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/****************************************************************************
1
/****************************************************************************
2
 *   Copyright (C) 2009-2011 by Claas Anders "CaScAdE" Rathje               *
2
 *   Copyright (C) 2009-2011 by Claas Anders "CaScAdE" Rathje               *
3
 *   admiralcascade@gmail.com                                               *
3
 *   admiralcascade@gmail.com                                               *
4
 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
4
 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
5
 *                                                                          *
5
 *                                                                          *
6
 *   This program is free software; you can redistribute it and/or modify   *
6
 *   This program is free software; you can redistribute it and/or modify   *
7
 *   it under the terms of the GNU General Public License as published by   *
7
 *   it under the terms of the GNU General Public License as published by   *
8
 *   the Free Software Foundation; either version 2 of the License.         *
8
 *   the Free Software Foundation; either version 2 of the License.         *
9
 *                                                                          *
9
 *                                                                          *
10
 *   This program is distributed in the hope that it will be useful,        *
10
 *   This program is distributed in the hope that it will be useful,        *
11
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
11
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
12
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
12
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
13
 *   GNU General Public License for more details.                           *
13
 *   GNU General Public License for more details.                           *
14
 *                                                                          *
14
 *                                                                          *
15
 *   You should have received a copy of the GNU General Public License      *
15
 *   You should have received a copy of the GNU General Public License      *
16
 *   along with this program; if not, write to the                          *
16
 *   along with this program; if not, write to the                          *
17
 *   Free Software Foundation, Inc.,                                        *
17
 *   Free Software Foundation, Inc.,                                        *
18
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
18
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
19
 *                                                                          *
19
 *                                                                          *
20
 *                                                                          *
20
 *                                                                          *
21
 *   Credits to:                                                            *
21
 *   Credits to:                                                            *
22
 *   Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN *
22
 *   Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN *
23
 *   Gregor "killagreg" Stobrawa for making the MK code readable            *
23
 *   Gregor "killagreg" Stobrawa for making the MK code readable            *
24
 *   Klaus "akku" Buettner for the hardware                                 *
24
 *   Klaus "akku" Buettner for the hardware                                 *
25
 *   Manuel "KeyOz" Schrape for explaining the MK protocol to me            *
25
 *   Manuel "KeyOz" Schrape for explaining the MK protocol to me            *
26
 ****************************************************************************/
26
 ****************************************************************************/
27
 
27
 
28
#include "main.h"
28
#include "main.h"
29
#include <avr/io.h>
29
#include <avr/io.h>
30
#include <avr/interrupt.h>
30
#include <avr/interrupt.h>
31
#include <util/delay.h>
31
#include <util/delay.h>
32
#include <avr/pgmspace.h>
32
#include <avr/pgmspace.h>
33
#include "max7456_software_spi.h"
33
#include "max7456_software_spi.h"
34
#ifdef ANTENNATRACKTEST 
34
#ifdef ANTENNATRACKTEST 
35
#include "usart0.h"
35
#include "usart0.h"
36
#endif
36
#endif
37
#include "usart1.h"
37
#include "usart1.h"
38
#include "osd_helpers.h"
38
#include "osd_helpers.h"
39
#include "config.h"
39
#include "config.h"
40
#include "spi.h"
40
#include "spi.h"
41
#include "buttons.h"
41
#include "buttons.h"
42
#include "ppm.h"
42
#include "ppm.h"
43
#include "osd_ncmode_default.h"
43
#include "osd_ncmode_default.h"
44
#include "osd_ncmode_minimal.h"
44
#include "osd_ncmode_minimal.h"
45
#include "osd_fcmode_default.h"
45
#include "osd_fcmode_default.h"
46
#include "osd_fcmode_jopl.h"
46
#include "osd_fcmode_jopl.h"
47
 
47
 
48
#if WRITECHARS != -1
48
#if WRITECHARS != -1
49
#include "characters.h"
49
#include "characters.h"
50
#endif
50
#endif
51
 
51
 
52
/* TODO:
52
/* TODO:
53
 * - verifiy correctness of values
53
 * - verifiy correctness of values
54
 * - clean up code :)
54
 * - clean up code :)
55
 */
55
 */
56
 
