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Rev	Author	Line No.	Line
321	cascade	1	/****************************************************************************
		2	* Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje *
		3	* admiralcascade@gmail.com *
		4	* Project-URL: http://www.mylifesucks.de/oss/c-osd/ *
		5	* *
		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 *
		8	* the Free Software Foundation; either version 2 of the License. *
		9	* *
		10	* This program is distributed in the hope that it will be useful, *
		11	* but WITHOUT ANY WARRANTY; without even the implied warranty of *
		12	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
		13	* GNU General Public License for more details. *
		14	* *
		15	* You should have received a copy of the GNU General Public License *
		16	* along with this program; if not, write to the *
		17	* Free Software Foundation, Inc., *
		18	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
		19	* *
		20	* *
		21	* Credits to: *
		22	* Holger Buss & Ingo Busker from mikrokopter.de for the MK project *
		23	* Gregor "killagreg" Stobrawa for making the MK code readable *
		24	* Klaus "akku" Buettner for the hardware *
		25	* Manuel "KeyOz" Schrape for explaining the MK protocol to me *
		26	****************************************************************************/
		27
		28	#include <avr/io.h>
		29	#include <avr/interrupt.h>
		30	#include <util/delay.h>
346	cascade	31	#include <avr/pgmspace.h>
		32	#include "main.h"
		33	#include "max7456_software_spi.h"
331	cascade	34	#include "usart1.h"
321	cascade	35
		36	/* TODO:
		37	* - verifiy correctness of values
324	cascade	38	* - clean up code :)
321	cascade	39	*/
		40
329	cascade	41	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
346	cascade	42	// data structs not needed for character flashin
331	cascade	43	#include "mk-data-structs.h"
321	cascade	44
		45	/* ##########################################################################
		46	* global definitions and global vars
		47	* ##########################################################################*/
346	cascade	48
321	cascade	49	volatile uint16_t setsReceived = 0;
		50
		51	volatile NaviData_t naviData;
		52	volatile DebugOut_t debugData;
		53
		54	// cache old vars for blinking attribute, checkup is faster than full
		55	// attribute write each time
		56	volatile uint8_t last_UBat = 255;
		57	volatile uint8_t last_RC_Quality = 255;
		58
		59	// 16bit should be enough, normal LiPos don't last that long
		60	volatile uint16_t uptime = 0;
		61	volatile uint16_t timer = 0;
		62
331	cascade	63	// remember last time data was received
		64	volatile uint8_t seconds_since_last_data = 0;
		65
346	cascade	66	// store stats description in progmem to save space
		67	char stats_item_0[] PROGMEM = "max Altitude:";
		68	char stats_item_1[] PROGMEM = "max Speed :";
		69	char stats_item_2[] PROGMEM = "max Distance:";
		70	char stats_item_3[] PROGMEM = "min voltage :";
		71	char stats_item_4[] PROGMEM = "max time :";
379	cascade	72	char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
		73	stats_item_3, stats_item_4};
346	cascade	74
		75	// store more fixed strings in progmen
379	cascade	76	char ON[] PROGMEM = "ON ";
346	cascade	77	char OFF[] PROGMEM = "OFF";
		78
379	cascade	79	// big vario arrays
		80	char vario_00[5] PROGMEM = {0x00, 0x00, 0xc2, 0xff, 0xff};
		81	char vario_01[5] PROGMEM = {0x00, 0x00, 0xc2, 0xff, 0xc0};
		82	char vario_02[5] PROGMEM = {0x00, 0x00, 0xc2, 0xff, 0xc1};
		83	char vario_03[5] PROGMEM = {0x00, 0x00, 0xc2, 0xff, 0x00};
		84	char vario_04[5] PROGMEM = {0x00, 0x00, 0xc2, 0xc0, 0x00};
		85	char vario_05[5] PROGMEM = {0x00, 0x00, 0xc2, 0xc1, 0x00};
		86	char vario_06[5] PROGMEM = {0x00, 0x00, 0xc2, 0x00, 0x00};
		87	char vario_07[5] PROGMEM = {0x00, 0x00, 0xbb, 0x00, 0x00};
		88	char vario_08[5] PROGMEM = {0x00, 0x00, 0xc3, 0x00, 0x00};
		89	char vario_09[5] PROGMEM = {0x00, 0xc4, 0xc3, 0x00, 0x00};
		90	char vario_10[5] PROGMEM = {0x00, 0xc5, 0xc3, 0x00, 0x00};
		91	char vario_11[5] PROGMEM = {0x00, 0xff, 0xc3, 0x00, 0x00};
		92	char vario_12[5] PROGMEM = {0xc4, 0xff, 0xc3, 0x00, 0x00};
		93	char vario_13[5] PROGMEM = {0xc5, 0xff, 0xc3, 0x00, 0x00};
		94	char vario_14[5] PROGMEM = {0xff, 0xff, 0xc3, 0x00, 0x00};
		95	char* vario_pnt[15] PROGMEM = {vario_00, vario_01, vario_02, vario_03, vario_04,
