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321 | cascade | 1 | /**************************************************************************** |
2225 | - | 2 | * Copyright (C) 2009-2016 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 | |||
800 | - | 28 | #include "main.h" |
321 | cascade | 29 | #include <avr/io.h> |
30 | #include <avr/interrupt.h> |
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31 | #include <util/delay.h> |
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455 | cascade | 32 | #include <avr/pgmspace.h> |
1801 | - | 33 | #include <string.h> |
346 | cascade | 34 | #include "max7456_software_spi.h" |
772 | - | 35 | #ifdef ANTENNATRACKTEST |
36 | #include "usart0.h" |
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37 | #endif |
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331 | cascade | 38 | #include "usart1.h" |
389 | cascade | 39 | #include "osd_helpers.h" |
471 | cascade | 40 | #include "config.h" |
41 | #include "spi.h" |
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42 | #include "buttons.h" |
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477 | cascade | 43 | #include "ppm.h" |
497 | cascade | 44 | #include "osd_ncmode_default.h" |
45 | #include "osd_ncmode_minimal.h" |
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46 | #include "osd_fcmode_default.h" |
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685 | cascade | 47 | #include "osd_fcmode_jopl.h" |
514 | cascade | 48 | |
49 | #if WRITECHARS != -1 |
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50 | #include "characters.h" |
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497 | cascade | 51 | #endif |
321 | cascade | 52 | |
53 | /* TODO: |
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54 | * - verifiy correctness of values |
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324 | cascade | 55 | * - clean up code :) |
321 | cascade | 56 | */ |
57 | |||
58 | |||
59 | /* ########################################################################## |
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60 | * global definitions and global vars |
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61 | * ##########################################################################*/ |
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762 | - | 62 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
346 | cascade | 63 | |
1197 | - | 64 | #if FCONLY |
65 | volatile str_DebugOut debugData; |
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66 | #else |
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321 | cascade | 67 | volatile NaviData_t naviData; |
1801 | - | 68 | volatile Data3D_t data3d; |
1197 | - | 69 | #endif |
321 | cascade | 70 | |
71 | // cache old vars for blinking attribute, checkup is faster than full |
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72 | // attribute write each time |
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73 | volatile uint8_t last_UBat = 255; |
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74 | volatile uint8_t last_RC_Quality = 255; |
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75 | |||
76 | // 16bit should be enough, normal LiPos don't last that long |
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77 | volatile uint16_t uptime = 0; |
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78 | volatile uint16_t timer = 0; |
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685 | cascade | 79 | volatile uint16_t flytime_fc = 0; |
321 | cascade | 80 | |
331 | cascade | 81 | // remember last time data was received |
82 | volatile uint8_t seconds_since_last_data = 0; |
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83 | |||
497 | cascade | 84 | // general PAL|NTSC distingiusch stuff |
85 | uint8_t top_line = 1; |
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86 | uint8_t bottom_line = 14; |
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87 | |||
88 | // battery voltages |
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89 | uint8_t min_voltage = 0; |
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90 | uint8_t max_voltage = 0; |
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91 | |||
902 | - | 92 | uint8_t scope[12] = { |
93 | 5, 5, 0, |
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94 | 25, 5, 0, |
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95 | 5, 10, 0, |
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96 | 25, 10, 0 |
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837 | - | 97 | }; |
98 | |||
497 | cascade | 99 | // Flags |
528 | cascade | 100 | uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0; |
497 | cascade | 101 | |
514 | cascade | 102 | |
762 | - | 103 | |
497 | cascade | 104 | // stats for after flight |
105 | int16_t max_Altimeter = 0; |
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106 | uint8_t min_UBat = 255; |
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107 | uint16_t max_GroundSpeed = 0; |
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108 | int16_t max_Distance = 0; |
