0,0 → 1,1404 |
/**************************************************************************** |
* Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje * |
* admiralcascade@gmail.com * |
* Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
* * |
* This program is free software; you can redistribute it and/or modify * |
* it under the terms of the GNU General Public License as published by * |
* the Free Software Foundation; either version 2 of the License. * |
* * |
* This program is distributed in the hope that it will be useful, * |
* but WITHOUT ANY WARRANTY; without even the implied warranty of * |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
* GNU General Public License for more details. * |
* * |
* You should have received a copy of the GNU General Public License * |
* along with this program; if not, write to the * |
* Free Software Foundation, Inc., * |
* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
* * |
* * |
* Credits to: * |
* Holger Buss & Ingo Busker from mikrokopter.de for the MK project * |
* Gregor "killagreg" Stobrawa for making the MK code readable * |
* Klaus "akku" Buettner for the hardware * |
* Manuel "KeyOz" Schrape for explaining the MK protocol to me * |
****************************************************************************/ |
|
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include <util/delay.h> |
|
/* TODO: |
* - verifiy correctness of values |
*/ |
|
/* ########################################################################## |
* 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 |
// 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 UBAT_WRN 94 // voltage for blinking warning, like FC settings |
#define RCLVL_WRN 100 // make the RC level blink if below this number |
|
// ### read datasheet before changing stuff below this line :) |
#define BLINK 0b01001111 // attribute byte for blinking chars |
|
/* ########################################################################## |
* Software SPI to communicate with MAX7456 |
* ##########################################################################*/ |
#define MAX_CS_HIGH PORTA |= (1 << PA1); |
#define MAX_CS_LOW PORTA &= ~(1 << PA1); |
#define MAX_SDIN_HIGH PORTA |= (1 << PA2); |
#define MAX_SDIN_LOW PORTA &= ~(1 << PA2); |
#define MAX_SCLK_HIGH PORTA |= (1 << PA3); |
#define MAX_SCLK_LOW PORTA &= ~(1 << PA3); |
#define MAX_RESET_HIGH PORTA |= (1 << PA5); |
#define MAX_RESET_LOW PORTA &= ~(1 << PA5); |
|
/* ########################################################################## |
* LED controll |
* ##########################################################################*/ |
#define LED1_ON PORTC |= (1 << PC0); |
#define LED1_OFF PORTC &= ~(1 << PC0); |
#define LED2_ON PORTC |= (1 << PC1); |
#define LED2_OFF PORTC &= ~(1 << PC1); |
#define LED3_ON PORTC |= (1 << PC2); |
#define LED3_OFF PORTC &= ~(1 << PC2); |
#define LED4_ON PORTC |= (1 << PC3); |
#define LED4_OFF PORTC &= ~(1 << PC3); |
|
/* ########################################################################## |
* switch controll |
* ##########################################################################*/ |
#define S1_PRESSED !(PINC & (1<<PC4)) |
#define S2_PRESSED !(PINC & (1<<PC5)) |
|
/* ########################################################################## |
* gain some fake arm compat :) |
* ##########################################################################*/ |
#define u8 uint8_t |
#define s8 int8_t |
#define u16 uint16_t |
#define s16 int16_t |
#define u32 uint32_t |
#define s32 int32_t |
|
#if !(ALLCHARSDEBUG|WRITECHARS) |
/* ########################################################################## |
* MK data strucs & flags |
* ##########################################################################*/ |
#define NC_FLAG_FREE 1 |
#define NC_FLAG_PH 2 |
#define NC_FLAG_CH 4 |
#define NC_FLAG_RANGE_LIMIT 8 |
#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 |
#define FLAG_START 8 |
|
/* |
* FC Debug Struct |
* portions taken and adapted from |
* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h |
*/ |
typedef struct { |
uint8_t Digital[2]; |
uint16_t Analog[32]; // Debugvalues |
} __attribute__((packed)) DebugOut_t; |
|
/* |
* NaviCtrl OSD Structs |
* portions taken and adapted from |
* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.14e%2Fuart1.h |
*/ |
typedef struct { |
s32 Longitude; // in 1E-7 deg |
s32 Latitude; // in 1E-7 deg |
s32 Altitude; // in mm |
u8 Status; // validity of data |
} __attribute__((packed)) GPS_Pos_t; |
|
typedef struct { |
s16 Distance; // distance to target in cm |
s16 Bearing; // course to target in deg |
} __attribute__((packed)) GPS_PosDev_t; |
|
typedef struct { |
GPS_Pos_t CurrentPosition; // see ubx.h for details |
GPS_Pos_t TargetPosition; |
GPS_PosDev_t TargetPositionDeviation; |
GPS_Pos_t HomePosition; |
GPS_PosDev_t HomePositionDeviation; |
u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
u8 WaypointNumber; // number of stored waypoints |
u8 SatsInUse; // no of satellites used for position solution |
s16 Altimeter; // hight according to air pressure |