		96	vario_05, vario_06, vario_07, vario_08,
		97	vario_09, vario_10, vario_11, vario_12,
		98	vario_13, vario_14};
		99
329	cascade	100	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
326	cascade	101
		102	// general PAL\|NTSC distingiusch stuff
		103	uint8_t top_line = 1;
		104	uint8_t bottom_line = 14;
		105
		106	// Flags
		107	uint8_t COSD_FLAGS = 0;
		108
321	cascade	109	/* ##########################################################################
326	cascade	110	* debounce buttons
		111	* ##########################################################################*/
		112	int s1_pressed() {
		113	if (S1_PRESSED) {
		114	_delay_ms(25);
		115	if (S1_PRESSED) return 1;
		116	}
		117	return 0;
		118	}
		119
		120	int s2_pressed() {
		121	if (S2_PRESSED) {
		122	_delay_ms(25);
		123	if (S2_PRESSED) return 1;
		124	}
		125	return 0;
		126	}
		127
321	cascade	128
329	cascade	129	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
321	cascade	130
		131	/**
331	cascade	132	* serial support
321	cascade	133	*/
346	cascade	134	//#include "usart1.c"
321	cascade	135
		136
		137	/* ##########################################################################
		138	* timer stuff
		139	* ##########################################################################*/
		140
331	cascade	141	/**
		142	* timer kicks in every 1000uS ^= 1ms
321	cascade	143	*/
		144	ISR(TIMER0_OVF_vect) {
385	cascade	145	OCR0 = 15; // preload
321	cascade	146	if (!timer--) {
		147	uptime++;
		148	timer = 999;
331	cascade	149	seconds_since_last_data++;
321	cascade	150	}
		151	}
		152
		153	/* ##########################################################################
		154	* compass stuff
		155	* ##########################################################################*/
		156
		157	/**
		158	* convert the <heading> gotton from NC into an index
		159	*/
		160	uint8_t heading_conv(uint16_t heading) {
		161	if (heading > 23 && heading < 68) {
		162	//direction = "NE";
		163	return 0;
		164	} else if (heading > 67 && heading < 113) {
		165	//direction = "E ";
		166	return 1;
		167	} else if (heading > 112 && heading < 158) {
		168	//direction = "SE";
		169	return 2;
		170	} else if (heading > 157 && heading < 203) {
		171	//direction = "S ";
		172	return 3;
		173	} else if (heading > 202 && heading < 248) {
		174	//direction = "SW";
		175	return 4;
		176	} else if (heading > 247 && heading < 293) {
		177	//direction = "W ";
		178	return 5;
		179	} else if (heading > 292 && heading < 338) {
		180	//direction = "NW";
		181	return 6;
		182	}
		183	//direction = "N ";
		184	return 7;
		185	}
		186
		187	/**
377	cascade	188	* convert the <heading> gotton from NC into a more
		189	* precise index
		190	*/
		191	uint8_t heading_fine_conv(uint16_t heading) {
386	cascade	192	heading = ((heading * 10) + 113) % 3600;
		193	return (heading / 225);
377	cascade	194	}
		195
		196	/**
321	cascade	197	* draw a compass rose at <x>/<y> for <heading>
		198	*/
		199	void draw_compass(uint8_t x, uint8_t y, uint16_t heading) {
		200	//char* rose = "---N---O---S---W---N---O---S---W---N---O---S---W";
		201	char rose[48] = {216, 215, 216, 211, 216, 215, 216, 213, 216, 215, 216, 212,
		202	216, 215, 216, 214, 216, 215, 216, 211, 216, 215, 216, 213,
		203	216, 215, 216, 212, 216, 215, 216, 214, 216, 215, 216, 211,
		204	216, 215, 216, 213, 216, 215, 216, 212, 216, 215, 216, 214};
		205	// the center is char 19 (north), we add the current heading in 8th
		206	// which would be 22.5 degrees, but float would bloat up the code
		207	// and *10 / 225 would take ages... so we take the uncorrect way
		208	uint8_t front = 19 + (heading / 22);
		209	for (uint8_t i = 0; i < 9; i++) {
		210	write_char_xy(x++, y, rose[front - 4 + i]);
		211	}
		212	}
		213
		214	/* ##########################################################################
377	cascade	215	* battery index
		216	* ##########################################################################*/
		217	/**
		218	* draw a battery symbol at <x>/<y> according to <voltage>
		219	*/
		220	void draw_battery(uint8_t x, uint8_t y, uint16_t voltage) {
		221	uint8_t percent = (100* (voltage - UBAT_WRN) / (UBAT_MAX - UBAT_WRN));
		222	if (percent > 100) percent = 100;
378	cascade	223	if (voltage < UBAT_WRN) percent = 0;
377	cascade	224	write_char_xy(x, y, 0x9d - (percent * 13 / 100));
		225	//write_ndigit_number_u(x, y-1, percent * 13 / 100, 100, 0);