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109 | uint16_t max_FlyingTime = 0; |
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110 | |||
111 | // flags from last round to check for changes |
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112 | uint8_t old_MKFlags = 0; |
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113 | |||
1197 | - | 114 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
761 | - | 115 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
489 | woggle | 116 | |
1197 | - | 117 | |
497 | cascade | 118 | /* ########################################################################## |
119 | * Different display mode function pointers |
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120 | * ##########################################################################*/ |
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761 | - | 121 | const char str_1[] PROGMEM = "default"; |
122 | const char str_2[] PROGMEM = "minimal"; |
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826 | - | 123 | const char str_3[] PROGMEM = " jopl"; |
326 | cascade | 124 | |
783 | - | 125 | #if FCONLY |
497 | cascade | 126 | const displaymode_t fcdisplaymodes[] PROGMEM = { |
761 | - | 127 | { osd_fcmode_default, (char *)str_1}, |
128 | { osd_fcmode_jopl, (char *)str_3} |
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497 | cascade | 129 | }; |
783 | - | 130 | int (*osd_fcmode)(void) = (int(*)(void)) & osd_fcmode_default; |
131 | #else |
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453 | cascade | 132 | |
783 | - | 133 | const displaymode_t ncdisplaymodes[] PROGMEM = { |
134 | { osd_ncmode_default, (char *)str_1}, |
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135 | { osd_ncmode_minimal, (char *)str_2} |
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136 | }; |
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761 | - | 137 | int (*osd_ncmode)(void) = (int(*)(void)) & osd_ncmode_default; |
497 | cascade | 138 | #endif |
326 | cascade | 139 | |
783 | - | 140 | |
141 | #endif |
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142 | |||
321 | cascade | 143 | /* ########################################################################## |
389 | cascade | 144 | * Interrupt handler |
145 | * ##########################################################################*/ |
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455 | cascade | 146 | |
321 | cascade | 147 | /** |
389 | cascade | 148 | * handler for undefined Interrupts |
149 | * if not defined AVR will reset in case any unhandled interrupts occur |
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321 | cascade | 150 | */ |
389 | cascade | 151 | ISR(__vector_default) { |
455 | cascade | 152 | asm("nop"); |
389 | cascade | 153 | } |
321 | cascade | 154 | |
389 | cascade | 155 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 156 | /* ########################################################################## |
157 | * timer stuff |
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158 | * ##########################################################################*/ |
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455 | cascade | 159 | |
507 | cascade | 160 | static uint8_t delay_spi = 0; |
161 | |||
466 | cascade | 162 | /** |
331 | cascade | 163 | * timer kicks in every 1000uS ^= 1ms |
321 | cascade | 164 | */ |
489 | woggle | 165 | ISR(TIMER0_COMP_vect) { |
321 | cascade | 166 | if (!timer--) { |
167 | uptime++; |
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685 | cascade | 168 | |
761 | - | 169 | #if FCONLY |
170 | if (debugData.Analog[12] > 10) { |
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171 | flytime_fc++; |
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172 | } |
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173 | #endif |
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685 | cascade | 174 | |
321 | cascade | 175 | timer = 999; |
455 | cascade | 176 | seconds_since_last_data++; |
321 | cascade | 177 | } |
466 | cascade | 178 | // in case there is still some spi data to send do it now |
761 | - | 179 | // delay to give the slave some time to compute values |
466 | cascade | 180 | if (spi_ready && icnt) { |
761 | - | 181 | if (!delay_spi--) { |
182 | delay_spi = 8; |
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183 | spi_send_next(); |
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184 | } |
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466 | cascade | 185 | } |
321 | cascade | 186 | } |
762 | - | 187 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
455 | cascade | 188 | |
321 | cascade | 189 | /* ########################################################################## |
190 | * MAIN |
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191 | * ##########################################################################*/ |
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192 | int main(void) { |
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761 | - | 193 | // set up FLAGS |