56
 
57
 
57
 
58
/* ##########################################################################
58
/* ##########################################################################
59
 * global definitions and global vars
59
 * global definitions and global vars
60
 * ##########################################################################*/
60
 * ##########################################################################*/
61
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
61
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
62
 
62
 
63
volatile NaviData_t naviData;
63
volatile NaviData_t naviData;
64
volatile str_DebugOut debugData;
64
volatile str_DebugOut debugData;
65
 
65
 
66
// cache old vars for blinking attribute, checkup is faster than full
66
// cache old vars for blinking attribute, checkup is faster than full
67
// attribute write each time
67
// attribute write each time
68
volatile uint8_t last_UBat = 255;
68
volatile uint8_t last_UBat = 255;
69
volatile uint8_t last_RC_Quality = 255;
69
volatile uint8_t last_RC_Quality = 255;
70
 
70
 
71
// 16bit should be enough, normal LiPos don't last that long
71
// 16bit should be enough, normal LiPos don't last that long
72
volatile uint16_t uptime = 0;
72
volatile uint16_t uptime = 0;
73
volatile uint16_t timer = 0;
73
volatile uint16_t timer = 0;
74
volatile uint16_t flytime_fc = 0;
74
volatile uint16_t flytime_fc = 0;
75
 
75
 
76
// remember last time data was received
76
// remember last time data was received
77
volatile uint8_t seconds_since_last_data = 0;
77
volatile uint8_t seconds_since_last_data = 0;
78
 
78
 
79
// general PAL|NTSC distingiusch stuff
79
// general PAL|NTSC distingiusch stuff
80
uint8_t top_line = 1;
80
uint8_t top_line = 1;
81
uint8_t bottom_line = 14;
81
uint8_t bottom_line = 14;
82
 
82
 
83
// battery voltages
83
// battery voltages
84
uint8_t min_voltage = 0;
84
uint8_t min_voltage = 0;
85
uint8_t max_voltage = 0;
85
uint8_t max_voltage = 0;
86
 
86
 
87
uint8_t scope[12] = {
87
uint8_t scope[12] = {
88
    5, 5, 0,
88
    5, 5, 0,
89
    25, 5, 0,
89
    25, 5, 0,
90
    5, 10, 0,
90
    5, 10, 0,
91
    25, 10, 0
91
    25, 10, 0
92
};
92
};
93
 
93
 
94
// Flags
94
// Flags
95
uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;
95
uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;
96
 
96
 
97
 
97
 
98
 
98
 
99
// stats for after flight
99
// stats for after flight
100
int16_t max_Altimeter = 0;
100
int16_t max_Altimeter = 0;
101
uint8_t min_UBat = 255;
101
uint8_t min_UBat = 255;
102
uint16_t max_GroundSpeed = 0;
102
uint16_t max_GroundSpeed = 0;
103
int16_t max_Distance = 0;
103
int16_t max_Distance = 0;
104
uint16_t max_FlyingTime = 0;
104
uint16_t max_FlyingTime = 0;
105
 
105
 
106
// flags from last round to check for changes
106
// flags from last round to check for changes
107
uint8_t old_MKFlags = 0;
107
uint8_t old_MKFlags = 0;
108
 
108
 
109
// store stats description in progmem to save space
109
// store stats description in progmem to save space
110
const char stats_item_0[] PROGMEM = "max Altitude:";
110
const char stats_item_0[] PROGMEM = "max Altitude:";
111
const char stats_item_1[] PROGMEM = "max Speed :";
111
const char stats_item_1[] PROGMEM = "max Speed :";
112
const char stats_item_2[] PROGMEM = "max Distance:";
112
const char stats_item_2[] PROGMEM = "max Distance:";
113
const char stats_item_3[] PROGMEM = "min Voltage :";
113
const char stats_item_3[] PROGMEM = "min Voltage :";
114
const char stats_item_4[] PROGMEM = "max Time:";
114
const char stats_item_4[] PROGMEM = "max Time:";
115
const char stats_item_5[] PROGMEM = "longitude :";
115
const char stats_item_5[] PROGMEM = "longitude :";
116
const char stats_item_6[] PROGMEM = "latitude:";
116
const char stats_item_6[] PROGMEM = "latitude:";
117
const char stats_item_7[] PROGMEM = "max current :";
117
const char stats_item_7[] PROGMEM = "max current :";
118
const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
118
const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
119
    stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
119
    stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
120
 