s16 Variometer; // climb(+) and sink(-) rate |
u16 FlyingTime; // in seconds |
u8 UBat; // Battery Voltage in 0.1 Volts |
u16 GroundSpeed; // speed over ground in cm/s (2D) |
s16 Heading; // current flight direction in deg as angle to north |
s16 CompassHeading; // current compass value |
s8 AngleNick; // current Nick angle in 1° |
s8 AngleRoll; // current Rick angle in 1° |
u8 RC_Quality; // RC_Quality |
u8 MKFlags; // Flags from FC |
u8 NCFlags; // Flags from NC |
u8 Errorcode; // 0 --> okay |
u8 OperatingRadius; // current operation radius around the Home Position in m |
u8 Reserve[7]; // for future use |
} __attribute__((packed)) NaviData_t; |
|
|
/* ########################################################################## |
* global definitions and global vars |
* ##########################################################################*/ |
#define baud 57600 |
|
#define RXD_BUFFER_LEN 150 |
#define TXD_BUFFER_LEN 150 |
|
volatile uint8_t rxd_buffer_locked = 0; |
volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
volatile uint8_t ReceivedBytes = 0; |
volatile uint8_t *pRxData = 0; |
volatile uint8_t RxDataLen = 0; |
volatile uint16_t setsReceived = 0; |
|
volatile NaviData_t naviData; |
volatile DebugOut_t debugData; |
|
// cache old vars for blinking attribute, checkup is faster than full |
// attribute write each time |
volatile uint8_t last_UBat = 255; |
volatile uint8_t last_RC_Quality = 255; |
|
// 16bit should be enough, normal LiPos don't last that long |
volatile uint16_t uptime = 0; |
volatile uint16_t timer = 0; |
|
#endif // ends !(ALLCHARSDEBUG|WRITECHARS) |
/* ########################################################################## |
* MAX7456 SPI & Display stuff |
* ##########################################################################*/ |
|
/** |
* Send a byte through SPI |
*/ |
void spi_send(uint8_t byte) { |
for (int8_t i = 7; i >= 0; i--) { |
if (((byte >> i) & 1)) { |
MAX_SDIN_HIGH |
} else { |
MAX_SDIN_LOW |
} |
MAX_SCLK_HIGH |
MAX_SCLK_LOW |
} |
} |
|
/** |
* Send <byte> to <address> of MAX7456 |
*/ |
void spi_send_byte(uint8_t address, uint8_t byte) { |
// start sending |
MAX_CS_LOW |
|
spi_send(address); |
spi_send(byte); |
|
// end sending |
MAX_CS_HIGH |
} |
|
/** |
* write a <character> to <address> of MAX7456 display memory |
*/ |
void write_char(uint16_t address, char character) { |
spi_send_byte(0x05, (address & 0xFF00) >> 8); // DMAH |
spi_send_byte(0x06, (address & 0x00FF)); // DMAL |
spi_send_byte(0x07, character); // DMDI |
} |
|
/** |
* write a character <attribute> to <address> of MAX7456 display memory |
*/ |
void write_char_att(uint16_t address, char attribute) { |
// the only important part is that the DMAH[1] is set |
// so we add 2 which binary is the 2nd lowest byte |
spi_send_byte(0x05, ((address & 0xFF00) >> 8) | 2); // DMAH |
spi_send_byte(0x06, (address & 0x00FF)); // DMAL |
spi_send_byte(0x07, attribute); // DMDI |
} |
|
/** |
* write a <character> at <x>/<y> to MAX7456 display memory |
*/ |
void write_char_xy(uint8_t x, uint8_t y, char character) { |
uint16_t address = y * 30 + x; |
write_char(address, character); |
} |
|
/** |
* write a character <attribute> at <x>/<y> to MAX7456 display memory |
*/ |
void write_char_att_xy(uint8_t x, uint8_t y, char attribute) { |
uint16_t address = y * 30 + x; |
write_char_att(address, attribute); |
} |
|
/** |
* clear display by writing blank characters all over it |
*/ |
void clear(void) { |
uint16_t memory_address = 0; |
for (unsigned int a = 0; a < 480; a++) { |
write_char(memory_address++, 0); |
} |
} |
|
/** |
* write an ascii <character> to <address> of MAX7456 display memory |
*/ |
void write_ascii_char(uint16_t address, char c) { |
if (c == 32) c = 0; // remap space |
else if (c > 48 && c <= 57) c -= 48; // remap numbers |
else if (c == '0') c = 10; // remap zero |
else if (c >= 65 && c <= 90) c -= 54; // remap big letters |
else if (c >= 97 && c <= 122) c -= 60; // remap small letters |
else if (c == '(') c = 63; // remap |
else if (c == ')') c = 64; // remap |
else if (c == '.') c = 65; // remap |
else if (c == '?') c = 66; // remap |
else if (c == ';') c = 67; // remap |
else if (c == ':') c = 68; // remap |
else if (c == ',') c = 69; // remap |
else if (c == '\'') c = 70; // remap |
else if (c == '/') c = 71; // remap |
else if (c == '"') c = 72; // remap |
else if (c == '-') c = 73; // remap minus |
else if (c == '<') c = 74; // remap |
else if (c == '>') c = 75; // remap |
else if (c == '@') c = 76; // remap |
write_char(address, c); |
} |
|
/** |
* write an ascii <string> at <x>/<y> to MAX7456 display memory |
*/ |
void write_ascii_string(uint8_t x, uint8_t y, char *string) { |
while (*string) { |
write_ascii_char(((x++)+(y * 30)), *string); |
string++; |
} |
} |
|
/** |
* Write only the last three digits of a <number> at <x>/<y> to MAX7456 |
* display memory. takes full 16bit numbers as well for stuff |
* like compass only taking three characters (values <= 999) |
*/ |
void write_3digit_number_u(uint8_t x, uint8_t y, uint16_t number) { |
uint16_t num = 100; |
