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321 | cascade | 1 | /**************************************************************************** |
2 | * Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje * |
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3 | * admiralcascade@gmail.com * |
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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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22 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project * |
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23 | * Gregor "killagreg" Stobrawa for making the MK code readable * |
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24 | * Klaus "akku" Buettner for the hardware * |
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25 | * Manuel "KeyOz" Schrape for explaining the MK protocol to me * |
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26 | ****************************************************************************/ |
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27 | |||
28 | #include <avr/io.h> |
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29 | #include <avr/interrupt.h> |
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30 | #include <util/delay.h> |
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455 | cascade | 31 | #include <avr/pgmspace.h> |
346 | cascade | 32 | #include "main.h" |
33 | #include "max7456_software_spi.h" |
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331 | cascade | 34 | #include "usart1.h" |
389 | cascade | 35 | #include "osd_helpers.h" |
321 | cascade | 36 | |
37 | /* TODO: |
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38 | * - verifiy correctness of values |
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324 | cascade | 39 | * - clean up code :) |
321 | cascade | 40 | */ |
41 | |||
329 | cascade | 42 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
346 | cascade | 43 | // data structs not needed for character flashin |
331 | cascade | 44 | #include "mk-data-structs.h" |
321 | cascade | 45 | |
46 | /* ########################################################################## |
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47 | * global definitions and global vars |
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48 | * ##########################################################################*/ |
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346 | cascade | 49 | |
321 | cascade | 50 | volatile uint16_t setsReceived = 0; |
51 | |||
52 | volatile NaviData_t naviData; |
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53 | volatile DebugOut_t debugData; |
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54 | |||
55 | // cache old vars for blinking attribute, checkup is faster than full |
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56 | // attribute write each time |
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57 | volatile uint8_t last_UBat = 255; |
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58 | volatile uint8_t last_RC_Quality = 255; |
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59 | |||
60 | // 16bit should be enough, normal LiPos don't last that long |
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61 | volatile uint16_t uptime = 0; |
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62 | volatile uint16_t timer = 0; |
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63 | |||
331 | cascade | 64 | // remember last time data was received |
65 | volatile uint8_t seconds_since_last_data = 0; |
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66 | |||
346 | cascade | 67 | // store stats description in progmem to save space |
68 | char stats_item_0[] PROGMEM = "max Altitude:"; |
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69 | char stats_item_1[] PROGMEM = "max Speed :"; |
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70 | char stats_item_2[] PROGMEM = "max Distance:"; |
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71 | char stats_item_3[] PROGMEM = "min voltage :"; |
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72 | char stats_item_4[] PROGMEM = "max time :"; |
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412 | cascade | 73 | char stats_item_5[] PROGMEM = "longitude :"; |
74 | char stats_item_6[] PROGMEM = "latitude :"; |
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455 | cascade | 75 | char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
76 | stats_item_3, stats_item_4, stats_item_5, stats_item_6}; |
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346 | cascade | 77 | |
78 | // store more fixed strings in progmen |
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379 | cascade | 79 | char ON[] PROGMEM = "ON "; |
346 | cascade | 80 | char OFF[] PROGMEM = "OFF"; |
81 | |||
329 | cascade | 82 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
326 | cascade | 83 | |
84 | // general PAL|NTSC distingiusch stuff |
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85 | uint8_t top_line = 1; |
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86 | uint8_t bottom_line = 14; |
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87 | |||
453 | cascade | 88 | // battery voltages |
89 | uint8_t min_voltage = 0; |
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90 | uint8_t max_voltage = 0; |
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91 | |||
326 | cascade | 92 | // Flags |
93 | uint8_t COSD_FLAGS = 0; |
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94 | |||
321 | cascade | 95 | /* ########################################################################## |
