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• This comparison shows the changes necessary to convert path

  → /C-OSD/trunk/ @ 320

  → /C-OSD/trunk/ @ 321

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• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 320 → Rev 321

/C-OSD/trunk/C-OSD.aps
0,0 → 1,0
<AVRStudio><MANAGEMENT><ProjectName>C-OSD</ProjectName><Created>24-Mar-2009 01:26:47</Created><LastEdit>25-Mar-2009 01:58:25</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>24-Mar-2009 01:26:47</Created><Version>4</Version><Build>4, 16, 0, 626</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\C-OSD.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>G:\Eigene Dateien\C-Projects\C-OSD\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR Simulator</CURRENT_TARGET><CURRENT_PART>ATmega162.xml</CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM>Auto</COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><modules><module></module></modules><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>main.c</SOURCEFILE><OTHERFILE>default\C-OSD.lss</OTHERFILE><OTHERFILE>default\C-OSD.map</OTHERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>NO</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE></EXTERNALMAKEFILE><PART>atmega162</PART><HEX>1</HEX><LIST>1</LIST><MAP>1</MAP><OUTPUTFILENAME>C-OSD.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>0</ISDIRTY><OPTIONS/><INCDIRS/><LIBDIRS/><LIBS/><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2 -std=gnu99 -DF_CPU=16000000UL -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>D:\WinAVR-20070525\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>D:\WinAVR-20070525\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><IOView><usergroups/><sort sorted="0" column="0" ordername="1" orderaddress="1" ordergroup="1"/></IOView><Files><File00000><FileId>00000</FileId><FileName>main.c</FileName><Status>257</Status></File00000></Files><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio>

/C-OSD/trunk/CHANGE.LOG
0,0 → 1,33
/****************************************************************************
* 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. *
****************************************************************************/
20090329-1452
- fixed bearing to home
- added flight stats (shown while engines off)
- sat icon should indicate PH/CH/Free now
- you need to flash characters 224-231 if you were using previous versions
20090327-2140
- fixed km/h (was cm/s)
- fixed height m (was dm)
- modified incoming data speed to 100ms (was 200ms)
20090326-2031
- first binary release

/C-OSD/trunk/LICENSE.TXT
0,0 → 1,340
GNU GENERAL PUBLIC LICENSE
Version 2, June 1991
Copyright (C) 1989, 1991 Free Software Foundation, Inc.
59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The licenses for most software are designed to take away your
freedom to share and change it. By contrast, the GNU General Public
License is intended to guarantee your freedom to share and change free
software--to make sure the software is free for all its users. This
General Public License applies to most of the Free Software
Foundation's software and to any other program whose authors commit to
using it. (Some other Free Software Foundation software is covered by
the GNU Library General Public License instead.) You can apply it to
your programs, too.
When we speak of free software, we are referring to freedom, not
price. Our General Public Licenses are designed to make sure that you
have the freedom to distribute copies of free software (and charge for
this service if you wish), that you receive source code or can get it
if you want it, that you can change the software or use pieces of it
in new free programs; and that you know you can do these things.
To protect your rights, we need to make restrictions that forbid
anyone to deny you these rights or to ask you to surrender the rights.
These restrictions translate to certain responsibilities for you if you
distribute copies of the software, or if you modify it.
For example, if you distribute copies of such a program, whether
gratis or for a fee, you must give the recipients all the rights that
you have. You must make sure that they, too, receive or can get the
source code. And you must show them these terms so they know their
rights.
We protect your rights with two steps: (1) copyright the software, and
(2) offer you this license which gives you legal permission to copy,
distribute and/or modify the software.
Also, for each author's protection and ours, we want to make certain
that everyone understands that there is no warranty for this free
software. If the software is modified by someone else and passed on, we
want its recipients to know that what they have is not the original, so
that any problems introduced by others will not reflect on the original
authors' reputations.
Finally, any free program is threatened constantly by software
patents. We wish to avoid the danger that redistributors of a free
program will individually obtain patent licenses, in effect making the
program proprietary. To prevent this, we have made it clear that any
patent must be licensed for everyone's free use or not licensed at all.
The precise terms and conditions for copying, distribution and
modification follow.