194 | COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0; |
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195 | #if NTSC |
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196 | COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC; |
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197 | #endif |
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198 | #if HUD |
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199 | COSD_FLAGS_MODES |= COSD_FLAG_HUD; |
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200 | #endif |
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201 | #if ARTHORIZON |
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202 | COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON; |
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203 | #endif |
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204 | #if BIGVARIO |
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205 | COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO; |
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206 | #endif |
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207 | #if STATS |
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208 | COSD_FLAGS_MODES |= COSD_FLAG_STATS; |
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209 | #endif |
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210 | #if WARNINGS |
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211 | COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS; |
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212 | #endif |
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213 | #if FCONLY |
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214 | COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE; |
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215 | #endif |
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466 | cascade | 216 | |
324 | cascade | 217 | |
339 | cascade | 218 | // set up Atmega162 Ports |
826 | - | 219 | DDRA |= ((1 << PA1) | (1 << PA2) | (1 << PA3) | (1 << PA5)); // PA1 output (/CS) | PA2 output (SDIN) |PA3 output (SCLK) | PA5 output (RESET) |
321 | cascade | 220 | MAX_CS_HIGH |
221 | MAX_SDIN_LOW |
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222 | MAX_SCLK_LOW |
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223 | MAX_RESET_HIGH |
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224 | |||
772 | - | 225 | 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) |
321 | cascade | 226 | LED1_OFF |
227 | LED2_OFF |
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228 | LED3_OFF |
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229 | LED4_OFF |
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230 | |||
942 | - | 231 | DDRC &= ~((1 << PC4) | (1 << PC5) | (1 << PC6) | (1 << PC7)); // PC4 input(MODE) | PC5 input(SET) | PC6 input SJ1 | PC7 input SJ2 |
232 | PORTC |= ((1 << PC4) | (1 << PC5) | (1 << PC6) | (1 << PC7)); // pullup |
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321 | cascade | 233 | |
942 | - | 234 | |
339 | cascade | 235 | // reset the MAX7456 to be sure any undefined states do no harm |
321 | cascade | 236 | MAX_RESET_LOW |
237 | MAX_RESET_HIGH |
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238 | |||
239 | // give the FC/NC and the maxim time to come up |
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240 | LED4_ON |
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736 | cascade | 241 | _delay_ms(1000); |
321 | cascade | 242 | LED4_OFF |
243 | |||
339 | cascade | 244 | //Pushing NEW chars to the MAX7456 |
329 | cascade | 245 | #if (WRITECHARS != -1) |
837 | - | 246 | // DISABLE display (VM0) |
247 | spi_send_byte(0x00, 0b00000000); |
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761 | - | 248 | learn_all_chars_pgm(); |
474 | cascade | 249 | #else |
761 | - | 250 | // read out config for NTSC/PAL distinguishing |
251 | get_eeprom(0); |
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455 | cascade | 252 | #endif |
321 | cascade | 253 | |
761 | - | 254 | // Setup Video Mode |
255 | if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) { |
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256 | // NTSC + enable display immediately (VM0) |
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257 | spi_send_byte(0x00, 0b00001000); |
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321 | cascade | 258 | |
761 | - | 259 | bottom_line = 12; |
260 | } else { |
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261 | // PAL + enable display immediately (VM0) |
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262 | spi_send_byte(0x00, 0b01001000); |
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474 | cascade | 263 | |
761 | - | 264 | bottom_line = 14; |
265 | } |
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474 | cascade | 266 | |
404 | cascade | 267 | /*// clear all display-mem (DMM) |
403 | cascade | 268 | spi_send_byte(0x04, 0b00000100); |
269 | |||
270 | // clearing takes 12uS according to maxim so lets wait longer |