120
 
121
//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
121
//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
122
//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
122
//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
123
const char str_NE[] PROGMEM = "NE";
123
const char str_NE[] PROGMEM = "NE";
124
const char str_E[] PROGMEM = "E ";
124
const char str_E[] PROGMEM = "E ";
125
const char str_SE[] PROGMEM = "SE";
125
const char str_SE[] PROGMEM = "SE";
126
const char str_S[] PROGMEM = "S ";
126
const char str_S[] PROGMEM = "S ";
127
const char str_SW[] PROGMEM = "SW";
127
const char str_SW[] PROGMEM = "SW";
128
const char str_W[] PROGMEM = "W ";
128
const char str_W[] PROGMEM = "W ";
129
const char str_NW[] PROGMEM = "NW";
129
const char str_NW[] PROGMEM = "NW";
130
const char str_N[] PROGMEM = "N ";
130
const char str_N[] PROGMEM = "N ";
131
const char *directions[8] PROGMEM = {
131
const char *directions[8] PROGMEM = {
132
    str_NE,
132
    str_NE,
133
    str_E,
133
    str_E,
134
    str_SE,
134
    str_SE,
135
    str_S,
135
    str_S,
136
    str_SW,
136
    str_SW,
137
    str_W,
137
    str_W,
138
    str_NW,
138
    str_NW,
139
    str_N
139
    str_N
140
};
140
};
141
 
141
 
142
/* ##########################################################################
142
/* ##########################################################################
143
 * Different display mode function pointers
143
 * Different display mode function pointers
144
 * ##########################################################################*/
144
 * ##########################################################################*/
145
const char str_1[] PROGMEM = "default";
145
const char str_1[] PROGMEM = "default";
146
const char str_2[] PROGMEM = "minimal";
146
const char str_2[] PROGMEM = "minimal";
147
const char str_3[] PROGMEM = " jopl";
147
const char str_3[] PROGMEM = " jopl";
148
 
148
 
149
#if FCONLY
149
#if FCONLY
150
const displaymode_t fcdisplaymodes[] PROGMEM = {
150
const displaymode_t fcdisplaymodes[] PROGMEM = {
151
    { osd_fcmode_default, (char *)str_1},
151
    { osd_fcmode_default, (char *)str_1},
152
    { osd_fcmode_jopl, (char *)str_3}
152
    { osd_fcmode_jopl, (char *)str_3}
153
};
153
};
154
int (*osd_fcmode)(void) = (int(*)(void)) & osd_fcmode_default;
154
int (*osd_fcmode)(void) = (int(*)(void)) & osd_fcmode_default;
155
#else
155
#else
156
 
156
 
157
const displaymode_t ncdisplaymodes[] PROGMEM = {
157
const displaymode_t ncdisplaymodes[] PROGMEM = {
158
    { osd_ncmode_default, (char *)str_1},
158
    { osd_ncmode_default, (char *)str_1},
159
    { osd_ncmode_minimal, (char *)str_2}
159
    { osd_ncmode_minimal, (char *)str_2}
160
};
160
};
161
int (*osd_ncmode)(void) = (int(*)(void)) & osd_ncmode_default;
161
int (*osd_ncmode)(void) = (int(*)(void)) & osd_ncmode_default;
162
#endif
162
#endif
163
 
163
 
164
 
164
 
165
#endif
165
#endif
166
 
166
 
167
/* ##########################################################################
167
/* ##########################################################################
168
 * Interrupt handler
168
 * Interrupt handler
169
 * ##########################################################################*/
169
 * ##########################################################################*/
170
 
170
 
171
/**
171
/**
172
 * handler for undefined Interrupts
172
 * handler for undefined Interrupts
173
 * if not defined AVR will reset in case any unhandled interrupts occur
173
 * if not defined AVR will reset in case any unhandled interrupts occur
174
 */
174
 */
175
ISR(__vector_default) {
175
ISR(__vector_default) {
176
    asm("nop");
176
    asm("nop");
177
}
177
}
178
 