326 | cascade | 96 | * debounce buttons |
97 | * ##########################################################################*/ |
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98 | int s1_pressed() { |
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455 | cascade | 99 | if (S1_PRESSED) { |
100 | _delay_ms(25); |
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101 | if (S1_PRESSED) return 1; |
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102 | } |
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103 | return 0; |
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326 | cascade | 104 | } |
105 | |||
106 | int s2_pressed() { |
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455 | cascade | 107 | if (S2_PRESSED) { |
108 | _delay_ms(25); |
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109 | if (S2_PRESSED) return 1; |
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110 | } |
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111 | return 0; |
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326 | cascade | 112 | } |
113 | |||
389 | cascade | 114 | /* ########################################################################## |
115 | * Interrupt handler |
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116 | * ##########################################################################*/ |
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455 | cascade | 117 | |
321 | cascade | 118 | /** |
389 | cascade | 119 | * handler for undefined Interrupts |
120 | * if not defined AVR will reset in case any unhandled interrupts occur |
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321 | cascade | 121 | */ |
389 | cascade | 122 | ISR(__vector_default) { |
455 | cascade | 123 | asm("nop"); |
389 | cascade | 124 | } |
321 | cascade | 125 | |
389 | cascade | 126 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 127 | /* ########################################################################## |
128 | * timer stuff |
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129 | * ##########################################################################*/ |
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455 | cascade | 130 | |
331 | cascade | 131 | /** |
132 | * timer kicks in every 1000uS ^= 1ms |
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321 | cascade | 133 | */ |
134 | ISR(TIMER0_OVF_vect) { |
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385 | cascade | 135 | OCR0 = 15; // preload |
321 | cascade | 136 | if (!timer--) { |
137 | uptime++; |
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138 | timer = 999; |
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455 | cascade | 139 | seconds_since_last_data++; |
321 | cascade | 140 | } |
141 | } |
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142 | |||
143 | |||
144 | /* ########################################################################## |
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326 | cascade | 145 | * A simple config menu for the flags |
146 | * ##########################################################################*/ |
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339 | cascade | 147 | |
148 | /** |
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149 | * helper function for menu updating |
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150 | */ |
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151 | void config_menu_drawings(uint8_t chosen) { |
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152 | // clear prevoius _cursor_ |
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383 | cascade | 153 | write_ascii_string(3, (chosen + 5) % 8, " "); |
339 | cascade | 154 | // draw current _cursor_ |
383 | cascade | 155 | write_ascii_string(3, chosen + 5, ">"); |
339 | cascade | 156 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
383 | cascade | 157 | write_ascii_string_pgm(23, 5, ON); |
158 | } else { |
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455 | cascade | 159 | write_ascii_string_pgm(23, 5, OFF); |
383 | cascade | 160 | } |
161 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
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346 | cascade | 162 | write_ascii_string_pgm(23, 6, ON); |
339 | cascade | 163 | } else { |
383 | cascade | 164 | write_ascii_string_pgm(23, 6, OFF); |
339 | cascade | 165 | } |
455 | cascade | 166 | if (COSD_FLAGS & COSD_FLAG_BIGVARIO) { |
346 | cascade | 167 | write_ascii_string_pgm(23, 7, ON); |
339 | cascade | 168 | } else { |
455 | cascade | 169 | write_ascii_string_pgm(23, 7, OFF); |
339 | cascade | 170 | } |
455 | cascade | 171 | if (COSD_FLAGS & COSD_FLAG_STATS) { |
346 | cascade | 172 | write_ascii_string_pgm(23, 8, ON); |
339 | cascade | 173 | } else { |
346 | cascade | 174 | write_ascii_string_pgm(23, 8, OFF); |
339 | cascade | 175 | } |
176 | if (COSD_FLAGS & COSD_FLAG_WARNINGS) { |
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346 | cascade | 177 | write_ascii_string_pgm(23, 9, ON); |
339 | cascade | 178 | } else { |
346 | cascade | 179 | write_ascii_string_pgm(23, 9, OFF); |
339 | cascade | 180 | } |
181 | } |
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182 | |||
183 | /** |
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346 | cascade | 184 | * some sort of clicking response in the menu |
185 | */ |
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186 | void config_menu_doclick(uint8_t chosen, char** menu) { |
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455 | cascade | 187 | write_ascii_string(4, chosen + 5, "DONE "); |
188 | _delay_ms(1000); |