GNU GENERAL PUBLIC LICENSE
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
0. This License applies to any program or other work which contains
a notice placed by the copyright holder saying it may be distributed
under the terms of this General Public License. The "Program", below,
refers to any such program or work, and a "work based on the Program"
means either the Program or any derivative work under copyright law:
that is to say, a work containing the Program or a portion of it,
either verbatim or with modifications and/or translated into another
language. (Hereinafter, translation is included without limitation in
the term "modification".) Each licensee is addressed as "you".
Activities other than copying, distribution and modification are not
covered by this License; they are outside its scope. The act of
running the Program is not restricted, and the output from the Program
is covered only if its contents constitute a work based on the
Program (independent of having been made by running the Program).
Whether that is true depends on what the Program does.
1. You may copy and distribute verbatim copies of the Program's
source code as you receive it, in any medium, provided that you
conspicuously and appropriately publish on each copy an appropriate
copyright notice and disclaimer of warranty; keep intact all the
notices that refer to this License and to the absence of any warranty;
and give any other recipients of the Program a copy of this License
along with the Program.
You may charge a fee for the physical act of transferring a copy, and
you may at your option offer warranty protection in exchange for a fee.
2. You may modify your copy or copies of the Program or any portion
of it, thus forming a work based on the Program, and copy and
distribute such modifications or work under the terms of Section 1
above, provided that you also meet all of these conditions:
a) You must cause the modified files to carry prominent notices
stating that you changed the files and the date of any change.
b) You must cause any work that you distribute or publish, that in
whole or in part contains or is derived from the Program or any
part thereof, to be licensed as a whole at no charge to all third
parties under the terms of this License.
c) If the modified program normally reads commands interactively
when run, you must cause it, when started running for such
interactive use in the most ordinary way, to print or display an
announcement including an appropriate copyright notice and a
notice that there is no warranty (or else, saying that you provide
a warranty) and that users may redistribute the program under
these conditions, and telling the user how to view a copy of this
License. (Exception: if the Program itself is interactive but
does not normally print such an announcement, your work based on
the Program is not required to print an announcement.)
These requirements apply to the modified work as a whole. If
identifiable sections of that work are not derived from the Program,
and can be reasonably considered independent and separate works in
themselves, then this License, and its terms, do not apply to those
sections when you distribute them as separate works. But when you
distribute the same sections as part of a whole which is a work based
on the Program, the distribution of the whole must be on the terms of
this License, whose permissions for other licensees extend to the
entire whole, and thus to each and every part regardless of who wrote it.
Thus, it is not the intent of this section to claim rights or contest
your rights to work written entirely by you; rather, the intent is to
exercise the right to control the distribution of derivative or
collective works based on the Program.
In addition, mere aggregation of another work not based on the Program
with the Program (or with a work based on the Program) on a volume of
a storage or distribution medium does not bring the other work under
the scope of this License.
3. You may copy and distribute the Program (or a work based on it,
under Section 2) in object code or executable form under the terms of
Sections 1 and 2 above provided that you also do one of the following:
a) Accompany it with the complete corresponding machine-readable
source code, which must be distributed under the terms of Sections
1 and 2 above on a medium customarily used for software interchange; or,
b) Accompany it with a written offer, valid for at least three
years, to give any third party, for a charge no more than your
cost of physically performing source distribution, a complete
machine-readable copy of the corresponding source code, to be
distributed under the terms of Sections 1 and 2 above on a medium
customarily used for software interchange; or,
c) Accompany it with the information you received as to the offer
to distribute corresponding source code. (This alternative is
allowed only for noncommercial distribution and only if you
received the program in object code or executable form with such
an offer, in accord with Subsection b above.)
The source code for a work means the preferred form of the work for
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anything that is normally distributed (in either source or binary
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If distribution of executable or object code is made by offering
access to copy from a designated place, then offering equivalent
access to copy the source code from the same place counts as
distribution of the source code, even though third parties are not
compelled to copy the source along with the object code.
4. You may not copy, modify, sublicense, or distribute the Program
except as expressly provided under this License. Any attempt
otherwise to copy, modify, sublicense or distribute the Program is
void, and will automatically terminate your rights under this License.
However, parties who have received copies, or rights, from you under
this License will not have their licenses terminated so long as such
parties remain in full compliance.