uint8_t started = 0; |
|
while (num > 0) { |
uint8_t b = number / num; |
if (b > 0 || started || num == 1) { |
write_ascii_char((x++)+(y * 30), '0' + b); |
started = 1; |
} else { |
write_ascii_char((x++)+(y * 30), 0); |
} |
number -= b * num; |
|
num /= 10; |
} |
} |
|
/** |
* Write only the last two digits of a number at <x>/<y> to MAX7456 |
* display memory. takes full 16bit numbers as well for stuff |
* like seconds only taking two characters (values <= 99) |
* Since this is used for seconds only and it looks better, there |
* is a trading 0 attached |
*/ |
void write_2digit_number_u(uint8_t x, uint8_t y, uint16_t number) { |
uint16_t num = 10; |
uint8_t started = 0; |
|
while (num > 0) { |
uint8_t b = number / num; |
if (b > 0 || started || num == 1) { |
write_ascii_char((x++)+(y * 30), '0' + b); |
started = 1; |
} else { |
write_ascii_char((x++)+(y * 30), '0'); |
} |
number -= b * num; |
|
num /= 10; |
} |
} |
|
/** |
* write a unsigned number as /10th at <x>/<y> to MAX7456 display memory |
*/ |
void write_number_u_10th(uint8_t x, uint8_t y, uint16_t number) { |
uint16_t num = 10000; |
uint8_t started = 0; |
|
while (num > 0) { |
uint8_t b = number / num; |
|
if (b > 0 || started || num == 1) { |
if ((num / 10) == 0) write_char((x++)+(y * 30), 65); |
write_ascii_char((x++)+(y * 30), '0' + b); |
started = 1; |
} else { |
write_ascii_char((x++)+(y * 30), 0); |
} |
number -= b * num; |
|
num /= 10; |
} |
} |
|
/** |
* write a unsigned number at <x>/<y> to MAX7456 display memory |
*/ |
void write_number_u(uint8_t x, uint8_t y, uint16_t number) { |
uint16_t num = 10000; |
uint8_t started = 0; |
|
while (num > 0) { |
uint8_t b = number / num; |
if (b > 0 || started || num == 1) { |
write_ascii_char((x++)+(y * 30), '0' + b); |
started = 1; |
} else { |
write_ascii_char((x++)+(y * 30), 0); |
} |
number -= b * num; |
|
num /= 10; |
} |
} |
|
/** |
* write a signed number at <x>/<y> to MAX7456 display memory |
*/ |
void write_number_s(uint8_t x, uint8_t y, int16_t w) { |
if (((uint16_t) w) > 32767) { |
w = w - 65536; |
|
int16_t num = -10000; |
uint8_t started = 0; |
|
while (num < 0) { |
uint8_t b = w / num; |
if (b > 0 || started || num == 1) { |
if (!started) write_char((x - 1)+(y * 30), 0x49); |
write_ascii_char((x++)+(y * 30), '0' + b); |
started = 1; |
} else { |
write_ascii_char((x++)+(y * 30), 0); |
} |
w -= b * num; |
|
num /= 10; |
} |
} else { |
write_char((x)+(y * 30), 0); |
write_number_u(x, y, w); |
} |
} |
|
/** |
* write <seconds> as human readable time at <x>/<y> to MAX7456 display mem |
*/ |
void write_time(uint8_t x, uint8_t y, uint16_t seconds) { |
uint16_t min = seconds / 60; |
seconds -= min * 60; |
write_3digit_number_u(x, y, min); |
write_char_xy(x + 3, y, 68); |
write_2digit_number_u(x + 4, y, seconds); |
} |
|
/** |
* for testing write all chars to screen |
*/ |
void write_all_chars() { |
uint16_t x = 3, y = 2, t = 0; |
while (t < 256) { |
write_char_xy(x++, y, t++); |
if (x > 25) { |
y++; |
x = 3; |
} |
} |
} |
|
#if !(ALLCHARSDEBUG|WRITECHARS) |
/* ########################################################################## |
* USART stuff |
* ##########################################################################*/ |
|
/** |
* init usart1 |
*/ |
void usart1_init() { |
UBRR1H = ((F_CPU / (16UL * baud)) - 1) >> 8; |
UBRR1L = (F_CPU / (16UL * baud)) - 1; |
|
// Enable receiver and transmitter; enable RX interrupt |
UCSR1B = (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1); |
|
//asynchronous 8N1 |
UCSR1C = (1 << URSEL1) | (3 << UCSZ10); |
} |
|
/** |
* send a single <character> through usart1 |
*/ |
void usart1_putc(unsigned char character) { |
// wait until UDR ready |
while (!(UCSR1A & (1 << UDRE1))); |
UDR1 = character; |
} |
|
/** |
* send a <string> throught usart1 |
*/ |
void usart1_puts(char *s) { |
while (*s) { |
usart1_putc(*s); |
s++; |
} |
} |
|
/** |
* receive data through usart1 |
* portions taken and adapted from |
* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Fbranches%2FV0.72p+Code+Redesign+killagreg%2Fuart0.c |
*/ |
ISR(SIG_USART1_RECV) { |
if (rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
LED1_ON |
static uint16_t crc; |
static uint8_t ptr_rxd_buffer = 0; |
uint8_t crc1, crc2; |
uint8_t c; |
|
c = UDR1; // catch the received byte |
|
// the rxd buffer is unlocked |
if ((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
{ |
/* |
// skip other datasets |
if (ptr_rxd_buffer == 2 && rxd_buffer[ptr_rxd_buffer] != 'O') { |
ptr_rxd_buffer = 0; // reset rxd buffer |
rxd_buffer_locked = 0; // unlock rxd buffer |
}*/ |
rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
crc = c; // init crc |
} else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
{ |
if (c != '\r') // no termination character |
{ |
rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
crc += c; // update crc |
} else // termination character was received |
{ |
// the last 2 bytes are no subject for checksum calculation |
// they are the checksum itself |
crc -= rxd_buffer[ptr_rxd_buffer - 2]; |
crc -= rxd_buffer[ptr_rxd_buffer - 1]; |
// calculate checksum from transmitted data |
