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321 | cascade | 1 | /**************************************************************************** |
902 | - | 2 | * Copyright (C) 2009-2011 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> |
346 | cascade | 33 | #include "max7456_software_spi.h" |
772 | - | 34 | #ifdef ANTENNATRACKTEST |
35 | #include "usart0.h" |
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36 | #endif |
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331 | cascade | 37 | #include "usart1.h" |
389 | cascade | 38 | #include "osd_helpers.h" |
471 | cascade | 39 | #include "config.h" |
40 | #include "spi.h" |
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41 | #include "buttons.h" |
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477 | cascade | 42 | #include "ppm.h" |
497 | cascade | 43 | #include "osd_ncmode_default.h" |
44 | #include "osd_ncmode_minimal.h" |
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45 | #include "osd_fcmode_default.h" |
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685 | cascade | 46 | #include "osd_fcmode_jopl.h" |
514 | cascade | 47 | |
48 | #if WRITECHARS != -1 |
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49 | #include "characters.h" |
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497 | cascade | 50 | #endif |
321 | cascade | 51 | |
52 | /* TODO: |
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53 | * - verifiy correctness of values |
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324 | cascade | 54 | * - clean up code :) |
321 | cascade | 55 | */ |
56 | |||
57 | |||
58 | /* ########################################################################## |
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59 | * global definitions and global vars |
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60 | * ##########################################################################*/ |
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762 | - | 61 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
346 | cascade | 62 | |
321 | cascade | 63 | volatile NaviData_t naviData; |
783 | - | 64 | volatile str_DebugOut debugData; |
321 | cascade | 65 | |
66 | // cache old vars for blinking attribute, checkup is faster than full |
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67 | // attribute write each time |
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68 | volatile uint8_t last_UBat = 255; |
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69 | volatile uint8_t last_RC_Quality = 255; |
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70 | |||
71 | // 16bit should be enough, normal LiPos don't last that long |
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72 | volatile uint16_t uptime = 0; |
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73 | volatile uint16_t timer = 0; |
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685 | cascade | 74 | volatile uint16_t flytime_fc = 0; |
321 | cascade | 75 | |
331 | cascade | 76 | // remember last time data was received |
77 | volatile uint8_t seconds_since_last_data = 0; |
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78 | |||
497 | cascade | 79 | // general PAL|NTSC distingiusch stuff |
80 | uint8_t top_line = 1; |
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81 | uint8_t bottom_line = 14; |
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82 | |||
83 | // battery voltages |
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84 | uint8_t min_voltage = 0; |
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85 | uint8_t max_voltage = 0; |
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86 | |||
902 | - | 87 | uint8_t scope[12] = { |
88 | 5, 5, 0, |
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89 | 25, 5, 0, |
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90 | 5, 10, 0, |
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91 | 25, 10, 0 |
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837 | - | 92 | }; |
93 | |||
497 | cascade | 94 | // Flags |
528 | cascade | 95 | uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0; |
497 | cascade | 96 | |
514 | cascade | 97 | |
762 | - | 98 | |
497 | cascade | 99 | // stats for after flight |
100 | int16_t max_Altimeter = 0; |
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101 | uint8_t min_UBat = 255; |
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102 | uint16_t max_GroundSpeed = 0; |
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103 | int16_t max_Distance = 0; |
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104 | uint16_t max_FlyingTime = 0; |
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105 | |||
106 | // flags from last round to check for changes |
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107 | uint8_t old_MKFlags = 0; |
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108 | |||
346 | cascade | 109 | // store stats description in progmem to save space |
489 | woggle | 110 | const char stats_item_0[] PROGMEM = "max Altitude:"; |
826 | - | 111 | const char stats_item_1[] PROGMEM = "max Speed :"; |
489 | woggle | 112 | const char stats_item_2[] PROGMEM = "max Distance:"; |
113 | const char stats_item_3[] PROGMEM = "min Voltage :"; |
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826 | - | 114 | const char stats_item_4[] PROGMEM = "max Time:"; |
115 | const char stats_item_5[] PROGMEM = "longitude :"; |
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116 | const char stats_item_6[] PROGMEM = "latitude:"; |