5. You are not required to accept this License, since you have not
signed it. However, nothing else grants you permission to modify or
distribute the Program or its derivative works. These actions are
prohibited by law if you do not accept this License. Therefore, by
modifying or distributing the Program (or any work based on the
Program), you indicate your acceptance of this License to do so, and
all its terms and conditions for copying, distributing or modifying
the Program or works based on it.
6. Each time you redistribute the Program (or any work based on the
Program), the recipient automatically receives a license from the
original licensor to copy, distribute or modify the Program subject to
these terms and conditions. You may not impose any further
restrictions on the recipients' exercise of the rights granted herein.
You are not responsible for enforcing compliance by third parties to
this License.
7. If, as a consequence of a court judgment or allegation of patent
infringement or for any other reason (not limited to patent issues),
conditions are imposed on you (whether by court order, agreement or
otherwise) that contradict the conditions of this License, they do not
excuse you from the conditions of this License. If you cannot
distribute so as to satisfy simultaneously your obligations under this
License and any other pertinent obligations, then as a consequence you
may not distribute the Program at all. For example, if a patent
license would not permit royalty-free redistribution of the Program by
all those who receive copies directly or indirectly through you, then
the only way you could satisfy both it and this License would be to
refrain entirely from distribution of the Program.
If any portion of this section is held invalid or unenforceable under
any particular circumstance, the balance of the section is intended to
apply and the section as a whole is intended to apply in other
circumstances.
It is not the purpose of this section to induce you to infringe any
patents or other property right claims or to contest validity of any
such claims; this section has the sole purpose of protecting the
integrity of the free software distribution system, which is
implemented by public license practices. Many people have made
generous contributions to the wide range of software distributed
through that system in reliance on consistent application of that
system; it is up to the author/donor to decide if he or she is willing
to distribute software through any other system and a licensee cannot
impose that choice.
This section is intended to make thoroughly clear what is believed to
be a consequence of the rest of this License.
8. If the distribution and/or use of the Program is restricted in
certain countries either by patents or by copyrighted interfaces, the
original copyright holder who places the Program under this License
may add an explicit geographical distribution limitation excluding
those countries, so that distribution is permitted only in or among
countries not thus excluded. In such case, this License incorporates
the limitation as if written in the body of this License.
9. The Free Software Foundation may publish revised and/or new versions
of the General Public License from time to time. Such new versions will
be similar in spirit to the present version, but may differ in detail to
address new problems or concerns.
Each version is given a distinguishing version number. If the Program
specifies a version number of this License which applies to it and "any
later version", you have the option of following the terms and conditions
either of that version or of any later version published by the Free
Software Foundation. If the Program does not specify a version number of
this License, you may choose any version ever published by the Free Software
Foundation.
10. If you wish to incorporate parts of the Program into other free
programs whose distribution conditions are different, write to the author
to ask for permission. For software which is copyrighted by the Free
Software Foundation, write to the Free Software Foundation; we sometimes
make exceptions for this. Our decision will be guided by the two goals
of preserving the free status of all derivatives of our free software and
of promoting the sharing and reuse of software generally.
NO WARRANTY
11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
REPAIR OR CORRECTION.
12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
POSSIBILITY OF SUCH DAMAGES.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
convey the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
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, or
(at your option) any later version.
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
Also add information on how to contact you by electronic and paper mail.
If the program is interactive, make it output a short notice like this
when it starts in an interactive mode:
Gnomovision version 69, Copyright (C) year name of author
Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, the commands you use may
be called something other than `show w' and `show c'; they could even be
mouse-clicks or menu items--whatever suits your program.
You should also get your employer (if you work as a programmer) or your
school, if any, to sign a "copyright disclaimer" for the program, if
necessary. Here is a sample; alter the names:
Yoyodyne, Inc., hereby disclaims all copyright interest in the program
`Gnomovision' (which makes passes at compilers) written by James Hacker.
<signature of Ty Coon>, 1 April 1989
Ty Coon, President of Vice
This General Public License does not permit incorporating your program into
proprietary programs. If your program is a subroutine library, you may
consider it more useful to permit linking proprietary applications with the
library. If this is what you want to do, use the GNU Library General
Public License instead of this License.