crc %= 4096; |
crc1 = '=' + crc / 64; |
crc2 = '=' + crc % 64; |
// compare checksum to transmitted checksum bytes |
if ((crc1 == rxd_buffer[ptr_rxd_buffer - 2]) && (crc2 == rxd_buffer[ptr_rxd_buffer - 1])) { // checksum valid |
rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
ReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytes |
rxd_buffer_locked = 1; // lock the rxd buffer |
} else { // checksum invalid |
rxd_buffer_locked = 0; // unlock rxd buffer |
} |
ptr_rxd_buffer = 0; // reset rxd buffer pointer |
} |
} else // rxd buffer overrun |
{ |
ptr_rxd_buffer = 0; // reset rxd buffer |
rxd_buffer_locked = 0; // unlock rxd buffer |
} |
LED1_OFF |
} |
|
/** |
* Decode the recevied Buffer |
* portions taken and adapted from |
* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c |
*/ |
void Decode64(void) { |
uint8_t a, b, c, d; |
uint8_t x, y, z; |
uint8_t ptrIn = 3; |
uint8_t ptrOut = 3; |
uint8_t len = ReceivedBytes - 6; |
|
while (len) { |
a = rxd_buffer[ptrIn++] - '='; |
b = rxd_buffer[ptrIn++] - '='; |
c = rxd_buffer[ptrIn++] - '='; |
d = rxd_buffer[ptrIn++] - '='; |
|
x = (a << 2) | (b >> 4); |
y = ((b & 0x0f) << 4) | (c >> 2); |
z = ((c & 0x03) << 6) | d; |
|
if (len--) rxd_buffer[ptrOut++] = x; |
else break; |
if (len--) rxd_buffer[ptrOut++] = y; |
else break; |
if (len--) rxd_buffer[ptrOut++] = z; |
else break; |
} |
pRxData = &rxd_buffer[3]; |
RxDataLen = ptrOut - 3; |
} |
|
/** |
* request Data through USART in special MK format by adding checksum and |
* encode data in modified Base64 |
* portions taken and adapted from |
* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c |
*/ |
void sendMKData(unsigned char cmd, unsigned char addr, unsigned char *snd, unsigned char len) { |
unsigned int pt = 0; |
unsigned char a, b, c; |
unsigned char ptr = 0; |
|
txd_buffer[pt++] = '#'; // Start-Byte |
txd_buffer[pt++] = 'a' + addr; // Adress |
txd_buffer[pt++] = cmd; // Command |
while (len) { |
if (len) { |
a = snd[ptr++]; |
len--; |
} else a = 0; |
if (len) { |
b = snd[ptr++]; |
len--; |
} else b = 0; |
if (len) { |
c = snd[ptr++]; |
len--; |
} else c = 0; |
txd_buffer[pt++] = '=' + (a >> 2); |
txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
txd_buffer[pt++] = '=' + (c & 0x3f); |
} |
|
// add crc |
unsigned int tmpCRC = 0, i; |
for (i = 0; i < pt; i++) { |
tmpCRC += txd_buffer[i]; |
} |
tmpCRC %= 4096; |
txd_buffer[i++] = '=' + tmpCRC / 64; |
txd_buffer[i++] = '=' + tmpCRC % 64; |
txd_buffer[i++] = '\r'; |
|
usart1_puts((char*) txd_buffer); |
} |
|
/* ########################################################################## |
* timer stuff |
* ##########################################################################*/ |
|
/* |
* timer kicks in every 1000uS |
*/ |
ISR(TIMER0_OVF_vect) { |
OCR0 = 6; // preload |
if (!timer--) { |
uptime++; |
timer = 999; |
} |
} |
|
/* ########################################################################## |
* compass stuff |
* ##########################################################################*/ |
|
/** |
* convert the <heading> gotton from NC into an index |
*/ |
uint8_t heading_conv(uint16_t heading) { |
if (heading > 23 && heading < 68) { |
//direction = "NE"; |
return 0; |
} else if (heading > 67 && heading < 113) { |
//direction = "E "; |
return 1; |
} else if (heading > 112 && heading < 158) { |
//direction = "SE"; |
return 2; |
} else if (heading > 157 && heading < 203) { |
//direction = "S "; |
return 3; |
} else if (heading > 202 && heading < 248) { |
//direction = "SW"; |
return 4; |
} else if (heading > 247 && heading < 293) { |
//direction = "W "; |
return 5; |
} else if (heading > 292 && heading < 338) { |
//direction = "NW"; |
return 6; |
} |
//direction = "N "; |
return 7; |
} |
|
/** |
* draw a compass rose at <x>/<y> for <heading> |
*/ |
void draw_compass(uint8_t x, uint8_t y, uint16_t heading) { |
//char* rose = "---N---O---S---W---N---O---S---W---N---O---S---W"; |
char rose[48] = {216, 215, 216, 211, 216, 215, 216, 213, 216, 215, 216, 212, |
216, 215, 216, 214, 216, 215, 216, 211, 216, 215, 216, 213, |
216, 215, 216, 212, 216, 215, 216, 214, 216, 215, 216, 211, |
216, 215, 216, 213, 216, 215, 216, 212, 216, 215, 216, 214}; |
// the center is char 19 (north), we add the current heading in 8th |
// which would be 22.5 degrees, but float would bloat up the code |
// and *10 / 225 would take ages... so we take the uncorrect way |
uint8_t front = 19 + (heading / 22); |
for (uint8_t i = 0; i < 9; i++) { |
write_char_xy(x++, y, rose[front - 4 + i]); |
} |
} |
|
/* ########################################################################## |
* artificial horizon |
* ##########################################################################*/ |
// remember last time displayed values |
int8_t old_af_x = -1, old_af_y = -1; |
|
/** |
* draw roll und nick indicators (could be enhanced to full artificial horizon) |
* from line <firstline> to <listlines> for given <nick> and <roll> values |
*/ |
void draw_artificial_horizon(uint8_t firstline, uint8_t lastline, int16_t nick, int16_t roll) { |