		226	}
		227
379	cascade	228	/* ##########################################################################
		229	* variometer
		230	* ##########################################################################*/
377	cascade	231	/**
		232	* draw variometer arrows at <x>/<y> according to <variometer>
		233	*/
		234	void draw_variometer(uint8_t x, uint8_t y, int16_t variometer) {
		235	if (variometer == 0) {
		236	write_char_xy(x, y, 0xbb); // plain line
		237	} else if (variometer > 0) { // gain height
		238	switch (variometer / 5){
		239	case 0:
383	cascade	240	//write_char_xy(x, y, 0xba); // smallest arrow up
		241	write_char_xy(x, y, 0x70); // one arrow up
377	cascade	242	break;
		243	case 1:
383	cascade	244	//write_char_xy(x, y, 0xb9); // small arrow up
		245	write_char_xy(x, y, 0x71); // two arrows up
377	cascade	246	break;
		247	case 2:
383	cascade	248	//write_char_xy(x, y, 0xb8); // large arrow up
		249	write_char_xy(x, y, 0x72); // three arrows up
377	cascade	250	break;
		251	default:
383	cascade	252	//write_char_xy(x, y, 0xb7); // largest arrow up
		253	write_char_xy(x, y, 0x73); // three black arrows up
377	cascade	254	}
		255	} else { // sink
		256	switch (variometer / -5){
		257	case 0:
383	cascade	258	//write_char_xy(x, y, 0xbc); // smallest arrow down
		259	write_char_xy(x, y, 0x77); // one arrow down
377	cascade	260	break;
		261	case 1:
383	cascade	262	//write_char_xy(x, y, 0xbd); // small arrow down
		263	write_char_xy(x, y, 0x76); // two arrows down
377	cascade	264	break;
		265	case 2:
383	cascade	266	//write_char_xy(x, y, 0xbe); // large arrow down
		267	write_char_xy(x, y, 0x75); // three arrows down
377	cascade	268	break;
		269	default:
383	cascade	270	//write_char_xy(x, y, 0xbf); // largest arrow down
		271	write_char_xy(x, y, 0x74); // three black arrows down
377	cascade	272	}
		273	}
		274	}
		275
379	cascade	276	/**
		277	* draw a bigger vario with middle at <x>/<y> acording to <variometer>
		278	*/
		279	void draw_big_variometer(uint8_t x, uint8_t y, int16_t variometer) {
		280	int16_t index = 7 + variometer;
		281	if (index > 14) index = 14;
		282	else if (index < 0) index = 0;
		283
		284	// TODO: why does write_string_pgm_down(x, y-2, vario_pnt[index], 5);
		285	// not work??? WTF?!
		286	switch (index) {
		287	case 0: write_string_pgm_down(x, y-2, vario_pnt[0], 5);
		288	break;
		289	case 1: write_string_pgm_down(x, y-2, vario_pnt[1], 5);
		290	break;
		291	case 2: write_string_pgm_down(x, y-2, vario_pnt[2], 5);
		292	break;
		293	case 3: write_string_pgm_down(x, y-2, vario_pnt[3], 5);
		294	break;
		295	case 4: write_string_pgm_down(x, y-2, vario_pnt[4], 5);
		296	break;
		297	case 5: write_string_pgm_down(x, y-2, vario_pnt[5], 5);
		298	break;
		299	case 6: write_string_pgm_down(x, y-2, vario_pnt[6], 5);
		300	break;
		301	case 7: write_string_pgm_down(x, y-2, vario_pnt[7], 5);
		302	break;
		303	case 8: write_string_pgm_down(x, y-2, vario_pnt[8], 5);
		304	break;
		305	case 9: write_string_pgm_down(x, y-2, vario_pnt[9], 5);
		306	break;
		307	case 10: write_string_pgm_down(x, y-2, vario_pnt[10], 5);
		308	break;
		309	case 11: write_string_pgm_down(x, y-2, vario_pnt[11], 5);
		310	break;
		311	case 12: write_string_pgm_down(x, y-2, vario_pnt[12], 5);
		312	break;
		313	case 13: write_string_pgm_down(x, y-2, vario_pnt[13], 5);
		314	break;
		315	default: write_string_pgm_down(x, y-2, vario_pnt[14], 5);
		316	}
		317	}
		318
377	cascade	319	/* ##########################################################################
321	cascade	320	* artificial horizon
		321	* ##########################################################################*/
		322	// remember last time displayed values
		323	int8_t old_af_x = -1, old_af_y = -1;
		324
		325	/**
		326	* draw roll und nick indicators (could be enhanced to full artificial horizon)
		327	* from line <firstline> to <listlines> for given <nick> and <roll> values
		328	*/
		329	void draw_artificial_horizon(uint8_t firstline, uint8_t lastline, int16_t nick, int16_t roll) {
		330	char noodle[5] = {225, 225, 226, 227, 227};
		331	uint8_t center_x = 15;
		332	uint8_t center_y = lastline - firstline;
		333	center_y = 7;
		334	write_char_xy(center_x,center_y,228);
		335	uint8_t cpos, nicky, rollx;
		336
		337	// which line
		338	int8_t ypos = nick / 20;
		339	// which character from the array?