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189 | write_ascii_string(4, chosen + 5, menu[chosen]); |
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346 | cascade | 190 | } |
191 | |||
192 | /** |
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339 | cascade | 193 | * a simple config menu tryout |
194 | */ |
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326 | cascade | 195 | void config_menu(void) { |
455 | cascade | 196 | // disable interrupts (makes the menu more smoothely) |
197 | cli(); |
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321 | cascade | 198 | |
455 | cascade | 199 | // clear screen |
200 | clear(); |
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326 | cascade | 201 | |
455 | cascade | 202 | char* menu[9] = {"Full HUD", |
203 | "Art.Horizon in HUD", |
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204 | "Big Vario bar", |
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205 | "Statistics", |
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206 | "Warnings", // TODO: do it! |
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207 | "Reset uptime", |
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208 | "Request OSD-data", |
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209 | "Disable Debug-data", |
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210 | "EXIT"}; |
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326 | cascade | 211 | |
455 | cascade | 212 | uint8_t inmenu = 1; |
213 | uint8_t chosen = 0; |
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214 | write_ascii_string(6, 2, "C-OSD Config Menu"); |
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326 | cascade | 215 | |
455 | cascade | 216 | // wait a bit before doing stuff so user has chance to release button |
217 | _delay_ms(250); |
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339 | cascade | 218 | |
455 | cascade | 219 | write_ascii_string(4, 5, menu[0]); |
220 | write_ascii_string(4, 6, menu[1]); |
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221 | write_ascii_string(4, 7, menu[2]); |
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222 | write_ascii_string(4, 8, menu[3]); |
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223 | write_ascii_string(4, 9, menu[4]); |
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224 | write_ascii_string(4, 10, menu[5]); |
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225 | write_ascii_string(4, 11, menu[6]); |
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226 | write_ascii_string(4, 12, menu[7]); |
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227 | write_ascii_string(4, 13, menu[8]); |
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339 | cascade | 228 | |
455 | cascade | 229 | config_menu_drawings(chosen); |
230 | |||
231 | while (inmenu) { |
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232 | if (s2_pressed()) { |
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233 | write_ascii_string(3, chosen + 5, " "); |
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234 | chosen = (chosen + 1) % 9; |
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235 | write_ascii_string(3, chosen + 5, ">"); |
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236 | _delay_ms(500); |
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237 | } else if (s1_pressed()) { |
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238 | switch (chosen) { |
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239 | case 0: // full HUD |
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240 | COSD_FLAGS ^= COSD_FLAG_HUD; |
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241 | config_menu_drawings(chosen); |
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242 | break; |
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243 | case 1: // art horizon |
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244 | COSD_FLAGS ^= COSD_FLAG_ARTHORIZON; |
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245 | config_menu_drawings(chosen); |
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246 | break; |
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247 | case 2: // big vario |
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248 | COSD_FLAGS ^= COSD_FLAG_BIGVARIO; |
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249 | config_menu_drawings(chosen); |
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250 | break; |
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251 | case 3: // statistics |
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252 | COSD_FLAGS ^= COSD_FLAG_STATS; |
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253 | config_menu_drawings(chosen); |
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254 | break; |
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255 | case 4: // warnings |
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256 | COSD_FLAGS ^= COSD_FLAG_WARNINGS; |
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257 | config_menu_drawings(chosen); |
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258 | break; |
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259 | case 5: // reset uptime |
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260 | uptime = 0; |
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261 | config_menu_doclick(chosen, menu); |
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262 | break; |
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263 | case 6: // re-request OSD data |
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454 | cascade | 264 | #if FCONLY |