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489 | woggle | 117 | const char stats_item_7[] PROGMEM = "max current :"; |
499 | cascade | 118 | const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
467 | cascade | 119 | stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7}; |
346 | cascade | 120 | |
489 | woggle | 121 | //char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
761 | - | 122 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
489 | woggle | 123 | const char str_NE[] PROGMEM = "NE"; |
761 | - | 124 | const char str_E[] PROGMEM = "E "; |
489 | woggle | 125 | const char str_SE[] PROGMEM = "SE"; |
761 | - | 126 | const char str_S[] PROGMEM = "S "; |
489 | woggle | 127 | const char str_SW[] PROGMEM = "SW"; |
761 | - | 128 | const char str_W[] PROGMEM = "W "; |
489 | woggle | 129 | const char str_NW[] PROGMEM = "NW"; |
761 | - | 130 | const char str_N[] PROGMEM = "N "; |
489 | woggle | 131 | const char *directions[8] PROGMEM = { |
761 | - | 132 | str_NE, |
133 | str_E, |
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134 | str_SE, |
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135 | str_S, |
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136 | str_SW, |
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137 | str_W, |
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138 | str_NW, |
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139 | str_N |
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140 | }; |
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489 | woggle | 141 | |
497 | cascade | 142 | /* ########################################################################## |
143 | * Different display mode function pointers |
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144 | * ##########################################################################*/ |
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761 | - | 145 | const char str_1[] PROGMEM = "default"; |
146 | const char str_2[] PROGMEM = "minimal"; |
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826 | - | 147 | const char str_3[] PROGMEM = " jopl"; |
326 | cascade | 148 | |
783 | - | 149 | #if FCONLY |
497 | cascade | 150 | const displaymode_t fcdisplaymodes[] PROGMEM = { |
761 | - | 151 | { osd_fcmode_default, (char *)str_1}, |
152 | { osd_fcmode_jopl, (char *)str_3} |
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497 | cascade | 153 | }; |
783 | - | 154 | int (*osd_fcmode)(void) = (int(*)(void)) & osd_fcmode_default; |
155 | #else |
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453 | cascade | 156 | |
783 | - | 157 | const displaymode_t ncdisplaymodes[] PROGMEM = { |
158 | { osd_ncmode_default, (char *)str_1}, |
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159 | { osd_ncmode_minimal, (char *)str_2} |
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160 | }; |
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761 | - | 161 | int (*osd_ncmode)(void) = (int(*)(void)) & osd_ncmode_default; |
497 | cascade | 162 | #endif |
326 | cascade | 163 | |
783 | - | 164 | |
165 | #endif |
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166 | |||
321 | cascade | 167 | /* ########################################################################## |
389 | cascade | 168 | * Interrupt handler |
169 | * ##########################################################################*/ |
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455 | cascade | 170 | |
321 | cascade | 171 | /** |
389 | cascade | 172 | * handler for undefined Interrupts |
173 | * if not defined AVR will reset in case any unhandled interrupts occur |
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321 | cascade | 174 | */ |
389 | cascade | 175 | ISR(__vector_default) { |
455 | cascade | 176 | asm("nop"); |
389 | cascade | 177 | } |
321 | cascade | 178 | |
389 | cascade | 179 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 180 | /* ########################################################################## |
181 | * timer stuff |
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182 | * ##########################################################################*/ |
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455 | cascade | 183 | |
507 | cascade | 184 | static uint8_t delay_spi = 0; |
185 | |||
466 | cascade | 186 | /** |
331 | cascade | 187 | * timer kicks in every 1000uS ^= 1ms |
321 | cascade | 188 | */ |
489 | woggle | 189 | ISR(TIMER0_COMP_vect) { |
321 | cascade | 190 | if (!timer--) { |
191 | uptime++; |
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685 | cascade | 192 | |
761 | - | 193 | #if FCONLY |
194 | if (debugData.Analog[12] > 10) { |
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195 | flytime_fc++; |
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196 | } |
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197 | #endif |
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685 | cascade | 198 | |
321 | cascade | 199 | timer = 999; |
455 | cascade | 200 | seconds_since_last_data++; |
321 | cascade | 201 | } |
466 | cascade | 202 | // in case there is still some spi data to send do it now |
761 | - | 203 | // delay to give the slave some time to compute values |
466 | cascade | 204 | if (spi_ready && icnt) { |
761 | - | 205 | if (!delay_spi--) { |
206 | delay_spi = 8; |
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207 | spi_send_next(); |
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208 | } |