		340	if (nick < 0) {
		341	cpos = -1((nick - (ypos 20))/4);
		342	ypos--;
		343	} else cpos = 4-((nick - (ypos * 20))/4);
		344	if (cpos > 4) cpos = 4;
		345
		346	nicky = center_y - ypos;
		347	if (nicky > lastline) nicky = lastline;
		348	else if (nicky < firstline) nicky = firstline;
		349
		350	// ensure roll-borders
		351	rollx = (roll / 8)+15;
		352	if (rollx < 2) rollx = 2;
		353	else if (rollx > 28) rollx = 28;
		354
		355
		356	// clear roll
		357	if (old_af_x != rollx && old_af_x >= 0) {
		358	write_char_xy(old_af_x,13,0);
		359	}
		360
		361	// clear nick
		362	if (old_af_y != nicky && old_af_y >= 0) {
		363	write_char_xy(center_x-1,old_af_y,0);
		364	write_char_xy(center_x+1,old_af_y,0);
		365	}
		366
		367
		368	// draw nick
		369	write_char_xy(center_x-1,nicky,noodle[cpos]);
		370	write_char_xy(center_x+1,nicky,noodle[cpos]);
		371
		372	// draw roll
		373	write_char_xy(rollx,lastline,229);
		374
		375	// update old vars
		376	old_af_x = rollx;
		377	old_af_y = nicky;
		378
		379	// debug numbers
		380	//write_3digit_number_u(20,6,cpos);
		381	//write_number_s(20,7,ypos);
		382	//write_number_s(0,7,nick);
		383	//write_number_s(18,11,roll);
		384	}
		385
326	cascade	386	/* ##########################################################################
		387	* A simple config menu for the flags
		388	* ##########################################################################*/
339	cascade	389
		390	/**
		391	* helper function for menu updating
		392	*/
		393	void config_menu_drawings(uint8_t chosen) {
		394	// clear prevoius _cursor_
383	cascade	395	write_ascii_string(3, (chosen + 5) % 8, " ");
339	cascade	396	// draw current _cursor_
383	cascade	397	write_ascii_string(3, chosen + 5, ">");
339	cascade	398	if (COSD_FLAGS & COSD_FLAG_HUD) {
383	cascade	399	write_ascii_string_pgm(23, 5, ON);
		400	} else {
		401	write_ascii_string_pgm(23, 5, OFF);
		402	}
		403	if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
346	cascade	404	write_ascii_string_pgm(23, 6, ON);
339	cascade	405	} else {
383	cascade	406	write_ascii_string_pgm(23, 6, OFF);
339	cascade	407	}
383	cascade	408	if (COSD_FLAGS & COSD_FLAG_BIGVARIO) {
346	cascade	409	write_ascii_string_pgm(23, 7, ON);
339	cascade	410	} else {
383	cascade	411	write_ascii_string_pgm(23, 7, OFF);
339	cascade	412	}
		413	if (COSD_FLAGS & COSD_FLAG_STATS) {
346	cascade	414	write_ascii_string_pgm(23, 8, ON);
339	cascade	415	} else {
346	cascade	416	write_ascii_string_pgm(23, 8, OFF);
339	cascade	417	}
		418	if (COSD_FLAGS & COSD_FLAG_WARNINGS) {
346	cascade	419	write_ascii_string_pgm(23, 9, ON);
339	cascade	420	} else {
346	cascade	421	write_ascii_string_pgm(23, 9, OFF);
339	cascade	422	}
		423	}
		424
		425	/**
346	cascade	426	* some sort of clicking response in the menu
		427	*/
		428	void config_menu_doclick(uint8_t chosen, char** menu) {
383	cascade	429	write_ascii_string(4, chosen + 5, "DONE ");
346	cascade	430	_delay_ms(1000);
383	cascade	431	write_ascii_string(4, chosen + 5, menu[chosen]);
346	cascade	432	}
		433
		434	/**
339	cascade	435	* a simple config menu tryout
		436	*/
326	cascade	437	void config_menu(void) {
		438	// disable interrupts (makes the menu more smoothely)
		439	cli();
321	cascade	440
326	cascade	441	// clear screen
		442	clear();
		443
383	cascade	444	char* menu[9] = {"Full HUD",
339	cascade	445	"Art.Horizon in HUD",
383	cascade	446	"Big Vario bar",
339	cascade	447	"Statistics",
		448	"Warnings", // TODO: do it!