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271 | _delay_us(120); |
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272 | |||
321 | cascade | 273 | // 8bit mode |
404 | cascade | 274 | spi_send_byte(0x04, 0b01000000);*/ |
321 | cascade | 275 | |
404 | cascade | 276 | // clear display memory and set to 8bit mode |
321 | cascade | 277 | clear(); |
278 | |||
329 | cascade | 279 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 280 | // init usart |
281 | usart1_init(); |
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282 | |||
932 | - | 283 | #ifdef SERIALDEBUGDRAW |
284 | #define USART0ENABLE 1 |
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285 | #endif |
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286 | #ifdef ANTENNATRACKTEST |
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287 | #define USART0ENABLE 1 |
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288 | #endif |
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772 | - | 289 | |
932 | - | 290 | #ifdef USART0ENABLE |
800 | - | 291 | usart0_init(); |
932 | - | 292 | usart0_puts("\x1B[2J\x1B[H"); |
293 | usart0_puts("Welcome\r\n"); |
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772 | - | 294 | #endif |
295 | |||
738 | cascade | 296 | // keep serial port clean |
297 | usart1_DisableTXD(); |
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298 | |||
321 | cascade | 299 | // set up timer |
761 | - | 300 | // CTC, Prescaler /64 |
301 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
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321 | cascade | 302 | |
761 | - | 303 | TCNT0 = 0; |
304 | OCR0 = 250; |
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489 | woggle | 305 | |
761 | - | 306 | // enable timer output compare interrupt |
307 | TIMSK &= ~(1 << TOIE0); |
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308 | TIMSK |= (1 << OCIE0); |
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489 | woggle | 309 | |
761 | - | 310 | // SPI setup |
466 | cascade | 311 | DDRD |= (1 << PD2); // PD2 output (INT0) |
312 | SpiMasterInit(); |
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465 | cascade | 313 | |
761 | - | 314 | // PPM detection setup |
315 | ppm_init(); |
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477 | cascade | 316 | |
326 | cascade | 317 | // enable interrupts |
321 | cascade | 318 | sei(); |
319 | |||
826 | - | 320 | //write_ascii_string(2,7, " CaScAdE"); |
321 | //write_ascii_string(2,8, "is TESTING his open source"); |
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322 | //write_ascii_string(2,9, "EPi OSD Firmware"); |
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321 | cascade | 323 | |
324 | // we are ready |
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325 | LED3_ON |
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326 | |||
477 | cascade | 327 | |
762 | - | 328 | // clear serial screen |
329 | //usart1_puts("\x1B[2J\x1B[H"); |
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477 | cascade | 330 | |
826 | - | 331 | COSD_FLAGS_RUNTIME &= ~COSD_DATARECEIVED; |
800 | - | 332 | #if !FCONLY |
826 | - | 333 | usart1_request_nc_uart(); |
800 | - | 334 | #endif |
335 | |||
321 | cascade | 336 | while (1) { |
1951 | - | 337 | // debug ppm |
338 | //write_ndigit_number_u(9, 4, ppm, 5, 0); |
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339 | |||
340 | |||
466 | cascade | 341 | // in case SPI is ready and there is nothing to send right now |
342 | if (!icnt && spi_ready) { |
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343 | // correct transfer ends with d (done) |
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507 | cascade | 344 | if (SPI_buffer.buffer.chk == 'd') { |
761 | - | 345 | ampere = SPI_buffer.data.ampere; |
346 | ampere_wasted = SPI_buffer.data.mah; |
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347 | s_volt = SPI_buffer.data.volt; |
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507 | cascade | 348 | |
761 | - | 349 | // if this is the first receival we should print the small A |
350 | if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) { |
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351 | clear(); |
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352 | COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN; |
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353 | // update this flag |
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354 | COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC; |
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355 | } |
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466 | cascade | 356 | } else { |
357 | // update flags |
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528 | cascade | 358 | COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC; |
466 | cascade | 359 | } |
761 | - | 360 | StartTransfer(9); |
466 | cascade | 361 | } |
321 | cascade | 362 | if (rxd_buffer_locked) { |
454 | cascade | 363 | #if FCONLY |