/C-OSD/trunk/README.TXT
0,0 → 1,27
/****************************************************************************
* 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. *
****************************************************************************/
Look at
http://www.mylifesucks.de/oss/c-osd/
to see what this is all about.
Simple way:
- Flash C-OSD-characters* (wait till all chars appear on screen before flashing next)
- Flash C-OSD-*-(pal|ntsc) acording to your needs

/C-OSD/trunk/c-osd.aws
0,0 → 1,0
<AVRWorkspace><IOSettings><CurrentRegisters><USART1><register register="UBRR1L" group="USART1" display="1" locked="0"/></USART1><USART1><register register="UCSR1B" group="USART1" display="1" locked="0"/></USART1><USART1><register register="UCSR1A" group="USART1" display="1" locked="0"/></USART1><USART1><register register="UDR" group="USART1" display="1" locked="0"/></USART1><CPU><register register="OSCCAL" group="CPU" display="1" locked="0"/></CPU><JTAG><register register="OCDR" group="JTAG" display="1" locked="0"/></JTAG><PORTE><register register="PINE" group="PORTE" display="1" locked="0"/></PORTE><PORTE><register register="DDRE" group="PORTE" display="1" locked="0"/></PORTE><PORTE><register register="PORTE" group="PORTE" display="1" locked="0"/></PORTE><ANALOG_COMPARATOR><register register="ACSR" group="ANALOG_COMPARATOR" display="1" locked="0"/></ANALOG_COMPARATOR><USART0><register register="UBRR0L" group="USART0" display="1" locked="0"/></USART0><USART0><register register="UCSR0B" group="USART0" display="1" locked="0"/></USART0><USART0><register register="UCSR0A" group="USART0" display="1" locked="0"/></USART0><USART0><register register="UDR0" group="USART0" display="1" locked="0"/></USART0><SPI><register register="SPCR" group="SPI" display="1" locked="0"/></SPI><SPI><register register="SPSR" group="SPI" display="1" locked="0"/></SPI><SPI><register register="SPDR" group="SPI" display="1" locked="0"/></SPI><PORTD><register register="PIND" group="PORTD" display="1" locked="0"/></PORTD><PORTD><register register="DDRD" group="PORTD" display="1" locked="0"/></PORTD><PORTD><register register="PORTD" group="PORTD" display="1" locked="0"/></PORTD><PORTC><register register="PINC" group="PORTC" display="1" locked="0"/></PORTC><PORTC><register register="DDRC" group="PORTC" display="1" locked="0"/></PORTC><PORTC><register register="PORTC" group="PORTC" display="1" locked="0"/></PORTC><PORTB><register register="PINB" group="PORTB" display="1" locked="0"/></PORTB><PORTB><register register="DDRB" group="PORTB" display="1" locked="0"/></PORTB><PORTB><register register="PORTB" group="PORTB" display="1" locked="0"/></PORTB><PORTA><register register="PINA" group="PORTA" display="1" locked="0"/></PORTA><PORTA><register register="DDRA" group="PORTA" display="1" locked="0"/></PORTA><PORTA><register register="PORTA" group="PORTA" display="1" locked="0"/></PORTA><EEPROM><register register="EECR" group="EEPROM" display="1" locked="0"/></EEPROM><EEPROM><register register="EEDR" group="EEPROM" display="1" locked="0"/></EEPROM><EEPROM><register register="EEAR" group="EEPROM" display="1" locked="0"/></EEPROM><USART0><register register="UBRR0H" group="USART0" display="1" locked="0"/></USART0><USART0><register register="UCSR0C" group="USART0" display="1" locked="0"/></USART0><WATCHDOG><register