178
 
179
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
179
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
180
/* ##########################################################################
180
/* ##########################################################################
181
 * timer stuff
181
 * timer stuff
182
 * ##########################################################################*/
182
 * ##########################################################################*/
183
 
183
 
184
static uint8_t delay_spi = 0;
184
static uint8_t delay_spi = 0;
185
 
185
 
186
/**
186
/**
187
 * timer kicks in every 1000uS ^= 1ms
187
 * timer kicks in every 1000uS ^= 1ms
188
 */
188
 */
189
ISR(TIMER0_COMP_vect) {
189
ISR(TIMER0_COMP_vect) {
190
    if (!timer--) {
190
    if (!timer--) {
191
        uptime++;
191
        uptime++;
192
 
192
 
193
#if FCONLY
193
#if FCONLY
194
        if (debugData.Analog[12] > 10) {
194
        if (debugData.Analog[12] > 10) {
195
            flytime_fc++;
195
            flytime_fc++;
196
        }
196
        }
197
#endif
197
#endif
198
 
198
 
199
        timer = 999;
199
        timer = 999;
200
        seconds_since_last_data++;
200
        seconds_since_last_data++;
201
    }
201
    }
202
    // in case there is still some spi data to send do it now
202
    // in case there is still some spi data to send do it now
203
    // delay to give the slave some time to compute values
203
    // delay to give the slave some time to compute values
204
    if (spi_ready && icnt) {
204
    if (spi_ready && icnt) {
205
        if (!delay_spi--) {
205
        if (!delay_spi--) {
206
            delay_spi = 8;
206
            delay_spi = 8;
207
            spi_send_next();
207
            spi_send_next();
208
        }
208
        }
209
    }
209
    }
210
}
210
}
211
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
211
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
212
 
212
 
213
/* ##########################################################################
213
/* ##########################################################################
214
 * MAIN
214
 * MAIN
215
 * ##########################################################################*/
215
 * ##########################################################################*/
216
int main(void) {
216
int main(void) {
217
    // set up FLAGS
217
    // set up FLAGS
218
    COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;
218
    COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;
219
#if NTSC
219
#if NTSC
220
    COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC;
220
    COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC;
221
#endif
221
#endif
222
#if HUD
222
#if HUD
223
    COSD_FLAGS_MODES |= COSD_FLAG_HUD;
223
    COSD_FLAGS_MODES |= COSD_FLAG_HUD;
224
#endif
224
#endif
225
#if ARTHORIZON
225
#if ARTHORIZON
226
    COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON;
226
    COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON;
227
#endif
227
#endif
228
#if BIGVARIO
228
#if BIGVARIO
229
    COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO;
229
    COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO;
230
#endif
230
#endif
231
#if STATS
231
#if STATS
232
    COSD_FLAGS_MODES |= COSD_FLAG_STATS;
232
    COSD_FLAGS_MODES |= COSD_FLAG_STATS;
233
#endif
233
#endif
234
#if WARNINGS
234
#if WARNINGS
235
    COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS;
235
    COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS;
236
#endif
236
#endif
237
#if FCONLY
237
#if FCONLY
238
    COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE;
238
    COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE;
239
#endif
239
#endif
240
 
240
 
241
 
241
 
242
    // set up Atmega162 Ports
242
    // set up Atmega162 Ports
243
    DDRA |= ((1 << PA1) | (1 << PA2) | (1 << PA3) | (1 << PA5)); // PA1 output (/CS) | PA2 output (SDIN) |PA3 output (SCLK) | PA5 output (RESET)
243
    DDRA |= ((1 << PA1) | (1 << PA2) | (1 << PA3) | (1 << PA5)); // PA1 output (/CS) | PA2 output (SDIN) |PA3 output (SCLK) | PA5 output (RESET)
244
    MAX_CS_HIGH
244
    MAX_CS_HIGH
245
    MAX_SDIN_LOW
245
    MAX_SDIN_LOW
246
    MAX_SCLK_LOW
246
    MAX_SCLK_LOW
247
    MAX_RESET_HIGH
247
    MAX_RESET_HIGH
248
 