346	cascade	449	"Reset uptime",
		450	"Request OSD-data",
		451	"Disable Debug-data",
339	cascade	452	"EXIT"};
326	cascade	453
		454	uint8_t inmenu = 1;
		455	uint8_t chosen = 0;
339	cascade	456	write_ascii_string(6, 2, "C-OSD Config Menu");
326	cascade	457
		458	// wait a bit before doing stuff so user has chance to release button
		459	_delay_ms(250);
		460
383	cascade	461	write_ascii_string(4, 5, menu[0]);
		462	write_ascii_string(4, 6, menu[1]);
		463	write_ascii_string(4, 7, menu[2]);
		464	write_ascii_string(4, 8, menu[3]);
		465	write_ascii_string(4, 9, menu[4]);
		466	write_ascii_string(4, 10, menu[5]);
		467	write_ascii_string(4, 11, menu[6]);
		468	write_ascii_string(4, 12, menu[7]);
		469	write_ascii_string(4, 13, menu[8]);
339	cascade	470
		471	config_menu_drawings(chosen);
		472
326	cascade	473	while (inmenu) {
		474	if (s2_pressed()) {
383	cascade	475	write_ascii_string(3, chosen+5, " ");
		476	chosen = (chosen + 1) % 9;
		477	write_ascii_string(3, chosen+5, ">");
326	cascade	478	_delay_ms(500);
		479	} else if (s1_pressed()) {
		480	switch (chosen) {
339	cascade	481	case 0: // full HUD
		482	COSD_FLAGS ^= COSD_FLAG_HUD;
		483	config_menu_drawings(chosen);
326	cascade	484	break;
339	cascade	485	case 1: // art horizon
		486	COSD_FLAGS ^= COSD_FLAG_ARTHORIZON;
		487	config_menu_drawings(chosen);
326	cascade	488	break;
383	cascade	489	case 2: // big vario
		490	COSD_FLAGS ^= COSD_FLAG_BIGVARIO;
		491	config_menu_drawings(chosen);
		492	break;
		493	case 3: // statistics
339	cascade	494	COSD_FLAGS ^= COSD_FLAG_STATS;
		495	config_menu_drawings(chosen);
326	cascade	496	break;
383	cascade	497	case 4: // warnings
339	cascade	498	COSD_FLAGS ^= COSD_FLAG_WARNINGS;
		499	config_menu_drawings(chosen);
		500	break;
383	cascade	501	case 5: // reset uptime
346	cascade	502	uptime = 0;
		503	config_menu_doclick(chosen, menu);
		504	break;
383	cascade	505	case 6: // re-request OSD data
346	cascade	506	// request OSD Data from NC every 100ms
		507	usart1_request_mk_data(1, 'o', 100);
		508	config_menu_doclick(chosen, menu);
		509	break;
383	cascade	510	case 7: // disable debug data
346	cascade	511	// disable sending of debug data
		512	// may result in smoother ddata display
		513	usart1_request_mk_data(0, 'd', 0);
		514	config_menu_doclick(chosen, menu);
		515	break;
383	cascade	516	case 8: // exit
339	cascade	517	inmenu = 0;
		518	break;
326	cascade	519	}
339	cascade	520	_delay_ms(250);
326	cascade	521	}
		522	}
		523
		524	// clear screen up again
		525	clear();
		526
		527	// update flags to paint display again if needed
		528	COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
		529
		530	// enable interrupts again
		531	sei();
		532	}
		533
329	cascade	534	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
321	cascade	535	/* ##########################################################################
		536	* MAIN
		537	* ##########################################################################*/
		538	int main(void) {
339	cascade	539	// set up FLAGS, compiler should flatten this one
		540	COSD_FLAGS = (NTSC << 0);
		541	COSD_FLAGS \|= (HUD << 1);
		542	COSD_FLAGS \|= (ARTHORIZON << 2);
383	cascade	543	COSD_FLAGS \|= (BIGVARIO << 3);
		544	COSD_FLAGS \|= (STATS << 4);
		545	COSD_FLAGS \|= (WARNINGS << 5);
324	cascade	546
339	cascade	547	// set up Atmega162 Ports
321	cascade	548	DDRA \|= (1 << PA1); // PA1 output (/CS)
		549	MAX_CS_HIGH
		550	DDRA \|= (1 << PA2); // PA2 output (SDIN)
		551	MAX_SDIN_LOW
		552	DDRA \|= (1 << PA3); // PA3 output (SCLK)
		553	MAX_SCLK_LOW
		554	DDRA \|= (1 << PA5); // PA5 output (RESET)
