |
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250 | |||
339 | cascade | 251 | // reset the MAX7456 to be sure any undefined states do no harm |
321 | cascade | 252 | MAX_RESET_LOW |
253 | MAX_RESET_HIGH |
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254 | |||
255 | // give the FC/NC and the maxim time to come up |
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256 | LED4_ON |
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736 | cascade | 257 | _delay_ms(1000); |
321 | cascade | 258 | LED4_OFF |
259 | |||
339 | cascade | 260 | //Pushing NEW chars to the MAX7456 |
329 | cascade | 261 | #if (WRITECHARS != -1) |
761 | - | 262 | // DISABLE display (VM0) |
263 | spi_send_byte(0x00, 0b00000000); |
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264 | learn_all_chars_pgm(); |
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474 | cascade | 265 | #else |
761 | - | 266 | // read out config for NTSC/PAL distinguishing |
267 | get_eeprom(0); |
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455 | cascade | 268 | #endif |
321 | cascade | 269 | |
761 | - | 270 | // Setup Video Mode |
271 | if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) { |
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272 | // NTSC + enable display immediately (VM0) |
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273 | spi_send_byte(0x00, 0b00001000); |
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321 | cascade | 274 | |
761 | - | 275 | bottom_line = 12; |
276 | } else { |
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277 | // PAL + enable display immediately (VM0) |
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278 | spi_send_byte(0x00, 0b01001000); |
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474 | cascade | 279 | |
761 | - | 280 | bottom_line = 14; |
281 | } |
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474 | cascade | 282 | |
404 | cascade | 283 | /*// clear all display-mem (DMM) |
403 | cascade | 284 | spi_send_byte(0x04, 0b00000100); |
285 | |||
286 | // clearing takes 12uS according to maxim so lets wait longer |
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287 | _delay_us(120); |
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288 | |||
321 | cascade | 289 | // 8bit mode |
404 | cascade | 290 | spi_send_byte(0x04, 0b01000000);*/ |
321 | cascade | 291 | |
404 | cascade | 292 | // clear display memory and set to 8bit mode |
321 | cascade | 293 | clear(); |
294 | |||
329 | cascade | 295 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 296 | // init usart |
297 | usart1_init(); |
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298 | |||
738 | cascade | 299 | // keep serial port clean |
300 | usart1_DisableTXD(); |
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301 | |||
321 | cascade | 302 | // set up timer |
761 | - | 303 | // CTC, Prescaler /64 |
304 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
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321 | cascade | 305 | |
761 | - | 306 | TCNT0 = 0; |
307 | OCR0 = 250; |
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489 | woggle | 308 | |
761 | - | 309 | // enable timer output compare interrupt |
310 | TIMSK &= ~(1 << TOIE0); |
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311 | TIMSK |= (1 << OCIE0); |
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489 | woggle | 312 | |
761 | - | 313 | // SPI setup |
466 | cascade | 314 | DDRD |= (1 << PD2); // PD2 output (INT0) |
315 | SpiMasterInit(); |
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465 | cascade | 316 | |
761 | - | 317 | // PPM detection setup |
318 | ppm_init(); |
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477 | cascade | 319 | |
326 | cascade | 320 | // enable interrupts |
321 | cascade | 321 | sei(); |
322 | #endif |
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323 | |||
324 | //write_ascii_string(2, 7, " CaScAdE "); |
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325 | //write_ascii_string(2, 8, "is TESTING his open source"); |
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326 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
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327 | |||
328 | // we are ready |
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329 | LED3_ON |
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330 | |||
329 | cascade | 331 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
761 | - | 332 | clear(); |
333 | write_all_chars(); |
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334 | LED1_ON |
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335 | LED2_ON |
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336 | LED3_ON |
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337 | LED4_ON |
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321 | cascade | 338 | #else |
477 | cascade | 339 | |
761 | - | 340 | // clear serial screen |
341 | //usart1_puts("\x1B[2J\x1B[H"); |
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342 | //usart1_puts("hello world!123\r\n"); |
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477 | cascade | 343 | |
321 | cascade | 344 | while (1) { |
466 | cascade | 345 | // in case SPI is ready and there is nothing to send right now |
346 | if (!icnt && spi_ready) { |