char noodle[5] = {225, 225, 226, 227, 227}; |
uint8_t center_x = 15; |
uint8_t center_y = lastline - firstline; |
center_y = 7; |
write_char_xy(center_x,center_y,228); |
uint8_t cpos, nicky, rollx; |
|
// which line |
int8_t ypos = nick / 20; |
// which character from the array? |
if (nick < 0) { |
cpos = -1*((nick - (ypos * 20))/4); |
ypos--; |
} else cpos = 4-((nick - (ypos * 20))/4); |
if (cpos > 4) cpos = 4; |
|
nicky = center_y - ypos; |
if (nicky > lastline) nicky = lastline; |
else if (nicky < firstline) nicky = firstline; |
|
// ensure roll-borders |
rollx = (roll / 8)+15; |
if (rollx < 2) rollx = 2; |
else if (rollx > 28) rollx = 28; |
|
|
// clear roll |
if (old_af_x != rollx && old_af_x >= 0) { |
write_char_xy(old_af_x,13,0); |
} |
|
// clear nick |
if (old_af_y != nicky && old_af_y >= 0) { |
write_char_xy(center_x-1,old_af_y,0); |
write_char_xy(center_x+1,old_af_y,0); |
} |
|
|
// draw nick |
write_char_xy(center_x-1,nicky,noodle[cpos]); |
write_char_xy(center_x+1,nicky,noodle[cpos]); |
|
// draw roll |
write_char_xy(rollx,lastline,229); |
|
// update old vars |
old_af_x = rollx; |
old_af_y = nicky; |
|
// debug numbers |
//write_3digit_number_u(20,6,cpos); |
//write_number_s(20,7,ypos); |
//write_number_s(0,7,nick); |
//write_number_s(18,11,roll); |
} |
|
#endif |
|
/* ########################################################################## |
* MAIN |
* ##########################################################################*/ |
int main(void) { |
DDRA |= (1 << PA1); // PA1 output (/CS) |
MAX_CS_HIGH |
DDRA |= (1 << PA2); // PA2 output (SDIN) |
MAX_SDIN_LOW |
DDRA |= (1 << PA3); // PA3 output (SCLK) |
MAX_SCLK_LOW |
DDRA |= (1 << PA5); // PA5 output (RESET) |
MAX_RESET_HIGH |
|
DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
LED1_OFF |
DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
LED2_OFF |
DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
LED3_OFF |
DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
LED4_OFF |
|
DDRC &= ~(1 << PC4); // PC4 input (MODE) |
PORTC |= (1 << PC4); // pullup |
DDRC &= ~(1 << PC5); // PC5 input (SET) |
PORTC |= (1 << PC5); // pullup |
|
MAX_RESET_LOW |
MAX_RESET_HIGH |
|
// give the FC/NC and the maxim time to come up |
LED4_ON |
_delay_ms(2000); |
|
LED4_OFF |
|
/* ########################################################################## |
* Pushing NEW chars to the MAX7456 |
* ##########################################################################*/ |
#if WRITECHARS |
void learn_char(uint8_t number, unsigned char* data) { |
// select character to write (CMAH) |
spi_send_byte(0x09, number); |
|
for (uint8_t i = 0; i < 54; i++) { |
// select 4pixel byte of char (CMAL) |
spi_send_byte(0x0A, i); |
|
// write 4pixel byte of char (CMDI) |
spi_send_byte(0x0B, data[i]); |
} |
|
// write to the NVM array from the shadow RAM (CMM) |
spi_send_byte(0x08, 0b10100000); |
|
// according to maxim writing to nvram takes about 12ms, lets wait longer |
_delay_ms(120); |
} |
|
// DISABLE display (VM0) |
spi_send_byte(0x00, 0b00000000); |
|
/** |
* easy char creation: |
* http://cascade.dyndns.org/~cascade/scripts/max7456/ |
*/ |
// GPS |
unsigned char cc8[54] = {0x55, 0x50, 0x55, 0x55, 0x4a, 0x15, 0x55, 0x2a, |
0x85, 0x55, 0x2a, 0xa1, 0x55, 0x4a, 0xa8, 0x55, |
0x52, 0xa8, 0x55, 0x54, 0xaa, 0x55, 0x55, 0x09, |
0x55, 0x55, 0x52, 0x55, 0x55, 0x1a, 0x55, 0x51, |
0x96, 0x55, 0x18, 0x85, 0x54, 0x88, 0x28, 0x54, |
0x82, 0x05, 0x55, 0x20, 0xa1, 0x55, 0x48, 0x15, |
0x55, 0x52, 0x85, 0x55, 0x54, 0x15}; |
|
unsigned char cc9[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x45, |
0x55, 0x55, 0x21, 0x55, 0x55, 0xa8, 0x55, 0x55, |
0xa1, 0x55, 0x55, 0x98, 0x15, 0x55, 0x2a, 0x85, |
0x55, 0x4a, 0xa1, 0x55, 0x4a, 0xa8, 0x55, 0x52, |
0xaa, 0x15, 0x54, 0xaa, 0x15, 0x55, 0x28, 0x55, |
0x55, 0x41, 0x55, 0x55, 0x55, 0x55}; |
|
// RC |
unsigned char cca[54] = {0x54, 0xaa, 0x85, 0x52, 0x00, 0x21, 0x48, 0x2a, |
0x08, 0x60, 0x80, 0x82, 0x62, 0x08, 0x22, 0x62, |
0x2a, 0x22, 0x62, 0x08, 0x22, 0x60, 0x88, 0x82, |
0x48, 0x08, 0x08, 0x52, 0x08, 0x21, 0x54, 0x48, |
0x45, 0x55, 0x48, 0x55, 0x55, 0x48, 0x55, 0x55, |
0x48, 0x55, 0x55, 0x48, 0x55, 0x55, 0x48, 0x55, |
0x55, 0x2a, 0x15, 0x54, 0xaa, 0x85}; |
|
// km/h |
unsigned char ccb[54] = {0x55, 0x55, 0x55, 0x01, 0x55, 0x55, 0x21, 0x55, |
0x55, 0x20, 0x15, 0x55, 0x22, 0x15, 0x55, 0x28, |
0x15, 0x55, 0x22, 0x15, 0x55, 0x00, 0x00, 0x15, |
0x52, 0xaa, 0x15, 0x52, 0x22, 0x15, 0x52, 0x22, |
0x15, 0x50, 0x00, 0x05, 0x55, 0x54, 0x85, 0x55, |
0x54, 0x80, 0x55, 0x54, 0xa8, 0x55, 0x54, 0x88, |
0x55, 0x54, 0x88, 0x55, 0x54, 0x00}; |
|
|
// small meters m |
unsigned char ccc[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x00, 0x00, 0x15, 0x22, |
0x8a, 0x15, 0x28, 0xa2, 0x15, 0x20, 0x82, 0x15, |
0x20, 0x82, 0x15, 0x00, 0x00, 0x15}; |
|
// vario down |
unsigned char ccd[54] = {0x55, 0x00, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, |
0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, |
0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, |
0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, |
0x55, 0x00, 0x28, 0x00, 0x2a, 0xaa, 0xa8, 0x0a, |