		555	MAX_RESET_HIGH
		556
		557	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)
		558	LED1_OFF
		559	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)
		560	LED2_OFF
		561	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)
		562	LED3_OFF
		563	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)
		564	LED4_OFF
		565
		566	DDRC &= ~(1 << PC4); // PC4 input (MODE)
		567	PORTC \|= (1 << PC4); // pullup
		568	DDRC &= ~(1 << PC5); // PC5 input (SET)
		569	PORTC \|= (1 << PC5); // pullup
		570
339	cascade	571	// set up top and bottom lines
		572	if (COSD_FLAGS & COSD_FLAG_NTSC) {
		573	bottom_line = 12;
		574	} else {
		575	bottom_line = 14;
		576	}
326	cascade	577
339	cascade	578	// reset the MAX7456 to be sure any undefined states do no harm
321	cascade	579	MAX_RESET_LOW
		580	MAX_RESET_HIGH
		581
		582	// give the FC/NC and the maxim time to come up
		583	LED4_ON
		584	_delay_ms(2000);
		585
		586	LED4_OFF
		587
331	cascade	588
339	cascade	589	//Pushing NEW chars to the MAX7456
329	cascade	590	#if (WRITECHARS != -1)
339	cascade	591	// DISABLE display (VM0)
321	cascade	592	spi_send_byte(0x00, 0b00000000);
339	cascade	593	#include "characters.c"
321	cascade	594
331	cascade	595	#endif
321	cascade	596
339	cascade	597	// Setup Video Mode
		598	if (COSD_FLAGS & COSD_FLAG_NTSC) {
		599	// NTSC + enable display immediately (VM0)
		600	spi_send_byte(0x00, 0b00001000);
		601	} else {
		602	// PAL + enable display immediately (VM0)
		603	spi_send_byte(0x00, 0b01001000);
		604	}
321	cascade	605
		606	// clear all display-mem (DMM)
		607	spi_send_byte(0x04, 0b00000100);
		608
		609	// clearing takes 12uS according to maxim so lets wait longer
		610	_delay_us(120);
		611
		612	// 8bit mode
		613	spi_send_byte(0x04, 0b01000000);
		614
		615	// write blank chars to whole screen
		616	clear();
		617
329	cascade	618	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
321	cascade	619	// init usart
		620	usart1_init();
		621
		622	// set up timer
		623	TCCR0 \|= (1 << CS00) \| (1 << CS01); // timer0 prescaler 64
385	cascade	624	OCR0 = 15; // preload
321	cascade	625	TIMSK \|= (1 << TOIE0); // enable overflow timer0
		626
326	cascade	627	// enable interrupts
321	cascade	628	sei();
		629	#endif
		630
		631	//write_ascii_string(2, 7, " CaScAdE ");
		632	//write_ascii_string(2, 8, "is TESTING his open source");
		633	//write_ascii_string(2, 9, " EPi OSD Firmware");
		634
		635	// custom char preview
		636	/*write_char_xy( 2, 7, 200);
		637	write_char_xy( 3, 7, 201);
		638	write_char_xy( 4, 7, 202);
		639	write_char_xy( 5, 7, 203);
		640	write_char_xy( 6, 7, 204);
		641	write_char_xy( 7, 7, 205);
		642	write_char_xy( 8, 7, 206);
		643	write_char_xy( 9, 7, 207);
		644	write_char_xy(10, 7, 208);
		645	write_char_xy(11, 7, 209);
		646	write_char_xy(12, 7, 210);
		647	write_char_xy(13, 7, 211);
		648	write_char_xy(14, 7, 212);
		649	write_char_xy(15, 7, 213);
		650	write_char_xy(16, 7, 214);
		651	write_char_xy(17, 7, 215);*/
		652
		653	// we are ready
		654	LED3_ON
		655
		656
		657
329	cascade	658	#if ALLCHARSDEBUG \| (WRITECHARS != -1)
321	cascade	659	clear();
		660	write_all_chars();
		661	#else
339	cascade	662	// clear serial screen
		663	//usart1_puts("\x1B[2J\x1B[H");
		664	//usart1_puts("hello world!\r\n");
321	cascade	665
339	cascade	666
346	cascade	667	// request data ever 100ms from FC;
		668	//usart1_request_mk_data(0, 'd', 100);
339	cascade	669
		670	// request OSD Data from NC every 100ms
346	cascade	671	usart1_request_mk_data(1, 'o', 100);
		672
339	cascade	673	// and disable debug...