455 | cascade | 265 | // request data ever 100ms from FC; |
266 | usart1_request_mk_data(0, 'd', 100); |
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454 | cascade | 267 | #else |
455 | cascade | 268 | // request OSD Data from NC every 100ms |
269 | usart1_request_mk_data(1, 'o', 100); |
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454 | cascade | 270 | |
455 | cascade | 271 | // and disable debug... |
272 | usart1_request_mk_data(0, 'd', 0); |
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454 | cascade | 273 | #endif |
455 | cascade | 274 | config_menu_doclick(chosen, menu); |
275 | break; |
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276 | case 7: // disable debug data |
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277 | // disable sending of debug data |
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278 | // may result in smoother ddata display |
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279 | usart1_request_mk_data(0, 'd', 0); |
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280 | config_menu_doclick(chosen, menu); |
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281 | break; |
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282 | case 8: // exit |
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283 | inmenu = 0; |
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284 | break; |
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285 | } |
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286 | _delay_ms(250); |
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287 | } |
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288 | } |
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326 | cascade | 289 | |
455 | cascade | 290 | // clear screen up again |
291 | clear(); |
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326 | cascade | 292 | |
455 | cascade | 293 | // update flags to paint display again if needed |
294 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
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326 | cascade | 295 | |
455 | cascade | 296 | // enable interrupts again |
297 | sei(); |
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326 | cascade | 298 | } |
299 | |||
455 | cascade | 300 | /** |
301 | * auto config some stuff on startup, currently only battery cells |
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302 | * TODO: this is testing stuff, strings should go progmem and so on... |
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303 | */ |
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459 | cascade | 304 | void auto_config(uint8_t UBat) { |
455 | cascade | 305 | clear(); |
306 | write_ascii_string(2, 2, "C-OSD Initialisation"); |
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307 | #if FCONLY |
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308 | write_ascii_string(2, 3, "FC only Mode"); |
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309 | #else |
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310 | write_ascii_string(2, 3, "NaviCtrl Mode"); |
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311 | #endif |
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459 | cascade | 312 | write_ascii_string(2, 4, BUILDDATE); |
455 | cascade | 313 | uint8_t cellnum = 0; |
314 | if (CELL_NUM == -1) { |
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459 | cascade | 315 | write_ascii_string(2, 6, "Guessing Number of Cells"); |
455 | cascade | 316 | do { |
317 | cellnum++; |
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458 | cascade | 318 | } while (UBat > ((cellnum * CELL_VOLT_MAX) + 15)); |
455 | cascade | 319 | } else { |
320 | cellnum = CELL_NUM; |
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321 | } |
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322 | min_voltage = cellnum * CELL_VOLT_MIN; |
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323 | max_voltage = cellnum * CELL_VOLT_MAX; |
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324 | write_ascii_string(2, 7, "Number of Cells:"); |
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325 | write_ndigit_number_u(21, 7, cellnum, 1, 0); |
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326 | write_ascii_string(2, 8, "Warn Voltage :"); |
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327 | write_ndigit_number_s_10th(20, 8, min_voltage, 100, 0); |
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328 | write_ascii_string(2, 9, "Max Voltage :"); |
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329 | write_ndigit_number_s_10th(20, 9, max_voltage, 100, 0); |
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330 | _delay_ms(200); |
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331 | clear(); |
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332 | // update flags to paint display again because of clear |
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333 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
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334 | } |
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335 | |||
329 | cascade | 336 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
455 | cascade | 337 | |
321 | cascade | 338 | /* ########################################################################## |
339 | * MAIN |
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340 | * ##########################################################################*/ |
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341 | int main(void) { |
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339 | cascade | 342 | // set up FLAGS, compiler should flatten this one |