0xaa, 0xa0, 0x42, 0xaa, 0x81, 0x50, 0xaa, 0x05, |
0x54, 0x28, 0x15, 0x55, 0x00, 0x55}; |
|
// vario hold |
unsigned char cce[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x00, 0x00, 0x00, |
0x2a, 0xaa, 0xa8, 0x2a, 0xaa, 0xa8, 0x00, 0x00, |
0x00, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
|
// vario up |
unsigned char ccf[54] = {0x55, 0x00, 0x55, 0x54, 0x28, 0x15, 0x50, 0xaa, |
0x05, 0x42, 0xaa, 0x81, 0x0a, 0xaa, 0xa0, 0x2a, |
0xaa, 0xa8, 0x00, 0x28, 0x00, 0x55, 0x28, 0x55, |
0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, |
0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, |
0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, |
0x55, 0x28, 0x55, 0x55, 0x00, 0x55}; |
|
// degree symbol |
unsigned char cd0[54] = {0x55, 0x55, 0x55, 0x54, 0x01, 0x55, 0x52, 0xa8, |
0x55, 0x48, 0x02, 0x15, 0x48, 0x52, 0x15, 0x48, |
0x52, 0x15, 0x48, 0x02, 0x15, 0x52, 0xa8, 0x55, |
0x54, 0x01, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
|
// clock on symbol |
unsigned char cd1[54] = {0x54, 0x14, 0x51, 0x52, 0x82, 0x08, 0x48, 0x22, |
0x88, 0x48, 0x22, 0x28, 0x48, 0x22, 0x28, 0x52, |
0x82, 0x08, 0x54, 0x14, 0x51, 0x55, 0x40, 0x55, |
0x55, 0x2a, 0x15, 0x54, 0x88, 0x85, 0x52, 0x08, |
0x21, 0x48, 0x48, 0x08, 0x48, 0x4a, 0x88, 0x48, |
0x50, 0x08, 0x52, 0x15, 0x21, 0x54, 0x80, 0x85, |
0x55, 0x2a, 0x15, 0x55, 0x40, 0x55}; |
|
// clock fly symbol |
unsigned char cd2[54] = {0x40, 0x45, 0x11, 0x2a, 0x20, 0x88, 0x20, 0x20, |
0x88, 0x28, 0x21, 0x21, 0x21, 0x20, 0x21, 0x21, |
0x2a, 0x21, 0x45, 0x40, 0x45, 0x55, 0x40, 0x55, |
0x55, 0x2a, 0x15, 0x54, 0x88, 0x85, 0x52, 0x08, |
0x21, 0x48, 0x48, 0x08, 0x48, 0x4a, 0x88, 0x48, |
0x50, 0x08, 0x52, 0x15, 0x21, 0x54, 0x80, 0x85, |
0x55, 0x2a, 0x15, 0x55, 0x40, 0x55}; |
|
// compass north |
unsigned char cd3[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x54, |
0x54, 0x55, 0x52, 0x12, 0x15, 0x52, 0x82, 0x15, |
0x02, 0x82, 0x00, 0xa2, 0x22, 0x2a, 0x02, 0x0a, |
0x00, 0x52, 0x0a, 0x15, 0x52, 0x12, 0x15, 0x54, |
0x54, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
|
// compass south |
unsigned char cd4[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x01, 0x55, 0x54, 0xa8, 0x55, 0x52, 0x02, 0x15, |
0x04, 0x84, 0x40, 0xa1, 0x21, 0x2a, 0x04, 0x48, |
0x40, 0x52, 0x02, 0x15, 0x54, 0xa8, 0x55, 0x55, |
0x01, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
|
// compass east |
unsigned char cd5[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x54, |
0x00, 0x55, 0x52, 0xaa, 0x15, 0x52, 0x00, 0x55, |
0x02, 0x05, 0x40, 0xa2, 0xa1, 0x2a, 0x02, 0x05, |
0x40, 0x52, 0x00, 0x55, 0x52, 0xaa, 0x15, 0x54, |
0x00, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
|
// compass west |
unsigned char cd6[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x54, |
0x54, 0x55, 0x52, 0x12, 0x15, 0x52, 0x12, 0x15, |
0x02, 0x02, 0x00, 0xa2, 0x22, 0x2a, 0x02, 0x8a, |
0x00, 0x52, 0x8a, 0x15, 0x52, 0x12, 0x15, 0x54, |
0x54, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
|
// compass between |
unsigned char cd7[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x45, 0x55, 0x55, 0x21, 0x55, |
0x01, 0x21, 0x00, 0xa8, 0x20, 0xaa, 0x01, 0x21, |
0x00, 0x55, 0x21, 0x55, 0x55, 0x45, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
|
// compass line |
unsigned char cd8[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x00, 0x00, 0x00, 0xaa, 0xaa, 0xaa, 0x00, 0x00, |
0x00, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
|
// arrow right |
unsigned char cd9[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x15, 0x55, 0x54, 0x85, 0x40, 0x00, 0xa1, |
0x2a, 0xaa, 0xa8, 0x2a, 0xaa, 0xa8, 0x40, 0x00, |
0xa1, 0x55, 0x54, 0x85, 0x55, 0x55, 0x15, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
|
// arrow right-up |
unsigned char cda[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x40, 0x01, 0x55, 0x2a, 0xa8, 0x55, |
0x4a, 0xa8, 0x55, 0x52, 0xa8, 0x55, 0x4a, 0xa8, |
0x55, 0x2a, 0x28, 0x54, 0xa8, 0x48, 0x52, 0xa1, |
0x51, 0x4a, 0x85, 0x55, 0x52, 0x15, 0x55, 0x54, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
|
// arrow up |
unsigned char cdb[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x41, 0x55, 0x55, 0x28, 0x55, 0x54, |
0xaa, 0x15, 0x52, 0xaa, 0x85, 0x54, 0x28, 0x15, |
0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, |
0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, |
0x28, 0x55, 0x55, 0x41, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
|
// arrow left-up |
unsigned char cdc[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x40, 0x01, 0x55, 0x2a, 0xa8, 0x55, 0x2a, |
0xa1, 0x55, 0x2a, 0x85, 0x55, 0x2a, 0xa1, 0x55, |
0x28, 0xa8, 0x55, 0x21, 0x2a, 0x15, 0x45, 0x4a, |
0x85, 0x55, 0x52, 0xa1, 0x55, 0x54, 0x85, 0x55, |
0x55, 0x15, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
|
// arrow left |
unsigned char cdd[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x54, |
0x55, 0x55, 0x52, 0x15, 0x55, 0x4a, 0x00, 0x01, |
0x2a, 0xaa, 0xa8, 0x2a, 0xaa, 0xa8, 0x4a, 0x00, |
0x01, 0x52, 0x15, 0x55, 0x54, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
|
// arrow left-down |