385	cascade	674	usart1_request_mk_data(0, 'd', 0);
321	cascade	675
339	cascade	676	// disable TXD-pin
387	cascade	677	//usart1_DisableTXD();
331	cascade	678
339	cascade	679	// stats for after flight
		680	int16_t max_Altimeter = 0;
		681	uint16_t max_GroundSpeed = 0;
		682	int16_t max_Distance = 0;
		683	uint8_t min_UBat = 255;
		684	uint16_t max_FlyingTime = 0;
321	cascade	685
339	cascade	686	// flags from last round to check for changes
		687	uint8_t old_MKFlags = 0;
		688
321	cascade	689	char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
377	cascade	690	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
321	cascade	691
349	cascade	692	/*write_ndigit_number_s_10th(5, 10, 1, 100, 0);
		693	write_ndigit_number_s_10th(5, 11, -1, 100, 0);
		694	write_ndigit_number_s_10th(5, 12, -11, 100, 0);*/
		695
386	cascade	696	//write_ndigit_number_u(2,2, heading_fine_conv(34), 100, 0);
		697	//write_char_xy(1, 2, 0xa0 + heading_fine_conv(34));
377	cascade	698
321	cascade	699	while (1) {
339	cascade	700	// write icons at init or after menu/mode-switch
		701	if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && (COSD_FLAGS & COSD_FLAG_HUD)) {
385	cascade	702	write_char_xy(5, top_line, 0xCB); // km/h
		703	write_char_xy(10, top_line, 0xCA); // RC-transmitter
		704	write_char_xy(16, top_line, 0xD0); // degree symbol
		705	write_char_xy(27, top_line, 0xCC); // small meters m height
		706	write_char_xy(20, top_line+1, 0xB0); // left circle
		707	write_char_xy(22, top_line+1, 0xB2); // right circle
		708	write_char_xy(27, top_line+1, 0xCC); // small meters m home
		709	write_char_xy(7, bottom_line, 0x9E); // small v
		710	write_char_xy(14, bottom_line, 0xD1); // on clock
		711	write_char_xy(22, bottom_line, 0xD2); // fly clock
		712	write_char_xy(26, bottom_line, 0xC8); // sat1
		713	write_char_xy(27, bottom_line, 0xC9); // sat2
339	cascade	714	COSD_FLAGS \|= COSD_ICONS_WRITTEN;
		715	}
321	cascade	716	if (rxd_buffer_locked) {
339	cascade	717	if (COSD_FLAGS & COSD_FLAG_HUD) {
		718	if (rxd_buffer[2] == 'D') { // FC Data
		719	/*Decode64();
		720	debugData = ((DebugOut_t) pRxData);
		721	write_number_s(12, 2, RxDataLen);
		722	write_number_s(20, 2, setsReceived++);
		723	write_number_s(12, 3, debugData.Analog[0]); // AngleNick
		724	write_number_s(12, 4, debugData.Analog[1]); // AngleRoll
336	cascade	725	write_number_s(12, 5, debugData.Analog[5]); // Height
339	cascade	726	write_number_s(12, 6, debugData.Analog[9]); // Voltage
		727	write_number_s(12, 7, debugData.Analog[10]);// RC Signal
388	cascade	728	write_number_s(12, 8, debugData.Analog[11]);// Gyro compass
		729	seconds_since_last_data = 0;*/
339	cascade	730	} else if (rxd_buffer[2] == 'O') { // NC OSD Data
		731	Decode64();
		732	naviData = ((NaviData_t) pRxData);
383	cascade	733
339	cascade	734	// first line
373	cascade	735	write_ndigit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0);
321	cascade	736
349	cascade	737	write_ndigit_number_u(7, top_line, naviData.RC_Quality, 100, 0);
339	cascade	738	if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
		739	for (uint8_t x = 0; x < 4; x++)
		740	write_char_att_xy(7 + x, top_line, BLINK);
		741	} else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
		742	for (uint8_t x = 0; x < 4; x++)
		743	write_char_att_xy(7 + x, top_line, 0);
		744	}
		745	last_RC_Quality = naviData.RC_Quality;
321	cascade	746
349	cascade	747	write_ndigit_number_u(13, top_line, naviData.CompassHeading, 100, 0);
321	cascade	748
339	cascade	749	write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]);
377	cascade	750
383	cascade	751	draw_variometer(21, top_line, naviData.Variometer);
321	cascade	752
339	cascade	753	//note:lephisto:according to several sources it's /30
349	cascade	754	if (naviData.Altimeter > 300 \|\| naviData.Altimeter < -300) {
339	cascade	755	// above 10m only write full meters
349	cascade	756	write_ndigit_number_s(23, top_line, naviData.Altimeter / 30, 1000, 0);
339	cascade	757	} else {
		758	// up to 10m write meters.dm
349	cascade	759	//write_number_u_10th(21, top_line, naviData.Altimeter / 3);
		760	write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 3, 100, 0);
339	cascade	761	}
321	cascade	762
339	cascade	763	// seccond line
		764	draw_compass(11, top_line + 1, naviData.CompassHeading);
321	cascade	765
339	cascade	766	// TODO: verify correctness
		767	uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
383	cascade	768	//write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]);
377	cascade	769	// finer resolution, 0xa0 is first character and we add the index 0 <= index < 16