343 | COSD_FLAGS = (NTSC << 0); |
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344 | COSD_FLAGS |= (HUD << 1); |
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345 | COSD_FLAGS |= (ARTHORIZON << 2); |
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455 | cascade | 346 | COSD_FLAGS |= (BIGVARIO << 3); |
347 | COSD_FLAGS |= (STATS << 4); |
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383 | cascade | 348 | COSD_FLAGS |= (WARNINGS << 5); |
324 | cascade | 349 | |
339 | cascade | 350 | // set up Atmega162 Ports |
321 | cascade | 351 | DDRA |= (1 << PA1); // PA1 output (/CS) |
352 | MAX_CS_HIGH |
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353 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
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354 | MAX_SDIN_LOW |
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355 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
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356 | MAX_SCLK_LOW |
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357 | DDRA |= (1 << PA5); // PA5 output (RESET) |
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358 | MAX_RESET_HIGH |
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359 | |||
360 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
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361 | LED1_OFF |
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362 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
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363 | LED2_OFF |
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364 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
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365 | LED3_OFF |
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366 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
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367 | LED4_OFF |
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368 | |||
369 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
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370 | PORTC |= (1 << PC4); // pullup |
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371 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
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372 | PORTC |= (1 << PC5); // pullup |
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373 | |||
339 | cascade | 374 | // set up top and bottom lines |
375 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
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376 | bottom_line = 12; |
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377 | } else { |
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378 | bottom_line = 14; |
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379 | } |
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326 | cascade | 380 | |
339 | cascade | 381 | // reset the MAX7456 to be sure any undefined states do no harm |
321 | cascade | 382 | MAX_RESET_LOW |
383 | MAX_RESET_HIGH |
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384 | |||
385 | // give the FC/NC and the maxim time to come up |
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386 | LED4_ON |
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387 | _delay_ms(2000); |
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388 | |||
389 | LED4_OFF |
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390 | |||
331 | cascade | 391 | |
339 | cascade | 392 | //Pushing NEW chars to the MAX7456 |
329 | cascade | 393 | #if (WRITECHARS != -1) |
339 | cascade | 394 | // DISABLE display (VM0) |
321 | cascade | 395 | spi_send_byte(0x00, 0b00000000); |
455 | cascade | 396 | #include "characters.c" |
397 | #endif |
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321 | cascade | 398 | |
339 | cascade | 399 | // Setup Video Mode |
400 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
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401 | // NTSC + enable display immediately (VM0) |
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402 | spi_send_byte(0x00, 0b00001000); |
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403 | } else { |
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404 | // PAL + enable display immediately (VM0) |
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405 | spi_send_byte(0x00, 0b01001000); |
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406 | } |
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321 | cascade | 407 | |
404 | cascade | 408 | /*// clear all display-mem (DMM) |
403 | cascade | 409 | spi_send_byte(0x04, 0b00000100); |
410 | |||
411 | // clearing takes 12uS according to maxim so lets wait longer |
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412 | _delay_us(120); |
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413 | |||
321 | cascade | 414 | // 8bit mode |
404 | cascade | 415 | spi_send_byte(0x04, 0b01000000);*/ |
321 | cascade | 416 | |
404 | cascade | 417 | // clear display memory and set to 8bit mode |
321 | cascade | 418 | clear(); |
419 | |||
329 | cascade | 420 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 421 | // init usart |
422 | usart1_init(); |
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423 | |||
424 | // set up timer |
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425 | TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64 |
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385 | cascade | 426 | OCR0 = 15; // preload |
321 | cascade | 427 | TIMSK |= (1 << TOIE0); // enable overflow timer0 |
428 | |||
326 | cascade | 429 | // enable interrupts |