register="WDTCR" group="WATCHDOG" display="1" locked="0"/></WATCHDOG><TIMER_COUNTER_2><register register="OCR2" group="TIMER_COUNTER_2" display="1" locked="0"/></TIMER_COUNTER_2><TIMER_COUNTER_2><register register="TCNT2" group="TIMER_COUNTER_2" display="1" locked="0"/></TIMER_COUNTER_2><TIMER_COUNTER_1><register register="ICR1" group="TIMER_COUNTER_1" display="1" locked="0"/></TIMER_COUNTER_1><TIMER_COUNTER_2><register register="ASSR" group="TIMER_COUNTER_2" display="1" locked="0"/></TIMER_COUNTER_2><TIMER_COUNTER_2><register register="TCCR2" group="TIMER_COUNTER_2" display="1" locked="0"/></TIMER_COUNTER_2><TIMER_COUNTER_1><register register="OCR1B" group="TIMER_COUNTER_1" display="1" locked="0"/></TIMER_COUNTER_1><TIMER_COUNTER_1><register register="OCR1A" group="TIMER_COUNTER_1" display="1" locked="0"/></TIMER_COUNTER_1><TIMER_COUNTER_1><register register="TCNT1" group="TIMER_COUNTER_1" display="1" locked="0"/></TIMER_COUNTER_1><TIMER_COUNTER_1><register register="TCCR1B" group="TIMER_COUNTER_1" display="1" locked="0"/></TIMER_COUNTER_1><TIMER_COUNTER_1><register register="TCCR1A" group="TIMER_COUNTER_1" display="1" locked="0"/></TIMER_COUNTER_1><CPU><register register="SFIOR" group="CPU" display="1" locked="0"/></CPU><TIMER_COUNTER_0><register register="OCR0" group="TIMER_COUNTER_0" display="1" locked="0"/></TIMER_COUNTER_0><TIMER_COUNTER_0><register register="TCNT0" group="TIMER_COUNTER_0" display="1" locked="0"/></TIMER_COUNTER_0><TIMER_COUNTER_0><register register="TCCR0" group="TIMER_COUNTER_0" display="1" locked="0"/></TIMER_COUNTER_0><CPU><register register="MCUCSR" group="CPU" display="1" locked="0"/></CPU><JTAG><register register="MCUCSR" group="JTAG" display="1" locked="0"/></JTAG><CPU><register register="MCUCR" group="CPU" display="1" locked="0"/></CPU><EXTERNAL_INTERRUPT><register register="MCUCR" group="EXTERNAL_INTERRUPT" display="1" locked="0"/></EXTERNAL_INTERRUPT><CPU><register register="EMCUCR" group="CPU" display="1" locked="0"/></CPU><EXTERNAL_INTERRUPT><register register="EMCUCR" group="EXTERNAL_INTERRUPT" display="1" locked="0"/></EXTERNAL_INTERRUPT><BOOT_LOAD><register register="SPMCR" group="BOOT_LOAD" display="1" locked="0"/></BOOT_LOAD><TIMER_COUNTER_0><register register="TIFR" group="TIMER_COUNTER_0" display="1" locked="0"/></TIMER_COUNTER_0><TIMER_COUNTER_1><register register="TIFR" group="TIMER_COUNTER_1" display="1" locked="0"/></TIMER_COUNTER_1><TIMER_COUNTER_2><register register="TIFR" group="TIMER_COUNTER_2" display="1" locked="0"/></TIMER_COUNTER_2><TIMER_COUNTER_0><register register="TIMSK" group="TIMER_COUNTER_0" display="1" locked="0"/></TIMER_COUNTER_0><TIMER_COUNTER_1><register register="TIMSK" group="TIMER_COUNTER_1" display="1" locked="0"/></TIMER_COUNTER_1><TIMER_COUNTER_2><register register="TIMSK" group="TIMER_COUNTER_2" display="1" locked="0"/></TIMER_COUNTER_2><EXTERNAL_INTERRUPT><register register="GIFR" group="EXTERNAL_INTERRUPT" display="1" locked="0"/></EXTERNAL_INTERRUPT><EXTERNAL_INTERRUPT><register register="GICR" group="EXTERNAL_INTERRUPT" display="1" locked="0"/></EXTERNAL_INTERRUPT><USART1><register register="UBRR1H" group="USART1" display="1" locked="0"/></USART1><USART1><register register="UCSR1C" group="USART1" display="1" locked="0"/></USART1><CPU><register register="SP" group="CPU" display="1" locked="0"/></CPU><CPU><register