471 | cascade | 364 | if (rxd_buffer[2] == 'D') { // FC Data |
365 | Decode64(); |
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2009 | - | 366 | //debugData = *((str_DebugOut*)pRxData); |
367 | memcpy((char*)(&debugData), (char*)pRxData, sizeof(str_DebugOut)); |
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368 | rxd_buffer_locked = 0; |
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454 | cascade | 369 | |
471 | cascade | 370 | // init on first data retrival, distinguished by last battery :) |
2041 | - | 371 | if (!(COSD_FLAGS_RUNTIME & COSD_OSD_STARTED)) { |
761 | - | 372 | if (debugData.Analog[9] > 40) { |
373 | // fix for min_UBat |
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374 | min_UBat = debugData.Analog[9]; |
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375 | last_UBat = debugData.Analog[9]; |
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376 | init_cosd(last_UBat); |
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2041 | - | 377 | COSD_FLAGS_RUNTIME |= COSD_OSD_STARTED; |
761 | - | 378 | } |
677 | cascade | 379 | } else { |
761 | - | 380 | osd_fcmode(); |
381 | } |
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382 | seconds_since_last_data = 0; |
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2009 | - | 383 | } else { |
384 | rxd_buffer_locked = 0; |
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385 | } |
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454 | cascade | 386 | #else |
471 | cascade | 387 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
388 | Decode64(); |
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1801 | - | 389 | //naviData = *((NaviData_t*)pRxData); |
390 | memcpy((char*)(&naviData), (char*)pRxData, sizeof(NaviData_t)); |
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391 | rxd_buffer_locked = 0; |
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453 | cascade | 392 | |
1197 | - | 393 | #ifdef SHIFTBYminus45 |
394 | naviData.AngleNick = (int8_t)(((int16_t)naviData.AngleRoll + (int16_t)naviData.AngleNick) / 2); |
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395 | naviData.AngleRoll = (int8_t)(((int16_t)naviData.AngleRoll - (int16_t)naviData.AngleNick) / 2); |
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396 | naviData.CompassHeading = (naviData.CompassHeading + (360 - 45)) % 360; |
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397 | #endif |
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398 | |||
471 | cascade | 399 | // init on first data retrival, distinguished by last battery :) |
2041 | - | 400 | if (!(COSD_FLAGS_RUNTIME & COSD_OSD_STARTED)) { |
761 | - | 401 | if (naviData.UBat > 40) { |
402 | // fix for min_UBat |
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403 | min_UBat = naviData.UBat; |
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404 | last_UBat = naviData.UBat; |
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405 | init_cosd(last_UBat); |
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2041 | - | 406 | COSD_FLAGS_RUNTIME |= COSD_OSD_STARTED; |
761 | - | 407 | } |
677 | cascade | 408 | } else { |
761 | - | 409 | osd_ncmode(); |
410 | } |
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411 | //seconds_since_last_data = 0; |
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1801 | - | 412 | // } else if (rxd_buffer[2] == 'C') { // 3D and Stick Data |
413 | // Decode64(); |
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414 | // memcpy((char*)(&data3d), (char*)pRxData, sizeof(Data3D_t)); |
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415 | // rxd_buffer_locked = 0; |
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416 | } else { |
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417 | rxd_buffer_locked = 0; |
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418 | } |
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454 | cascade | 419 | #endif |
772 | - | 420 | |
800 | - | 421 | // ONLY FOR TESTING |
422 | #ifdef ANTENNATRACKTEST |
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826 | - | 423 | #include <stdlib.h> |
800 | - | 424 | //#include <float.h> |
425 | //#include <math.h> |
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772 | - | 426 | |
800 | - | 427 | //usart0_puts("\x1B[2J\x1B[H"); |
772 | - | 428 | |
429 | |||
800 | - | 430 | /* |
431 | naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100) |
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432 | naviData.HomePositionDeviation.Bearing = 35; // 35� |
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433 | altimeter_offset = 50; // 50m start height |
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434 | naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000) |
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435 | */ |
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772 | - | 436 | |
800 | - | 437 | static char conv_array[7]; |
772 | - | 438 | |
800 | - | 439 | // should be float |
440 | int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset); |