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466 | cascade | 209 | } |
321 | cascade | 210 | } |
762 | - | 211 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
455 | cascade | 212 | |
321 | cascade | 213 | /* ########################################################################## |
214 | * MAIN |
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215 | * ##########################################################################*/ |
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216 | int main(void) { |
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761 | - | 217 | // set up FLAGS |
218 | COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0; |
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219 | #if NTSC |
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220 | COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC; |
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221 | #endif |
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222 | #if HUD |
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223 | COSD_FLAGS_MODES |= COSD_FLAG_HUD; |
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224 | #endif |
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225 | #if ARTHORIZON |
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226 | COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON; |
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227 | #endif |
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228 | #if BIGVARIO |
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229 | COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO; |
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230 | #endif |
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231 | #if STATS |
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232 | COSD_FLAGS_MODES |= COSD_FLAG_STATS; |
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233 | #endif |
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234 | #if WARNINGS |
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235 | COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS; |
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236 | #endif |
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237 | #if FCONLY |
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238 | COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE; |
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239 | #endif |
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466 | cascade | 240 | |
324 | cascade | 241 | |
339 | cascade | 242 | // set up Atmega162 Ports |
826 | - | 243 | DDRA |= ((1 << PA1) | (1 << PA2) | (1 << PA3) | (1 << PA5)); // PA1 output (/CS) | PA2 output (SDIN) |PA3 output (SCLK) | PA5 output (RESET) |
321 | cascade | 244 | MAX_CS_HIGH |
245 | MAX_SDIN_LOW |
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246 | MAX_SCLK_LOW |
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247 | MAX_RESET_HIGH |
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248 | |||
772 | - | 249 | DDRC |= ((1 << PC0) | (1 << PC1) | (1 << PC2) | (1 << PC3)); // PC0 output (LED1 gn) | PC1 output (LED2 rt) | PC2 output (LED3 gn) | PC3 output (LED4 rt) |
321 | cascade | 250 | LED1_OFF |
251 | LED2_OFF |
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252 | LED3_OFF |
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253 | LED4_OFF |
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254 | |||
826 | - | 255 | DDRC &= ~((1 << PC4) | (1 << PC5)); // PC4 input(MODE) | PC5 input(SET) |
800 | - | 256 | PORTC |= ((1 << PC4) | (1 << PC5)); // pullup |
321 | cascade | 257 | |
339 | cascade | 258 | // reset the MAX7456 to be sure any undefined states do no harm |
321 | cascade | 259 | MAX_RESET_LOW |
260 | MAX_RESET_HIGH |
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261 | |||
262 | // give the FC/NC and the maxim time to come up |
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263 | LED4_ON |
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736 | cascade | 264 | _delay_ms(1000); |
321 | cascade | 265 | LED4_OFF |
266 | |||
339 | cascade | 267 | //Pushing NEW chars to the MAX7456 |
329 | cascade | 268 | #if (WRITECHARS != -1) |
837 | - | 269 | // DISABLE display (VM0) |
270 | spi_send_byte(0x00, 0b00000000); |
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761 | - | 271 | learn_all_chars_pgm(); |
474 | cascade | 272 | #else |
761 | - | 273 | // read out config for NTSC/PAL distinguishing |
274 | get_eeprom(0); |
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455 | cascade | 275 | #endif |
321 | cascade | 276 | |
761 | - | 277 | // Setup Video Mode |
278 | if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) { |
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279 | // NTSC + enable display immediately (VM0) |
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280 | spi_send_byte(0x00, 0b00001000); |
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321 | cascade | 281 | |
761 | - | 282 | bottom_line = 12; |
283 | } else { |
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284 | // PAL + enable display immediately (VM0) |
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285 | spi_send_byte(0x00, 0b01001000); |
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474 | cascade | 286 | |
761 | - | 287 | bottom_line = 14; |
288 | } |
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474 | cascade | 289 | |
404 | cascade | 290 | /*// clear all display-mem (DMM) |