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347 | // correct transfer ends with d (done) |
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507 | cascade | 348 | if (SPI_buffer.buffer.chk == 'd') { |
761 | - | 349 | ampere = SPI_buffer.data.ampere; |
350 | ampere_wasted = SPI_buffer.data.mah; |
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351 | s_volt = SPI_buffer.data.volt; |
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507 | cascade | 352 | |
761 | - | 353 | // if this is the first receival we should print the small A |
354 | if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) { |
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355 | clear(); |
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356 | COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN; |
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357 | // update this flag |
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358 | COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC; |
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359 | } |
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466 | cascade | 360 | } else { |
361 | // update flags |
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528 | cascade | 362 | COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC; |
466 | cascade | 363 | } |
761 | - | 364 | StartTransfer(9); |
466 | cascade | 365 | } |
321 | cascade | 366 | if (rxd_buffer_locked) { |
454 | cascade | 367 | #if FCONLY |
471 | cascade | 368 | if (rxd_buffer[2] == 'D') { // FC Data |
369 | Decode64(); |
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761 | - | 370 | debugData = *((DebugOut_t*)pRxData); |
454 | cascade | 371 | |
471 | cascade | 372 | // init on first data retrival, distinguished by last battery :) |
373 | if (last_UBat == 255) { |
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761 | - | 374 | if (debugData.Analog[9] > 40) { |
375 | // fix for min_UBat |
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376 | min_UBat = debugData.Analog[9]; |
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377 | last_UBat = debugData.Analog[9]; |
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378 | init_cosd(last_UBat); |
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379 | } |
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677 | cascade | 380 | } else { |
761 | - | 381 | osd_fcmode(); |
382 | } |
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383 | seconds_since_last_data = 0; |
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471 | cascade | 384 | } |
454 | cascade | 385 | #else |
471 | cascade | 386 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
387 | Decode64(); |
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761 | - | 388 | naviData = *((NaviData_t*)pRxData); |
453 | cascade | 389 | |
471 | cascade | 390 | // init on first data retrival, distinguished by last battery :) |
391 | if (last_UBat == 255) { |
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761 | - | 392 | if (naviData.UBat > 40) { |
393 | // fix for min_UBat |
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394 | min_UBat = naviData.UBat; |
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395 | last_UBat = naviData.UBat; |
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396 | init_cosd(last_UBat); |
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397 | } |
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677 | cascade | 398 | } else { |
761 | - | 399 | osd_ncmode(); |
400 | } |
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401 | //seconds_since_last_data = 0; |
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471 | cascade | 402 | } |
454 | cascade | 403 | #endif |
321 | cascade | 404 | rxd_buffer_locked = 0; |
405 | } |
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406 | // handle keypress |
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326 | cascade | 407 | if (s1_pressed()) { |
339 | cascade | 408 | config_menu(); |
321 | cascade | 409 | } |
738 | cascade | 410 | if (seconds_since_last_data > 0) { |
761 | - | 411 | usart1_EnableTXD(); |
412 | //usart1_puts_pgm(PSTR("zu alt\r\n")); |
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454 | cascade | 413 | #if FCONLY |
455 | cascade | 414 | // request data ever 100ms from FC; |
738 | cascade | 415 | //usart1_request_mk_data(0, 'd', 100); |
761 | - | 416 | usart1_puts_pgm(PSTR(REQUEST_DBG_DATA)); |
454 | cascade | 417 | #else |
455 | cascade | 418 | // request OSD Data from NC every 100ms |
738 | cascade | 419 | //usart1_request_mk_data(1, 'o', 100); |
761 | - | 420 | usart1_puts_pgm(PSTR(REQUEST_OSD_DATA)); |
454 | cascade | 421 | |
455 | cascade | 422 | // and disable debug... |
738 | cascade | 423 | //usart1_request_mk_data(0, 'd', 0); |
424 | #endif |
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761 | - | 425 | // reset last time counter |
426 | seconds_since_last_data = 0; |
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427 | usart1_DisableTXD(); |
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339 | cascade | 428 | } |
321 | cascade | 429 | } |
430 | #endif |
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431 | return 0; |
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432 | } |