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772 | - | 441 | |
800 | - | 442 | // we need math.h and some faster AVR :) |
443 | //tanheight = rad2deg(atan(tanheight)); |
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772 | - | 444 | |
800 | - | 445 | itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10); |
446 | usart0_puts("Bearing: "); |
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447 | usart0_puts(conv_array); |
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448 | usart0_puts("\tHeightangle: "); |
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449 | itoa(tanheight, conv_array, 10); |
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450 | usart0_puts(conv_array); |
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451 | usart0_puts("\r\n"); |
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452 | #endif |
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1801 | - | 453 | |
321 | cascade | 454 | } |
455 | // handle keypress |
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326 | cascade | 456 | if (s1_pressed()) { |
339 | cascade | 457 | config_menu(); |
321 | cascade | 458 | } |
2039 | - | 459 | |
826 | - | 460 | // reqest data untill there has been some answer |
461 | if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED) || |
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462 | // or while not in passive mode |
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463 | (seconds_since_last_data > 0 && !(COSD_FLAGS_CONFIG & COSD_FLAG_PASSIVE))) { |
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761 | - | 464 | usart1_EnableTXD(); |
465 | //usart1_puts_pgm(PSTR("zu alt\r\n")); |
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454 | cascade | 466 | #if FCONLY |
455 | cascade | 467 | // request data ever 100ms from FC; |
738 | cascade | 468 | //usart1_request_mk_data(0, 'd', 100); |
761 | - | 469 | usart1_puts_pgm(PSTR(REQUEST_DBG_DATA)); |
783 | - | 470 | #else |
455 | cascade | 471 | // request OSD Data from NC every 100ms |
738 | cascade | 472 | //usart1_request_mk_data(1, 'o', 100); |
761 | - | 473 | usart1_puts_pgm(PSTR(REQUEST_OSD_DATA)); |
454 | cascade | 474 | |
1801 | - | 475 | |
476 | |||
477 | // request 3D Data from NC every 100ms |
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478 | //usart1_request_mk_data(1, 'c', 100); |
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479 | // _delay_ms(10); |
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480 | // usart1_puts_pgm(PSTR(REQUEST_3DDATA)); |
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481 | |||
455 | cascade | 482 | // and disable debug... |
800 | - | 483 | //usart1_request_mk_data(0, 'd', 0); |
738 | cascade | 484 | #endif |
761 | - | 485 | // reset last time counter |
486 | seconds_since_last_data = 0; |
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487 | usart1_DisableTXD(); |
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835 | - | 488 | |
489 | // do not spam too much |
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490 | if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED)) { |
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1801 | - | 491 | _delay_ms(100); |
835 | - | 492 | } |
339 | cascade | 493 | } |
942 | - | 494 | |
495 | |||
496 | if (SJ1_CLOSED && !(COSD_FLAGS_RUNTIME & COSD_BLANKBYSJ)) { // we do not want the HUD anymore |
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497 | if (COSD_FLAGS_MODES & COSD_FLAG_HUD) { |
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498 | clear(); |
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499 | } |
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500 | COSD_FLAGS_MODES &= ~COSD_FLAG_HUD; |
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501 | COSD_FLAGS_RUNTIME |= COSD_BLANKBYSJ; |
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502 | } else if (!SJ1_CLOSED && (COSD_FLAGS_RUNTIME & COSD_BLANKBYSJ)) { // we want the HUD back again |
||
503 | if (!(COSD_FLAGS_MODES & COSD_FLAG_HUD)) { |
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504 | COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN; |
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505 | } |
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506 | COSD_FLAGS_MODES |= COSD_FLAG_HUD; |
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507 | COSD_FLAGS_RUNTIME &= ~(COSD_BLANKBYSJ); |
||
508 | } |
||
509 | |||
321 | cascade | 510 | } |
762 | - | 511 | |
512 | #else // character flashing... |
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800 | - | 513 | clear(); |
762 | - | 514 | write_all_chars(); |
515 | LED1_ON |
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516 | LED2_ON |
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517 | LED3_ON |
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518 | LED4_ON |
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800 | - | 519 | while (1) { |
762 | - | 520 | |
800 | - | 521 | }; |
321 | cascade | 522 | #endif |
762 | - | 523 | |
524 | |||
321 | cascade | 525 | return 0; |
526 | } |