403 | cascade | 291 | spi_send_byte(0x04, 0b00000100); |
292 | |||
293 | // clearing takes 12uS according to maxim so lets wait longer |
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294 | _delay_us(120); |
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295 | |||
321 | cascade | 296 | // 8bit mode |
404 | cascade | 297 | spi_send_byte(0x04, 0b01000000);*/ |
321 | cascade | 298 | |
404 | cascade | 299 | // clear display memory and set to 8bit mode |
321 | cascade | 300 | clear(); |
301 | |||
329 | cascade | 302 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
321 | cascade | 303 | // init usart |
304 | usart1_init(); |
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305 | |||
772 | - | 306 | |
307 | |||
308 | #ifdef ANTENNATRACKTEST |
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800 | - | 309 | usart0_init(); |
772 | - | 310 | #endif |
311 | |||
738 | cascade | 312 | // keep serial port clean |
313 | usart1_DisableTXD(); |
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314 | |||
321 | cascade | 315 | // set up timer |
761 | - | 316 | // CTC, Prescaler /64 |
317 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
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321 | cascade | 318 | |
761 | - | 319 | TCNT0 = 0; |
320 | OCR0 = 250; |
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489 | woggle | 321 | |
761 | - | 322 | // enable timer output compare interrupt |
323 | TIMSK &= ~(1 << TOIE0); |
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324 | TIMSK |= (1 << OCIE0); |
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489 | woggle | 325 | |
761 | - | 326 | // SPI setup |
466 | cascade | 327 | DDRD |= (1 << PD2); // PD2 output (INT0) |
328 | SpiMasterInit(); |
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465 | cascade | 329 | |
761 | - | 330 | // PPM detection setup |
331 | ppm_init(); |
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477 | cascade | 332 | |
326 | cascade | 333 | // enable interrupts |
321 | cascade | 334 | sei(); |
335 | |||
762 | - | 336 | |
826 | - | 337 | //write_ascii_string(2,7, " CaScAdE"); |
338 | //write_ascii_string(2,8, "is TESTING his open source"); |
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339 | //write_ascii_string(2,9, "EPi OSD Firmware"); |
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321 | cascade | 340 | |
341 | // we are ready |
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342 | LED3_ON |
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343 | |||
477 | cascade | 344 | |
762 | - | 345 | // clear serial screen |
346 | //usart1_puts("\x1B[2J\x1B[H"); |
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477 | cascade | 347 | |
826 | - | 348 | COSD_FLAGS_RUNTIME &= ~COSD_DATARECEIVED; |
800 | - | 349 | #if !FCONLY |
826 | - | 350 | usart1_request_nc_uart(); |
800 | - | 351 | #endif |
352 | |||
321 | cascade | 353 | while (1) { |
466 | cascade | 354 | // in case SPI is ready and there is nothing to send right now |
355 | if (!icnt && spi_ready) { |
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356 | // correct transfer ends with d (done) |
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507 | cascade | 357 | if (SPI_buffer.buffer.chk == 'd') { |
761 | - | 358 | ampere = SPI_buffer.data.ampere; |
359 | ampere_wasted = SPI_buffer.data.mah; |
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360 | s_volt = SPI_buffer.data.volt; |
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507 | cascade | 361 | |
761 | - | 362 | // if this is the first receival we should print the small A |
363 | if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) { |
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364 | clear(); |
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365 | COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN; |
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366 | // update this flag |
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367 | COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC; |
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368 | } |
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466 | cascade | 369 | } else { |
370 | // update flags |
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528 | cascade | 371 | COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC; |
466 | cascade | 372 | } |
761 | - | 373 | StartTransfer(9); |
466 | cascade | 374 | } |
321 | cascade | 375 | if (rxd_buffer_locked) { |
454 | cascade | 376 | #if FCONLY |
471 | cascade | 377 | if (rxd_buffer[2] == 'D') { // FC Data |
378 | Decode64(); |
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783 | - | 379 | debugData = *((str_DebugOut*)pRxData); |
454 | cascade | 380 | |
471 | cascade | 381 | // init on first data retrival, distinguished by last battery :) |
382 | if (last_UBat == 255) { |
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761 | - | 383 | if (debugData.Analog[9] > 40) { |
384 | // fix for min_UBat |
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385 | min_UBat = debugData.Analog[9]; |
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386 | last_UBat = debugData.Analog[9]; |
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387 | init_cosd(last_UBat); |
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388 | } |
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677 | cascade | 389 | } else { |
761 | - | 390 | osd_fcmode(); |
391 | } |
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392 | seconds_since_last_data = 0; |