248
 
249
    DDRC |= ((1 << PC0) | (1 << PC1) | (1 << PC2) | (1 << PC3)); // PC0 output (LED1 gn) | PC1 output (LED2 rt) | PC2 output (LED3 gn) | PC3 output (LED4 rt)
249
    DDRC |= ((1 << PC0) | (1 << PC1) | (1 << PC2) | (1 << PC3)); // PC0 output (LED1 gn) | PC1 output (LED2 rt) | PC2 output (LED3 gn) | PC3 output (LED4 rt)
250
    LED1_OFF
250
    LED1_OFF
251
    LED2_OFF
251
    LED2_OFF
252
    LED3_OFF
252
    LED3_OFF
253
    LED4_OFF
253
    LED4_OFF
254
 
254
 
255
    DDRC &= ~((1 << PC4) | (1 << PC5)); // PC4 input(MODE) | PC5 input(SET)
255
    DDRC &= ~((1 << PC4) | (1 << PC5)); // PC4 input(MODE) | PC5 input(SET)
256
    PORTC |= ((1 << PC4) | (1 << PC5)); // pullup
256
    PORTC |= ((1 << PC4) | (1 << PC5)); // pullup
257
 
257
 
258
    // reset the MAX7456 to be sure any undefined states do no harm
258
    // reset the MAX7456 to be sure any undefined states do no harm
259
    MAX_RESET_LOW
259
    MAX_RESET_LOW
260
    MAX_RESET_HIGH
260
    MAX_RESET_HIGH
261
 
261
 
262
    // give the FC/NC and the maxim time to come up
262
    // give the FC/NC and the maxim time to come up
263
    LED4_ON
263
    LED4_ON
264
    _delay_ms(1000);
264
    _delay_ms(1000);
265
    LED4_OFF
265
    LED4_OFF
266
 
266
 
267
    //Pushing NEW chars to the MAX7456
267
    //Pushing NEW chars to the MAX7456
268
#if (WRITECHARS != -1)
268
#if (WRITECHARS != -1)
269
        // DISABLE display (VM0)
269
        // DISABLE display (VM0)
270
        spi_send_byte(0x00, 0b00000000);
270
        spi_send_byte(0x00, 0b00000000);
271
    learn_all_chars_pgm();
271
    learn_all_chars_pgm();
272
#else
272
#else
273
        // read out config for NTSC/PAL distinguishing
273
        // read out config for NTSC/PAL distinguishing
274
        get_eeprom(0);
274
        get_eeprom(0);
275
#endif
275
#endif
276
 
276
 
277
    // Setup Video Mode
277
    // Setup Video Mode
278
    if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {
278
    if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {
279
        // NTSC + enable display immediately (VM0)
279
        // NTSC + enable display immediately (VM0)
280
        spi_send_byte(0x00, 0b00001000);
280
        spi_send_byte(0x00, 0b00001000);
281
 
281
 
282
        bottom_line = 12;
282
        bottom_line = 12;
283
    } else {
283
    } else {
284
        // PAL + enable display immediately (VM0)
284
        // PAL + enable display immediately (VM0)
285
        spi_send_byte(0x00, 0b01001000);
285
        spi_send_byte(0x00, 0b01001000);
286
 
286
 
287
        bottom_line = 14;
287
        bottom_line = 14;
288
    }
288
    }
289
 
289
 
290
    /*// clear all display-mem (DMM)
290
    /*// clear all display-mem (DMM)
291
    spi_send_byte(0x04, 0b00000100);
291
    spi_send_byte(0x04, 0b00000100);
292
 
292
 
293
    // clearing takes 12uS according to maxim so lets wait longer
293
    // clearing takes 12uS according to maxim so lets wait longer
294
    _delay_us(120);
294
    _delay_us(120);
295
 
295
 
296
    // 8bit mode
296
    // 8bit mode
297
    spi_send_byte(0x04, 0b01000000);*/
297
    spi_send_byte(0x04, 0b01000000);*/
298
 
298
 
299
    // clear display memory and set to 8bit mode
299
    // clear display memory and set to 8bit mode
300
    clear();
300
    clear();
301
 
301
 
302
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
302
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
303
    // init usart
303
    // init usart
304
    usart1_init();
304
    usart1_init();
305
 
