| 31,6 → 31,7 |
|---|
| |
| /* TODO: |
| * - verifiy correctness of values |
| * - clean up code :) |
| */ |
| |
| /* ########################################################################## |
| 37,10 → 38,13 |
|---|
| * Debugging and general purpose definitions |
| * ##########################################################################*/ |
| #define ALLCHARSDEBUG 0 // set to 1 and flash firmware to see all chars |
| #define WRITECHARS 0 // set to 1 and flash firmware to write new char |
| #define WRITECHARS 224 // set to 2XX and flash firmware to write new char |
| // enables the allchars as well to see results |
| #define NTSC 0 // set to 1 for NTSC mode + lifts the bottom line |
| #define ARTHORIZON 0 // set to 1 to enable roll&nick artificial horizon |
| #define NOOSD 0 // set to 1 to disable OSD completely |
| #define NOOSD_BUT_WRN 0 // set to 1 to disable OSD completely but show |
| // battery and receive signal warnings |
| #define UBAT_WRN 94 // voltage for blinking warning, like FC settings |
| #define RCLVL_WRN 100 // make the RC level blink if below this number |
| |
| 48,6 → 52,14 |
|---|
| #define BLINK 0b01001111 // attribute byte for blinking chars |
| |
| /* ########################################################################## |
| * FLAGS usable during runtime |
| * ##########################################################################*/ |
| #define COSD_FLAG_NTSC 1 |
| #define COSD_FLAG_ARTHORIZON 2 |
| #define COSD_FLAG_NOOSD 4 |
| #define COSD_FLAG_NOOSD_BUT_WRN 8 |
| |
| /* ########################################################################## |
| * Software SPI to communicate with MAX7456 |
| * ##########################################################################*/ |
| #define MAX_CS_HIGH PORTA |= (1 << PA1); |
| 74,8 → 86,8 |
|---|
| /* ########################################################################## |
| * switch controll |
| * ##########################################################################*/ |
| #define S1_PRESSED !(PINC & (1<<PC4)) |
| #define S2_PRESSED !(PINC & (1<<PC5)) |
| #define S1_PRESSED !(PINC & (1<<PC5)) |
| #define S2_PRESSED !(PINC & (1<<PC4)) |
| |
| /* ########################################################################## |
| * gain some fake arm compat :) |
| 98,7 → 110,6 |
|---|
| #define NC_SERIAL_LINK_OK 16 |
| #define NC_FLAG_TARGET_REACHED 32 |
| |
| |
| #define FLAG_MOTOR_RUN 1 |
| #define FLAG_FLY 2 |
| #define FLAG_CALIBRATE 4 |
| 765,6 → 776,13 |
|---|
| * MAIN |
| * ##########################################################################*/ |
| int main(void) { |
| // set up FLAGS, compiler should flatten this one |
| uint8_t COSD_FLAGS = (NTSC << (COSD_FLAG_NTSC - 1)); |
| COSD_FLAGS |= (ARTHORIZON << (COSD_FLAG_ARTHORIZON - 1)); |
| COSD_FLAGS |= (NOOSD << (COSD_FLAG_NOOSD - 1)); |
| COSD_FLAGS |= (NOOSD_BUT_WRN << (COSD_FLAG_NOOSD_BUT_WRN - 1)); |
| |
| // set up Atmega162 Ports |
| DDRA |= (1 << PA1); // PA1 output (/CS) |
| MAX_CS_HIGH |
| DDRA |= (1 << PA2); // PA2 output (SDIN) |
| 791,6 → 809,12 |
|---|
| MAX_RESET_LOW |
| MAX_RESET_HIGH |
| |
| // check for keypress at startup |
| if (S2_PRESSED) { // togle COSD_FLAG_ARTHORIZON |
| COSD_FLAGS ^= (1 << (COSD_FLAG_ARTHORIZON - 1)); |
| _delay_ms(100); |
| } |
| |
| // give the FC/NC and the maxim time to come up |
| LED4_ON |
| _delay_ms(2000); |
| 1116,9 → 1140,10 |
|---|
| 0x55, 0x41, 0x55, 0x55, 0x55, 0x55}; |
| |
| |
| // flashing more than 8 chars per time is not profen to be safe |
| // flashing more than 8 chars per time is not proven to be safe |
| // so take care |
| /*learn_char(200, cc8); |
| #if WRITECHARS == 200 |
| learn_char(200, cc8); |
| learn_char(201, cc9); |
| learn_char(202, cca); |
| learn_char(203, ccb); |
| 1125,8 → 1150,10 |
|---|
| learn_char(204, ccc); |
| learn_char(205, ccd); |
| learn_char(206, cce); |
| learn_char(207, ccf);*/ |
| /*learn_char(208, cd0); |
| learn_char(207, ccf); |
| #endif |
| #if WRITECHARS == 208 |
| learn_char(208, cd0); |