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471 | cascade | 393 | } |
454 | cascade | 394 | #else |
471 | cascade | 395 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
396 | Decode64(); |
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761 | - | 397 | naviData = *((NaviData_t*)pRxData); |
453 | cascade | 398 | |
471 | cascade | 399 | // init on first data retrival, distinguished by last battery :) |
400 | if (last_UBat == 255) { |
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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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406 | } |
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677 | cascade | 407 | } else { |
761 | - | 408 | osd_ncmode(); |
409 | } |
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410 | //seconds_since_last_data = 0; |
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471 | cascade | 411 | } |
454 | cascade | 412 | #endif |
772 | - | 413 | |
800 | - | 414 | // ONLY FOR TESTING |
415 | #ifdef ANTENNATRACKTEST |
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826 | - | 416 | #include <stdlib.h> |
800 | - | 417 | //#include <float.h> |
418 | //#include <math.h> |
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772 | - | 419 | |
800 | - | 420 | //usart0_puts("\x1B[2J\x1B[H"); |
772 | - | 421 | |
422 | |||
800 | - | 423 | /* |
424 | naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100) |
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425 | naviData.HomePositionDeviation.Bearing = 35; // 35� |
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426 | altimeter_offset = 50; // 50m start height |
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427 | naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000) |
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428 | */ |
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772 | - | 429 | |
800 | - | 430 | static char conv_array[7]; |
772 | - | 431 | |
800 | - | 432 | // should be float |
433 | int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset); |
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772 | - | 434 | |
800 | - | 435 | // we need math.h and some faster AVR :) |
436 | //tanheight = rad2deg(atan(tanheight)); |
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772 | - | 437 | |
800 | - | 438 | itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10); |
439 | usart0_puts("Bearing: "); |
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440 | usart0_puts(conv_array); |
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441 | usart0_puts("\tHeightangle: "); |
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442 | itoa(tanheight, conv_array, 10); |
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443 | usart0_puts(conv_array); |
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444 | usart0_puts("\r\n"); |
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445 | #endif |
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446 | |||
447 | |||
321 | cascade | 448 | rxd_buffer_locked = 0; |
449 | } |
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450 | // handle keypress |
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326 | cascade | 451 | if (s1_pressed()) { |
339 | cascade | 452 | config_menu(); |
321 | cascade | 453 | } |
826 | - | 454 | // reqest data untill there has been some answer |
455 | if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED) || |
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456 | // or while not in passive mode |
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457 | (seconds_since_last_data > 0 && !(COSD_FLAGS_CONFIG & COSD_FLAG_PASSIVE))) { |
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761 | - | 458 | usart1_EnableTXD(); |
459 | //usart1_puts_pgm(PSTR("zu alt\r\n")); |
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454 | cascade | 460 | #if FCONLY |
455 | cascade | 461 | // request data ever 100ms from FC; |
738 | cascade | 462 | //usart1_request_mk_data(0, 'd', 100); |
761 | - | 463 | usart1_puts_pgm(PSTR(REQUEST_DBG_DATA)); |
783 | - | 464 | #else |
455 | cascade | 465 | // request OSD Data from NC every 100ms |
738 | cascade | 466 | //usart1_request_mk_data(1, 'o', 100); |
761 | - | 467 | usart1_puts_pgm(PSTR(REQUEST_OSD_DATA)); |
454 | cascade | 468 | |
455 | cascade | 469 | // and disable debug... |
800 | - | 470 | //usart1_request_mk_data(0, 'd', 0); |
738 | cascade | 471 | #endif |
761 | - | 472 | // reset last time counter |
473 | seconds_since_last_data = 0; |
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474 | usart1_DisableTXD(); |
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835 | - | 475 | |
476 | // do not spam too much |
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477 | if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED)) { |
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478 | _delay_ms(300); |
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479 | } |
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339 | cascade | 480 | } |
321 | cascade | 481 | } |
762 | - | 482 | |
483 | #else // character flashing... |
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800 | - | 484 | clear(); |
762 | - | 485 | write_all_chars(); |
486 | LED1_ON |
||
487 | LED2_ON |
||
488 | LED3_ON |
||
489 | LED4_ON |
||
800 | - | 490 | while (1) { |
762 | - | 491 | |
800 | - | 492 | }; |
321 | cascade | 493 | #endif |
762 | - | 494 | |
495 | |||
321 | cascade | 496 | return 0; |
497 | } |