unsigned char cde[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x15, 0x55, |
0x54, 0x85, 0x55, 0x52, 0xa1, 0x45, 0x4a, 0x85, |
0x21, 0x2a, 0x15, 0x28, 0xa8, 0x55, 0x2a, 0xa1, |
0x55, 0x2a, 0x85, 0x55, 0x2a, 0xa1, 0x55, 0x2a, |
0xa8, 0x55, 0x40, 0x01, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
|
// arrow down |
unsigned char cdf[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x41, 0x55, 0x55, 0x28, 0x55, 0x55, |
0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, |
0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x54, 0x28, |
0x15, 0x52, 0xaa, 0x85, 0x54, 0xaa, 0x15, 0x55, |
0x28, 0x55, 0x55, 0x41, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
|
// arrow right-down |
unsigned char ce0[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x54, 0x55, 0x55, 0x52, |
0x15, 0x55, 0x4a, 0x85, 0x55, 0x52, 0xa1, 0x51, |
0x54, 0xa8, 0x48, 0x55, 0x2a, 0x28, 0x55, 0x4a, |
0xa8, 0x55, 0x52, 0xa8, 0x55, 0x4a, 0xa8, 0x55, |
0x2a, 0xa8, 0x55, 0x40, 0x01, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
|
// horizon up |
unsigned char ce1[54] ={0x55, 0x55, 0x55, 0x00, 0x00, 0x00, 0xaa, 0xaa, |
0xaa, 0xaa, 0xaa, 0xaa, 0x00, 0x00, 0x00, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
|
// horizon middle |
unsigned char ce2[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x00, 0x00, 0x00, |
0xaa, 0xaa, 0xaa, 0xaa, 0xaa, 0xaa, 0x00, 0x00, |
0x00, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
|
// horizon down |
unsigned char ce3[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x00, |
0x00, 0x00, 0xaa, 0xaa, 0xaa, 0xaa, 0xaa, 0xaa, |
0x00, 0x00, 0x00, 0x55, 0x55, 0x55}; |
|
// horizon center |
unsigned char ce4[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x00, |
0x14, 0x00, 0xaa, 0x14, 0xaa, 0xaa, 0x82, 0xaa, |
0x00, 0xaa, 0x00, 0x54, 0x00, 0x15}; |
|
// horizon roll |
unsigned char ce5[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
0x55, 0x00, 0x55, 0x00, 0x2a, 0x14, 0xa8, 0x4a, |
0x82, 0xa1, 0x52, 0xaa, 0x85, 0x54, 0xaa, 0x15, |
0x55, 0x28, 0x55, 0x55, 0x41, 0x55}; |
|
// gps PH |
unsigned char ce6[54] ={0x55, 0x05, 0x11, 0x54, 0xa0, 0x88, 0x54, 0x88, |
0x88, 0x54, 0xa0, 0xa8, 0x54, 0x84, 0x88, 0x44, |
0x84, 0x88, 0x21, 0x15, 0x11, 0xa8, 0x55, 0x55, |
0xa1, 0x55, 0x55, 0x98, 0x15, 0x55, 0x2a, 0x85, |
0x55, 0x4a, 0xa1, 0x55, 0x4a, 0xa8, 0x55, 0x52, |
0xaa, 0x15, 0x54, 0xaa, 0x15, 0x55, 0x28, 0x55, |
0x55, 0x41, 0x55, 0x55, 0x55, 0x55}; |
|
// gps CH |
unsigned char ce7[54] ={0x55, 0x55, 0x41, 0x55, 0x55, 0x28, 0x55, 0x54, |
0x81, 0x55, 0x54, 0x85, 0x55, 0x54, 0x81, 0x45, |
0x55, 0x28, 0x21, 0x55, 0x01, 0xa8, 0x54, 0x88, |
0xa1, 0x54, 0x88, 0x98, 0x14, 0xa8, 0x2a, 0x84, |
0x88, 0x4a, 0xa0, 0x88, 0x4a, 0xa8, 0x11, 0x52, |
0xaa, 0x15, 0x54, 0xaa, 0x15, 0x55, 0x28, 0x55, |
0x55, 0x41, 0x55, 0x55, 0x55, 0x55}; |
|
|
// flashing more than 8 chars per time is not profen to be safe |
// so take care |
/*learn_char(200, cc8); |
learn_char(201, cc9); |
learn_char(202, cca); |
learn_char(203, ccb); |
learn_char(204, ccc); |
learn_char(205, ccd); |
learn_char(206, cce); |
learn_char(207, ccf);*/ |
/*learn_char(208, cd0); |
learn_char(209, cd1); |
learn_char(210, cd2); |
learn_char(211, cd3); |
learn_char(212, cd4); |
learn_char(213, cd5); |
learn_char(214, cd6); |
learn_char(215, cd7);*/ |
/*learn_char(216, cd8); |
learn_char(217, cd9); |
learn_char(218, cda); |
learn_char(219, cdb); |
learn_char(220, cdc); |
learn_char(221, cdd); |
learn_char(222, cde); |
learn_char(223, cdf);*/ |
/*learn_char(224, ce0); |
learn_char(225, ce1); |
learn_char(226, ce2); |
learn_char(227, ce3); |
learn_char(228, ce4); |
learn_char(229, ce5); |
learn_char(230, ce6); |
learn_char(231, ce7);*/ |
#endif |
/* ########################################################################## |
* 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 |
|
// clear all display-mem (DMM) |
spi_send_byte(0x04, 0b00000100); |
|
// clearing takes 12uS according to maxim so lets wait longer |
_delay_us(120); |
|
// 8bit mode |
spi_send_byte(0x04, 0b01000000); |
|
// write blank chars to whole screen |
clear(); |
|
#if !(ALLCHARSDEBUG|WRITECHARS) |
// init usart |
usart1_init(); |
|
// set up timer |
TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64 |
OCR0 = 6; // preload |
TIMSK |= (1 << TOIE0); // enable overflow timer0 |
|
// unmask interrupts |
sei(); |
#endif |
|
//write_ascii_string(2, 7, " CaScAdE "); |
//write_ascii_string(2, 8, "is TESTING his open source"); |
//write_ascii_string(2, 9, " EPi OSD Firmware"); |
//write_ascii_string(2, 10, "Scheiss Kompass"); |
|
|
|
|
// custom char preview |
/*write_char_xy( 2, 7, 200); |
write_char_xy( 3, 7, 201); |
write_char_xy( 4, 7, 202); |
write_char_xy( 5, 7, 203); |
write_char_xy( 6, 7, 204); |
write_char_xy( 7, 7, 205); |
write_char_xy( 8, 7, 206); |
write_char_xy( 9, 7, 207); |
write_char_xy(10, 7, 208); |
write_char_xy(11, 7, 209); |
write_char_xy(12, 7, 210); |
write_char_xy(13, 7, 211); |
write_char_xy(14, 7, 212); |
write_char_xy(15, 7, 213); |
write_char_xy(16, 7, 214); |
write_char_xy(17, 7, 215);*/ |
|
// we are ready |
LED3_ON |
|
|
|