305
 
-
 
306
#ifdef SERIALDEBUGDRAW
-
 
307
#define USART0ENABLE 1
-
 
308
#endif
-
 
309
#ifdef ANTENNATRACKTEST
-
 
310
#define USART0ENABLE 1
-
 
311
#endif
306
 
312
 
307
 
-
 
308
#ifdef ANTENNATRACKTEST 
313
#ifdef USART0ENABLE
309
    usart0_init();
314
    usart0_init();
-
 
315
    usart0_puts("\x1B[2J\x1B[H");
-
 
316
    usart0_puts("Welcome\r\n");
310
#endif
317
#endif
311
 
318
 
312
    // keep serial port clean
319
    // keep serial port clean
313
    usart1_DisableTXD();
320
    usart1_DisableTXD();
314
 
321
 
315
    // set up timer
322
    // set up timer
316
    // CTC, Prescaler /64
323
    // CTC, Prescaler /64
317
    TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00);
324
    TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00);
318
 
325
 
319
    TCNT0 = 0;
326
    TCNT0 = 0;
320
    OCR0 = 250;
327
    OCR0 = 250;
321
 
328
 
322
    // enable timer output compare interrupt
329
    // enable timer output compare interrupt
323
    TIMSK &= ~(1 << TOIE0);
330
    TIMSK &= ~(1 << TOIE0);
324
    TIMSK |= (1 << OCIE0);
331
    TIMSK |= (1 << OCIE0);
325
 
332
 
326
    // SPI setup
333
    // SPI setup
327
    DDRD |= (1 << PD2); // PD2 output (INT0)
334
    DDRD |= (1 << PD2); // PD2 output (INT0)
328
    SpiMasterInit();
335
    SpiMasterInit();
329
 
336
 
330
    // PPM detection setup
337
    // PPM detection setup
331
    ppm_init();
338
    ppm_init();
332
 
339
 
333
    // enable interrupts
340
    // enable interrupts
334
    sei();
341
    sei();
335
 
342
 
336
 
343
 
337
    //write_ascii_string(2,7, " CaScAdE");
344
    //write_ascii_string(2,7, " CaScAdE");
338
    //write_ascii_string(2,8, "is TESTING his open source");
345
    //write_ascii_string(2,8, "is TESTING his open source");
339
    //write_ascii_string(2,9, "EPi OSD Firmware");
346
    //write_ascii_string(2,9, "EPi OSD Firmware");
340
 
347
 
341
    // we are ready
348
    // we are ready
342
    LED3_ON
349
    LED3_ON
343
 
350
 
344
 
351
 
345
    // clear serial screen
352
    // clear serial screen
346
    //usart1_puts("\x1B[2J\x1B[H");
353
    //usart1_puts("\x1B[2J\x1B[H");
347
 
354
 
348
    COSD_FLAGS_RUNTIME &= ~COSD_DATARECEIVED;
355
    COSD_FLAGS_RUNTIME &= ~COSD_DATARECEIVED;
349
#if !FCONLY
356
#if !FCONLY
350
    usart1_request_nc_uart();
357
    usart1_request_nc_uart();
351
#endif
358
#endif
352
 
359
 
353
    while (1) {
360
    while (1) {
354
        // in case SPI is ready and there is nothing to send right now
361
        // in case SPI is ready and there is nothing to send right now
355
        if (!icnt && spi_ready) {
362
        if (!icnt && spi_ready) {
356
            // correct transfer ends with d (done)
363
            // correct transfer ends with d (done)
357
            if (SPI_buffer.buffer.chk == 'd') {
364
            if (SPI_buffer.buffer.chk == 'd') {
358
                ampere = SPI_buffer.data.ampere;
365
                ampere = SPI_buffer.data.ampere;
359
                ampere_wasted = SPI_buffer.data.mah;
366
                ampere_wasted = SPI_buffer.data.mah;
360
                s_volt = SPI_buffer.data.volt;
367
                s_volt = SPI_buffer.data.volt;
361
 