383	cascade	770	write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home));
321	cascade	771
355	shaddi	772	write_ndigit_number_u(24, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 100, 0);
321	cascade	773
339	cascade	774	// center
		775	if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running
		776	if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle
		777	clear();
		778	// update flags to paint display again if needed
		779	COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
		780	}
		781	if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
		782	draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
		783	}
		784	} else {
336	cascade	785	// stats
339	cascade	786	if (COSD_FLAGS & COSD_FLAG_STATS) {
346	cascade	787	write_ascii_string_pgm(2, 5, stats_item_pointers[0]); // max Altitude
349	cascade	788	write_ndigit_number_s(18, 5, max_Altimeter / 30, 1000, 0);
339	cascade	789	write_char_xy(22, 5, 204); // small meters m
346	cascade	790	write_ascii_string_pgm(2, 6, stats_item_pointers[1]); // max Speed
349	cascade	791	write_ndigit_number_u(19, 6, (uint16_t) (((uint32_t) max_GroundSpeed * 36) / 1000), 100, 0);
339	cascade	792	write_char_xy(22, 6, 203); // km/h
346	cascade	793	write_ascii_string_pgm(2, 7, stats_item_pointers[2]); // max Distance
349	cascade	794	write_ndigit_number_u(19, 7, max_Distance / 100, 100, 0);
339	cascade	795	write_char_xy(22, 7, 204); // small meters m
346	cascade	796	write_ascii_string_pgm(2, 8, stats_item_pointers[3]); // min voltage
349	cascade	797	write_ndigit_number_u_10th(18, 8, min_UBat, 100, 0);
387	cascade	798	write_char_xy(22, 8, 0x9E); // small v
346	cascade	799	write_ascii_string_pgm(2, 9, stats_item_pointers[4]); // max time
339	cascade	800	write_time(16, 9, max_FlyingTime);
		801	write_char_xy(22, 9, 210); // fly clock
		802	} else if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon
		803	draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
		804	}
		805	}
383	cascade	806	if (COSD_FLAGS & COSD_FLAG_BIGVARIO) {
		807	draw_big_variometer(27, 8, naviData.Variometer);
		808	}
321	cascade	809
339	cascade	810	// bottom line
385	cascade	811	draw_battery(2, bottom_line, naviData.UBat);
		812	write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 100, 0);
339	cascade	813	if (naviData.UBat <= UBAT_WRN && last_UBat > UBAT_WRN) {
385	cascade	814	for (uint8_t x = 2; x < 8; x++)
339	cascade	815	write_char_att_xy(x, bottom_line, BLINK);
		816	} else {
385	cascade	817	for (uint8_t x = 2; x < 8; x++)
339	cascade	818	write_char_att_xy(x, bottom_line, 0);
		819	}
385	cascade	820
321	cascade	821
339	cascade	822	write_time(8, bottom_line, uptime);
		823	write_time(16, bottom_line, naviData.FlyingTime);
321	cascade	824
349	cascade	825	write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 10, 0);
321	cascade	826
339	cascade	827	if (naviData.NCFlags & NC_FLAG_CH) {
		828	write_char_xy(27, bottom_line, 231); // gps ch
		829	} else if (naviData.NCFlags & NC_FLAG_PH) {
		830	write_char_xy(27, bottom_line, 230); // gps ph
		831	} else { // (naviData.NCFlags & NC_FLAG_FREE)
		832	write_char_xy(27, bottom_line, 201); // sat2 (free)
		833	}
321	cascade	834
339	cascade	835	//write_number_s(8, 5, RxDataLen);
		836	//write_number_s(16, 5, setsReceived++);
321	cascade	837
339	cascade	838	// remember statistics
		839	if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter;
		840	if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;
		841	if (naviData.HomePositionDeviation.Distance > max_Distance) {
		842	max_Distance = naviData.HomePositionDeviation.Distance;
		843	}
		844	if (naviData.UBat < min_UBat) min_UBat = naviData.UBat;
		845	if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime;
		846
		847	old_MKFlags = naviData.MKFlags;
388	cascade	848	seconds_since_last_data = 0;
339	cascade	849	}
		850	}
321	cascade	851	rxd_buffer_locked = 0;
		852	}
		853	// handle keypress
326	cascade	854	if (s1_pressed()) {
339	cascade	855	config_menu();
321	cascade	856	}
339	cascade	857	if (seconds_since_last_data > 2) {
387	cascade	858	/*if (COSD_FLAGS & COSD_FLAG_HUD) {
		859	write_ascii_string(2, 3, "ERROR: NO DATA for");
		860	write_time(21, 3, seconds_since_last_data);
		861	}*/
346	cascade	862	// request OSD Data from NC every 100ms
		863	usart1_request_mk_data(1, 'o', 100);
387	cascade	864	_delay_ms(200);
		865	//seconds_since_last_data = 0;
339	cascade	866	}
321	cascade	867	}
		868	#endif
		869	return 0;
		870	}

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(root)/C-OSD/trunk/main.c @ 1950 - Rev 388