#if ALLCHARSDEBUG | WRITECHARS |
clear(); |
write_all_chars(); |
#else |
// clear serial screen |
//usart1_puts("\x1B[2J\x1B[H"); |
//usart1_puts("hello world!\r\n"); |
|
|
// request data ever 100ms from FC |
//unsigned char ms = 10; |
//sendMKData('d', 0, &ms, 1); |
|
// request OSD Data from NC every 100ms |
unsigned char ms = 10; |
sendMKData('o', 1, &ms, 1); |
// and disable debug... |
//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; |
|
// flags from last round to check for changes |
uint8_t old_MKFlags = 0; |
|
// write fix characters, only update the data dependend |
write_char_xy(5, top_line, 203); // km/h |
write_char_xy(10, top_line, 202); // RC-transmitter |
write_char_xy(16, top_line, 208); // degree symbol |
write_char_xy(27, top_line, 204); // small meters m |
write_ascii_string(6, bottom_line, "V"); // voltage |
write_char_xy(14, bottom_line, 209); // on clock |
write_char_xy(22, bottom_line, 210); // fly clock |
write_char_xy(26, bottom_line, 200); // sat1 |
write_char_xy(27, bottom_line, 201); // sat2 |
|
char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
char arrowdir[8] = { 218, 217, 224, 223, 222, 221, 220, 219}; |
|
while (1) { |
if (rxd_buffer_locked) { |
if (rxd_buffer[2] == 'D') { // FC Data |
/*Decode64(); |
debugData = *((DebugOut_t*) pRxData); |
write_number_s(12, 2, RxDataLen); |
write_number_s(20, 2, setsReceived++); |
write_number_s(12, 3, debugData.Analog[0]); |
write_number_s(12, 4, debugData.Analog[2]); |
write_number_s(12, 5, debugData.Analog[1]); |
write_number_s(12, 6, debugData.Analog[3]); |
write_number_s(12, 7, debugData.Analog[9]); |
write_number_s(12, 8, debugData.Analog[10]); |
write_number_s(12, 4, debugData.Analog[12]); |
write_number_s(12, 5, debugData.Analog[13]); |
write_number_s(12, 6, debugData.Analog[14]); |
write_number_s(12, 7, debugData.Analog[15]);*/ |
} else if (rxd_buffer[2] == 'O') { // NC OSD Data |
Decode64(); |
naviData = *((NaviData_t*) pRxData); |
|
// first line |
write_3digit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed*36)/1000)); |
|
write_3digit_number_u(7, top_line, naviData.RC_Quality); |
if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) { |
for (uint8_t x = 0; x < 4; x++) |
write_char_att_xy(7 + x, top_line, BLINK); |
} else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) { |
for (uint8_t x = 0; x < 4; x++) |
write_char_att_xy(7 + x, top_line, 0); |
} |
last_RC_Quality = naviData.RC_Quality; |
|
write_3digit_number_u(13, top_line, naviData.CompassHeading); |
|
write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]); |
|
if (naviData.Variometer == 0) { |
write_char_xy(20, top_line, 206); // plain line |
} else if (naviData.Variometer > 0) { |
write_char_xy(20, top_line, 207); // arrow up |
} else { |
write_char_xy(20, top_line, 205); // arrow down |
} |
|
// TODO: is this really dm? |
write_number_s(22, top_line, naviData.Altimeter/10); |
|
// seccond line |
draw_compass(11, top_line + 1, naviData.CompassHeading); |
|
// TODO: verify correctness |
uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360; |
write_char_xy(27, top_line + 1, arrowdir[heading_conv(heading_home)]); |
|
|
write_number_s(22, top_line + 1, naviData.HomePositionDeviation.Distance); |
|
// center |
if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running |
if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle |
for (uint8_t x = 0; x < 30; x++) { |
write_char_xy(x, 5, 0); |
write_char_xy(x, 7, 0); |
write_char_xy(x, 9, 0); |
} |
} |
#if ARTHORIZON |
draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
#endif |
} 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 |
} |
|
// bottom line |
write_number_u_10th(0, bottom_line, naviData.UBat); |
if (naviData.UBat <= UBAT_WRN && last_UBat > UBAT_WRN) { |
for (uint8_t x = 0; x < 7; x++) |
write_char_att_xy(x, bottom_line, BLINK); |
} else { |
for (uint8_t x = 0; x < 7; x++) |
write_char_att_xy(x, bottom_line, 0); |
} |
|
write_time(8, bottom_line, uptime); |
write_time(16, bottom_line, naviData.FlyingTime); |
|
write_3digit_number_u(23, bottom_line, naviData.SatsInUse); |
|
if (naviData.NCFlags & NC_FLAG_CH) { |
write_char_xy(27, bottom_line, 231); // gps ch |
} else if (naviData.NCFlags & NC_FLAG_PH) { |
write_char_xy(27, bottom_line, 230); // gps ph |
} else { // (naviData.NCFlags & NC_FLAG_FREE) |
write_char_xy(27, bottom_line, 201); // sat2 (free) |
} |
|
//write_number_s(8, 5, RxDataLen); |
//write_number_s(16, 5, setsReceived++); |
|
// remember statistics |
if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter; |
if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed; |
if (naviData.HomePositionDeviation.Distance > max_Distance) { |
max_Distance = naviData.HomePositionDeviation.Distance; |
} |
old_MKFlags = naviData.MKFlags; |
} |
rxd_buffer_locked = 0; |
} |
// handle keypress |
if (S1_PRESSED) { |
uptime = 0; |
_delay_ms(100); |
} |
if (S2_PRESSED) { |
//sendMKData('d', 1, (unsigned char*) 0, 1); |
// request OSD Data from NC every 100ms |
unsigned char ms = 10; |
sendMKData('o', 1, &ms, 1); |
_delay_ms(500); |
} |
} |
#endif |
return 0; |
} |