368
 
362
                // if this is the first receival we should print the small A
369
                // if this is the first receival we should print the small A
363
                if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {
370
                if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {
364
                    clear();
371
                    clear();
365
                    COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
372
                    COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
366
                    // update this flag
373
                    // update this flag
367
                    COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC;
374
                    COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC;
368
                }
375
                }
369
            } else {
376
            } else {
370
                // update flags
377
                // update flags
371
                COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;
378
                COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;
372
            }
379
            }
373
            StartTransfer(9);
380
            StartTransfer(9);
374
        }
381
        }
375
        if (rxd_buffer_locked) {
382
        if (rxd_buffer_locked) {
376
#if FCONLY
383
#if FCONLY
377
            if (rxd_buffer[2] == 'D') { // FC Data
384
            if (rxd_buffer[2] == 'D') { // FC Data
378
                Decode64();
385
                Decode64();
379
                debugData = *((str_DebugOut*)pRxData);
386
                debugData = *((str_DebugOut*)pRxData);
380
 
387
 
381
                // init on first data retrival, distinguished by last battery :)
388
                // init on first data retrival, distinguished by last battery :)
382
                if (last_UBat == 255) {
389
                if (last_UBat == 255) {
383
                    if (debugData.Analog[9] > 40) {
390
                    if (debugData.Analog[9] > 40) {
384
                        // fix for min_UBat
391
                        // fix for min_UBat
385
                        min_UBat = debugData.Analog[9];
392
                        min_UBat = debugData.Analog[9];
386
                        last_UBat = debugData.Analog[9];
393
                        last_UBat = debugData.Analog[9];
387
                        init_cosd(last_UBat);
394
                        init_cosd(last_UBat);
388
                    }
395
                    }
389
                } else {
396
                } else {
390
                    osd_fcmode();
397
                    osd_fcmode();
391
                }
398
                }
392
                seconds_since_last_data = 0;
399
                seconds_since_last_data = 0;
393
            }
400
            }
394
#else
401
#else
395
            if (rxd_buffer[2] == 'O') { // NC OSD Data
402
            if (rxd_buffer[2] == 'O') { // NC OSD Data
396
                Decode64();
403
                Decode64();
397
                naviData = *((NaviData_t*)pRxData);
404
                naviData = *((NaviData_t*)pRxData);
398
 
405
 
399
                // init on first data retrival, distinguished by last battery :)
406
                // init on first data retrival, distinguished by last battery :)
400
                if (last_UBat == 255) {
407
                if (last_UBat == 255) {
401
                    if (naviData.UBat > 40) {
408
                    if (naviData.UBat > 40) {
402
                        // fix for min_UBat
409
                        // fix for min_UBat
403
                        min_UBat = naviData.UBat;
410
                        min_UBat = naviData.UBat;
404
                        last_UBat = naviData.UBat;
411
                        last_UBat = naviData.UBat;
405
                        init_cosd(last_UBat);
412
                        init_cosd(last_UBat);
406
                    }
413
                    }
407
                } else {
414
                } else {
408
                    osd_ncmode();
415
                    osd_ncmode();
409
                }
416
                }
410
                //seconds_since_last_data = 0;
417
                //seconds_since_last_data = 0;
411
            }
418
            }
412
#endif
419
#endif
413
 
420
 
414
            // ONLY FOR TESTING
421
            // ONLY FOR TESTING
415
#ifdef ANTENNATRACKTEST 
422
#ifdef ANTENNATRACKTEST 
416
#include <stdlib.h>
423
#include <stdlib.h>
417
            //#include <float.h>
424
            //#include <float.h>
418
            //#include <math.h>
425
            //#include <math.h>
419
 
426
 
420
            //usart0_puts("\x1B[2J\x1B[H");
427
            //usart0_puts("\x1B[2J\x1B[H");
421
 
428
 
422
 
429
 
423
            /*
430
            /*
424
            naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100)
431
            naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100)
425
            naviData.HomePositionDeviation.Bearing = 35; // 35�
432
            naviData.HomePositionDeviation.Bearing = 35; // 35�
426
            altimeter_offset = 50; // 50m start height
433
            altimeter_offset = 50; // 50m start height
427
            naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000)
434
            naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000)
428
             */
435
             */
429
 
436
 
430
            static char conv_array[7];
437
            static char conv_array[7];
431
 