register="SREG" group="CPU" display="1" locked="0"/></CPU><CPU><register register="CLKPR" group="CPU" display="1" locked="0"/></CPU><EXTERNAL_INTERRUPT><register register="PCMSK0" group="EXTERNAL_INTERRUPT" display="1" locked="0"/></EXTERNAL_INTERRUPT><EXTERNAL_INTERRUPT><register register="PCMSK1" group="EXTERNAL_INTERRUPT" display="1" locked="0"/></EXTERNAL_INTERRUPT><TIMER_COUNTER_3><register register="ETIFR" group="TIMER_COUNTER_3" display="1" locked="0"/></TIMER_COUNTER_3><TIMER_COUNTER_3><register register="ETIMSK" group="TIMER_COUNTER_3" display="1" locked="0"/></TIMER_COUNTER_3><TIMER_COUNTER_3><register register="ICR3" group="TIMER_COUNTER_3" display="1" locked="0"/></TIMER_COUNTER_3><TIMER_COUNTER_3><register register="OCR3B" group="TIMER_COUNTER_3" display="1" locked="0"/></TIMER_COUNTER_3><TIMER_COUNTER_3><register register="OCR3A" group="TIMER_COUNTER_3" display="1" locked="0"/></TIMER_COUNTER_3><TIMER_COUNTER_3><register register="TCNT3" group="TIMER_COUNTER_3" display="1" locked="0"/></TIMER_COUNTER_3><TIMER_COUNTER_3><register register="TCCR3B" group="TIMER_COUNTER_3" display="1" locked="0"/></TIMER_COUNTER_3><TIMER_COUNTER_3><register register="TCCR3A" group="TIMER_COUNTER_3" display="1" locked="0"/></TIMER_COUNTER_3></CurrentRegisters></IOSettings><part name="ATMEGA162"/><Files><File00000 Name="G:\Eigene Dateien\C-Projects\C-OSD\main.c" Position="219 98 1097 865" LineCol="1341 47" State="Maximized"/></Files></AVRWorkspace>

/C-OSD/trunk/default/Makefile
0,0 → 1,75
###############################################################################
# Makefile for the project C-OSD
###############################################################################
## General Flags
PROJECT = C-OSD
MCU = atmega162
TARGET = C-OSD.elf
CC = avr-gcc
## Options common to compile, link and assembly rules
COMMON = -mmcu=$(MCU)
## Compile options common for all C compilation units.
CFLAGS = $(COMMON)
CFLAGS += -Wall -gdwarf-2 -std=gnu99 -DF_CPU=16000000UL -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
CFLAGS += -MD -MP -MT $(*F).o -MF dep/$(@F).d
## Assembly specific flags
ASMFLAGS = $(COMMON)
ASMFLAGS += $(CFLAGS)
ASMFLAGS += -x assembler-with-cpp -Wa,-gdwarf2
## Linker flags
LDFLAGS = $(COMMON)
LDFLAGS += -Wl,-Map=C-OSD.map
## Intel Hex file production flags
HEX_FLASH_FLAGS = -R .eeprom -R .fuse -R .lock -R .signature
HEX_EEPROM_FLAGS = -j .eeprom
HEX_EEPROM_FLAGS += --set-section-flags=.eeprom="alloc,load"
HEX_EEPROM_FLAGS += --change-section-lma .eeprom=0 --no-change-warnings
## Objects that must be built in order to link
OBJECTS = main.o
## Objects explicitly added by the user
LINKONLYOBJECTS =
## Build
all: $(TARGET) C-OSD.hex C-OSD.eep C-OSD.lss size
## Compile
main.o: ../main.c
$(CC) $(INCLUDES) $(CFLAGS) -c $<
##Link
$(TARGET): $(OBJECTS)
$(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) -o $(TARGET)
%.hex: $(TARGET)
avr-objcopy -O ihex $(HEX_FLASH_FLAGS) $< $@
%.eep: $(TARGET)
-avr-objcopy $(HEX_EEPROM_FLAGS) -O ihex $< $@ || exit 0
%.lss: $(TARGET)
avr-objdump -h -S $< > $@
size: ${TARGET}
@echo
@avr-size -C --mcu=${MCU} ${TARGET}
## Clean target
.PHONY: clean
clean:
-rm -rf $(OBJECTS) C-OSD.elf dep/* C-OSD.hex C-OSD.eep C-OSD.lss C-OSD.map
## Other dependencies
-include $(shell mkdir dep 2>/dev/null) $(wildcard dep/*)

/C-OSD/trunk/main.c
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;
}