| learn_char(209, cd1); |
| learn_char(210, cd2); |
| learn_char(211, cd3); |
| 1133,8 → 1160,10 |
|---|
| learn_char(212, cd4); |
| learn_char(213, cd5); |
| learn_char(214, cd6); |
| learn_char(215, cd7);*/ |
| /*learn_char(216, cd8); |
| learn_char(215, cd7); |
| #endif |
| #if WRITECHARS == 216 |
| learn_char(216, cd8); |
| learn_char(217, cd9); |
| learn_char(218, cda); |
| learn_char(219, cdb); |
| 1141,8 → 1170,10 |
|---|
| learn_char(220, cdc); |
| learn_char(221, cdd); |
| learn_char(222, cde); |
| learn_char(223, cdf);*/ |
| /*learn_char(224, ce0); |
| learn_char(223, cdf); |
| #endif |
| #if WRITECHARS == 224 |
| learn_char(224, ce0); |
| learn_char(225, ce1); |
| learn_char(226, ce2); |
| learn_char(227, ce3); |
| 1149,18 → 1180,25 |
|---|
| learn_char(228, ce4); |
| learn_char(229, ce5); |
| learn_char(230, ce6); |
| learn_char(231, ce7);*/ |
| learn_char(231, ce7); |
| #endif |
| #endif // write char general |
| /* ########################################################################## |
| * continue normal main |
| * ##########################################################################*/ |
| #if NTSC |
| // NTSC + enable display immediately (VM0) |
| spi_send_byte(0x00, 0b00001000); |
| #else |
| // PAL + enable display immediately (VM0) |
| spi_send_byte(0x00, 0b01001000); |
| #endif |
| |
| // Setup Video Mode |
| uint8_t top_line = 1; |
| uint8_t bottom_line = 0; |
| if (COSD_FLAGS & COSD_FLAG_NTSC) { |
| // NTSC + enable display immediately (VM0) |
| spi_send_byte(0x00, 0b00001000); |
| bottom_line = 12; |
| } else { |
| // PAL + enable display immediately (VM0) |
| spi_send_byte(0x00, 0b01001000); |
| bottom_line = 14; |
| } |
| |
| // clear all display-mem (DMM) |
| spi_send_byte(0x04, 0b00000100); |
| 1238,16 → 1276,12 |
|---|
| //ms = 0; |
| //sendMKData('d', 0, &ms, 1); |
| |
| uint8_t top_line = 1; |
| #if NTSC |
| uint8_t bottom_line = 12; |
| #else |
| uint8_t bottom_line = 14; |
| #endif |
| // stats for after flight |
| int16_t max_Altimeter = 0; |
| uint16_t max_GroundSpeed = 0; |
| int16_t max_Distance = 0; |
| uint8_t min_UBat = 255; |
| uint16_t max_FlyingTime = 0; |
| |
| // flags from last round to check for changes |
| uint8_t old_MKFlags = 0; |
| 1334,20 → 1368,27 |
|---|
| write_char_xy(x, 9, 0); |
| } |
| } |
| #if ARTHORIZON |
| draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
| #endif |
| if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
| draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
| } |
| } else { |
| // stats |
| write_ascii_string(2, 5, "max Altitude:"); |
| write_number_s(17, 5, max_Altimeter/10); |
| write_char_xy(22, 5, 204); // small meters m |
| write_ascii_string(2, 7, "max Speed :"); |
| write_3digit_number_u(19, 7, (uint16_t)(((uint32_t)max_GroundSpeed*36)/1000)); |
| write_char_xy(22, 7, 203); // km/h |
| write_ascii_string(2, 9, "max Distance:"); |
| write_number_s(17, 9, max_Distance/100); |
| write_char_xy(22, 9, 204); // small meters m |
| write_ascii_string(2, 6, "max Speed :"); |
| write_3digit_number_u(19, 6, (uint16_t)(((uint32_t)max_GroundSpeed*36)/1000)); |
| write_char_xy(22, 6, 203); // km/h |
| write_ascii_string(2, 7, "max Distance:"); |
| write_number_s(17, 7, max_Distance/100); |
| write_char_xy(22, 7, 204); // small meters m |
| write_ascii_string(2, 8, "min voltage :"); |
| //write_number_s(17, 8, min_UBat/10); |
| write_number_u_10th(16, 8, min_UBat); |
| write_ascii_string(22, 8, "V"); // voltage |
| write_ascii_string(2, 9, "max time :"); |
| write_number_s(17, 9, max_FlyingTime); |
| write_char_xy(22, 9, 210); // fly clock |
| } |
| |
| // bottom line |
| 1382,6 → 1423,9 |
|---|
| if (naviData.HomePositionDeviation.Distance > max_Distance) { |
| max_Distance = naviData.HomePositionDeviation.Distance; |
| } |
| if (naviData.UBat < min_UBat) min_UBat = naviData.UBat; |
| if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime; |
| |
| old_MKFlags = naviData.MKFlags; |
| } |
| rxd_buffer_locked = 0; |