438
 
432
            // should be float
439
            // should be float
433
            int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset);
440
            int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset);
434
 
441
 
435
            // we need math.h and some faster AVR :)
442
            // we need math.h and some faster AVR :)
436
            //tanheight = rad2deg(atan(tanheight));
443
            //tanheight = rad2deg(atan(tanheight));
437
 
444
 
438
            itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10);
445
            itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10);
439
            usart0_puts("Bearing: ");
446
            usart0_puts("Bearing: ");
440
            usart0_puts(conv_array);
447
            usart0_puts(conv_array);
441
            usart0_puts("\tHeightangle: ");
448
            usart0_puts("\tHeightangle: ");
442
            itoa(tanheight, conv_array, 10);
449
            itoa(tanheight, conv_array, 10);
443
            usart0_puts(conv_array);
450
            usart0_puts(conv_array);
444
            usart0_puts("\r\n");
451
            usart0_puts("\r\n");
445
#endif
452
#endif
446
 
453
 
447
 
454
 
448
            rxd_buffer_locked = 0;
455
            rxd_buffer_locked = 0;
449
        }
456
        }
450
        // handle keypress
457
        // handle keypress
451
        if (s1_pressed()) {
458
        if (s1_pressed()) {
452
            config_menu();
459
            config_menu();
453
        }
460
        }
454
        // reqest data untill there has been some answer
461
        // reqest data untill there has been some answer
455
        if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED) ||
462
        if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED) ||
456
            // or while not in passive mode
463
            // or while not in passive mode
457
            (seconds_since_last_data > 0 && !(COSD_FLAGS_CONFIG & COSD_FLAG_PASSIVE))) {
464
            (seconds_since_last_data > 0 && !(COSD_FLAGS_CONFIG & COSD_FLAG_PASSIVE))) {
458
            usart1_EnableTXD();
465
            usart1_EnableTXD();
459
            //usart1_puts_pgm(PSTR("zu alt\r\n"));
466
            //usart1_puts_pgm(PSTR("zu alt\r\n"));
460
#if FCONLY
467
#if FCONLY
461
            // request data ever 100ms from FC;
468
            // request data ever 100ms from FC;
462
            //usart1_request_mk_data(0, 'd', 100);
469
            //usart1_request_mk_data(0, 'd', 100);
463
            usart1_puts_pgm(PSTR(REQUEST_DBG_DATA));
470
            usart1_puts_pgm(PSTR(REQUEST_DBG_DATA));
464
#else                   
471
#else                   
465
            // request OSD Data from NC every 100ms
472
            // request OSD Data from NC every 100ms
466
            //usart1_request_mk_data(1, 'o', 100);
473
            //usart1_request_mk_data(1, 'o', 100);
467
            usart1_puts_pgm(PSTR(REQUEST_OSD_DATA));
474
            usart1_puts_pgm(PSTR(REQUEST_OSD_DATA));
468
 
475
 
469
            // and disable debug...
476
            // and disable debug...
470
            //usart1_request_mk_data(0, 'd', 0);
477
            //usart1_request_mk_data(0, 'd', 0);
471
#endif
478
#endif
472
            // reset last time counter
479
            // reset last time counter
473
            seconds_since_last_data = 0;
480
            seconds_since_last_data = 0;
474
            usart1_DisableTXD();
481
            usart1_DisableTXD();
475
 
482
 
476
            // do not spam too much
483
            // do not spam too much
477
            if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED)) {
484
            if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED)) {
478
                _delay_ms(300);
485
                _delay_ms(300);
479
            }
486
            }
480
        }
487
        }
481
    }
488
    }
482
 
489
 
483
#else // character flashing...
490
#else // character flashing...
484
    clear();
491
    clear();
485
    write_all_chars();
492
    write_all_chars();
486
    LED1_ON
493
    LED1_ON
487
    LED2_ON
494
    LED2_ON
488
    LED3_ON
495
    LED3_ON
489
    LED4_ON
496
    LED4_ON
490
    while (1) {
497
    while (1) {
491
 
498
 
492
    };
499
    };
493
#endif
500
#endif
494
 
501
 
495
 
502
 
496
    return 0;
503
    return 0;
497
}
504
}
498
 
505