321 | cascade | 430 | sei(); |
431 | #endif |
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432 | |||
433 | //write_ascii_string(2, 7, " CaScAdE "); |
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434 | //write_ascii_string(2, 8, "is TESTING his open source"); |
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435 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
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436 | |||
437 | // we are ready |
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438 | LED3_ON |
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439 | |||
329 | cascade | 440 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
455 | cascade | 441 | clear(); |
321 | cascade | 442 | write_all_chars(); |
443 | #else |
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455 | cascade | 444 | // clear serial screen |
445 | //usart1_puts("\x1B[2J\x1B[H"); |
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446 | //usart1_puts("hello world!\r\n"); |
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454 | cascade | 447 | #if FCONLY |
455 | cascade | 448 | // request data ever 100ms from FC; |
449 | usart1_request_mk_data(0, 'd', 100); |
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454 | cascade | 450 | #else |
455 | cascade | 451 | // request OSD Data from NC every 100ms |
452 | usart1_request_mk_data(1, 'o', 100); |
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346 | cascade | 453 | |
339 | cascade | 454 | // and disable debug... |
455 | cascade | 455 | usart1_request_mk_data(0, 'd', 0); |
454 | cascade | 456 | #endif |
321 | cascade | 457 | |
339 | cascade | 458 | // stats for after flight |
459 | int16_t max_Altimeter = 0; |
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459 | cascade | 460 | uint8_t min_UBat = 255; |
461 | #if !(FCONLY) |
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462 | uint16_t max_GroundSpeed = 0; |
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339 | cascade | 463 | int16_t max_Distance = 0; |
464 | uint16_t max_FlyingTime = 0; |
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321 | cascade | 465 | |
339 | cascade | 466 | // flags from last round to check for changes |
467 | uint8_t old_MKFlags = 0; |
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468 | |||
321 | cascade | 469 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
377 | cascade | 470 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
459 | cascade | 471 | #endif |
321 | cascade | 472 | |
473 | while (1) { |
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474 | if (rxd_buffer_locked) { |
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339 | cascade | 475 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
454 | cascade | 476 | #if FCONLY |
339 | cascade | 477 | if (rxd_buffer[2] == 'D') { // FC Data |
454 | cascade | 478 | Decode64(); |
339 | cascade | 479 | debugData = *((DebugOut_t*) pRxData); |
454 | cascade | 480 | |
455 | cascade | 481 | // init on first data retrival, distinguished by last battery :) |
482 | if (last_UBat == 255) { |
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459 | cascade | 483 | // fix for min_UBat |
484 | min_UBat = debugData.Analog[9]; |
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485 | auto_config(debugData.Analog[9]); |
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455 | cascade | 486 | } |
459 | cascade | 487 | #include "osd_fcmode_default.c" |
454 | cascade | 488 | } |
489 | #else |
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459 | cascade | 490 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
491 | Decode64(); |
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492 | naviData = *((NaviData_t*) pRxData); |
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453 | cascade | 493 | |
459 | cascade | 494 | // init on first data retrival, distinguished by last battery :) |
495 | if (last_UBat == 255) { |
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496 | // fix for min_UBat |
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497 | min_UBat = naviData.UBat; |
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498 | auto_config(naviData.UBat); |
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499 | } |
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500 | #include "osd_ncmode_default.c" |
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501 | } |
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454 | cascade | 502 | #endif |
339 | cascade | 503 | } |
321 | cascade | 504 | rxd_buffer_locked = 0; |
505 | } |
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506 | // handle keypress |
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326 | cascade | 507 | if (s1_pressed()) { |
339 | cascade | 508 | config_menu(); |
321 | cascade | 509 | } |
339 | cascade | 510 | if (seconds_since_last_data > 2) { |
454 | cascade | 511 | #if FCONLY |
455 | cascade | 512 | // request data ever 100ms from FC; |
513 | usart1_request_mk_data(0, 'd', 100); |
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454 | cascade | 514 | #else |
455 | cascade | 515 | // request OSD Data from NC every 100ms |
516 | usart1_request_mk_data(1, 'o', 100); |
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454 | cascade | 517 | |
455 | cascade | 518 | // and disable debug... |
519 | usart1_request_mk_data(0, 'd', 0); |
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454 | cascade | 520 | #endif |
339 | cascade | 521 | } |
321 | cascade | 522 | } |
523 | #endif |
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524 | return 0; |
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525 | } |